+ python -m lidar_slam --no-model /working/e4daa603-b8b1-4de6-adda-93946f368fd5 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/e4daa603-b8b1-4de6-adda-93946f368fd5 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 0.02592 Adjusted end_distance from 9.223372036854776e+18 to 371.79592 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02592 meters Centerline goodness [0,1] 0.18673349056603772 Centerline is valid? [0, False] SLAMing on 0.05592 meters Centerline goodness [0,1] 0.1825316000718864 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:0.00 [[ 9.99987768e-01 -1.37372512e-03 -4.75152166e-03 5.06117242e-02] [ 1.37422036e-03 9.99999051e-01 1.00964356e-04 -3.47026760e-04] [ 4.75137845e-03 -1.07492759e-04 9.99988706e-01 1.51837872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08592 meters Centerline goodness [0,1] 0.18460888969302214 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:0.00 [[ 0.99996248 0.00515891 -0.00695859 0.0728874 ] [-0.00516732 0.99998594 -0.00119022 0.00232951] [ 0.00695235 0.00122613 0.99997508 0.00499866] [ 0. 0. 0. 1. ]] SLAMing on 0.11592 meters Centerline goodness [0,1] 0.18558439212380318 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.01 [[ 9.99958469e-01 4.54765733e-03 -7.89807790e-03 8.42823546e-02] [-4.55570121e-03 9.99989122e-01 -1.00076789e-03 3.27672629e-05] [ 7.89344083e-03 1.03670761e-03 9.99968309e-01 -6.58840089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14592 meters Centerline goodness [0,1] 0.19002563789525084 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:-0.00 [[ 9.99950366e-01 -3.58702551e-03 -9.29510930e-03 1.05401199e-01] [ 3.59164612e-03 9.99993435e-01 4.80456407e-04 -2.08414179e-03] [ 9.29332487e-03 -5.13817303e-04 9.99956684e-01 -2.86328023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17592 meters Centerline goodness [0,1] 0.19233155478347186 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.00 [[ 9.99969863e-01 -4.43647846e-03 -6.37113207e-03 1.45808354e-01] [ 4.44304703e-03 9.99989612e-01 1.01720631e-03 -4.51361998e-04] [ 6.36655307e-03 -1.04548290e-03 9.99979187e-01 4.26479740e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20592 meters Centerline goodness [0,1] 0.19593586875466074 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:0.00 [[ 9.99962300e-01 2.74913814e-03 -8.23659003e-03 1.69328806e-01] [-2.74973881e-03 9.99996218e-01 -6.16034740e-05 2.58197446e-03] [ 8.23638951e-03 8.42496228e-05 9.99966077e-01 3.34107607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23592 meters Centerline goodness [0,1] 0.19539227895392275 Centerline is valid? [False, False] Translation: X:0.18, Y:0.00, Z:-0.01 [[ 9.99949930e-01 2.07334981e-03 -9.78976296e-03 1.80765239e-01] [-2.07521475e-03 9.99997830e-01 -1.80344885e-04 3.02072927e-04] [ 9.78936781e-03 2.00651715e-04 9.99952063e-01 -8.36686717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26592 meters Centerline goodness [0,1] 0.1975575155739222 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.00, Z:-0.02 [[ 9.99936610e-01 1.50018230e-03 -1.11590682e-02 1.92511021e-01] [-1.49750494e-03 9.99998848e-01 2.48279330e-04 -3.67998619e-03] [ 1.11594278e-02 -2.31552832e-04 9.99937705e-01 -2.01013632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29592 meters Centerline goodness [0,1] 0.2002119965082928 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.00, Z:-0.01 [[ 9.99974128e-01 5.62106716e-04 -7.17131889e-03 2.26600915e-01] [-5.59183380e-04 9.99999760e-01 4.09641263e-04 -1.99636990e-03] [ 7.17154743e-03 -4.05620582e-04 9.99974202e-01 -1.00724594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32592 meters SLAMing on 0.35591999999999996 meters Centerline goodness [0,1] 0.08004229118726292 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:-0.02 [[ 9.99962467e-01 -4.90205281e-04 -8.65009874e-03 2.38135503e-01] [ 4.99772311e-04 9.99999266e-01 1.10387554e-03 -1.05171456e-02] [ 8.64955126e-03 -1.10815719e-03 9.99961978e-01 -2.19752188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38592 meters SLAMing on 0.41592 meters Centerline goodness [0,1] 0.20333547145606157 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:-0.02 [[ 9.99990019e-01 -3.10366825e-03 -3.21380156e-03 2.73552246e-01] [ 3.10453568e-03 9.99995146e-01 2.64955044e-04 -1.17657072e-02] [ 3.21296363e-03 -2.74929761e-04 9.99994801e-01 -1.60367170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44592 meters Centerline goodness [0,1] 0.2053802053802054 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.03 [[ 9.99984469e-01 -3.29231721e-03 -4.49692052e-03 2.84648380e-01] [ 3.29253215e-03 9.99994579e-01 4.03934116e-05 -1.20389880e-02] [ 4.49676315e-03 -5.51990396e-05 9.99989888e-01 -2.81442716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47591999999999995 meters Centerline goodness [0,1] 0.23765996343692875 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:-0.01 [[ 0.99993822 -0.00958661 -0.00562585 0.31487826] [ 0.00956597 0.99994746 -0.00368422 -0.00610702] [ 0.00566088 0.00363018 0.99997739 -0.01161152] [ 0. 0. 0. 1. ]] SLAMing on 0.5059199999999999 meters Centerline goodness [0,1] 0.14584251274627058 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:-0.07 [[ 0.99996874 -0.00319805 -0.00723175 0.3303771 ] [ 0.00320675 0.99999415 0.00119205 -0.01055076] [ 0.00722789 -0.00121521 0.99997314 -0.06725039] [ 0. 0. 0. 1. ]] SLAMing on 0.53592 meters Centerline goodness [0,1] 0.21422072013518778 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99992898 -0.00856778 -0.00828392 0.3667344 ] [ 0.00855363 0.9999619 -0.00174215 -0.00683187] [ 0.00829853 0.00167117 0.99996417 -0.05618246] [ 0. 0. 0. 1. ]] SLAMing on 0.56592 meters Centerline goodness [0,1] 0.21074538934426235 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.01, Z:-0.07 [[ 0.99990996 -0.00895801 -0.00999123 0.37861292] [ 0.00894107 0.99995852 -0.00173824 -0.00965367] [ 0.01000639 0.00164876 0.99994858 -0.06818773] [ 0. 0. 0. 1. ]] SLAMing on 0.59592 meters Centerline goodness [0,1] 0.14240030097817913 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.08 [[ 0.99990192 -0.00901388 -0.01071929 0.3895796 ] [ 0.00900105 0.99995872 -0.00124448 -0.01334631] [ 0.01073006 0.00114787 0.99994177 -0.0800573 ] [ 0. 0. 0. 1. ]] SLAMing on 0.62592 meters Centerline goodness [0,1] 0.24515662967097918 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:-0.06 [[ 0.99959087 -0.00937926 -0.02702085 0.42200332] [ 0.00926906 0.99994822 -0.00420064 -0.00791957] [ 0.02705885 0.00394846 0.99962604 -0.06236395] [ 0. 0. 0. 1. ]] SLAMing on 0.6559200000000001 meters Centerline goodness [0,1] 0.2153846153846154 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.08 [[ 0.99956552 -0.00784909 -0.02841067 0.43901063] [ 0.00776912 0.99996554 -0.00292435 -0.00917589] [ 0.02843265 0.00270235 0.99959206 -0.0792742 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6859199999999999 meters Centerline goodness [0,1] 0.21067912143398126 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.10 [[ 9.99808098e-01 -3.91161230e-03 -1.91954598e-02 4.50774425e-01] [ 3.89877332e-03 9.99992150e-01 -7.06232434e-04 -1.51047344e-02] [ 1.91980716e-02 6.31258161e-04 9.99815501e-01 -9.50024243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7159199999999999 meters Centerline goodness [0,1] 0.21883512777273317 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:-0.08 [[ 0.99992606 -0.00535786 -0.01091642 0.47675614] [ 0.00534382 0.99998486 -0.00131523 -0.01346891] [ 0.0109233 0.0012568 0.99993955 -0.08080468] [ 0. 0. 0. 1. ]] SLAMing on 0.7459199999999999 meters Centerline goodness [0,1] 0.1522036325760041 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.08 [[ 0.99995344 0.00301486 -0.00916649 0.49682089] [-0.00303409 0.99999322 -0.00208544 -0.00998581] [ 0.00916014 0.00211315 0.99995581 -0.07788094] [ 0. 0. 0. 1. ]] SLAMing on 0.7759199999999999 meters Centerline goodness [0,1] 0.21662532595560646 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:-0.09 [[ 0.99994872 0.00279184 -0.00973449 0.50735145] [-0.00281239 0.99999384 -0.00209776 -0.01026537] [ 0.00972857 0.00212503 0.99995042 -0.08982047] [ 0. 0. 0. 1. ]] SLAMing on 0.80592 meters Centerline goodness [0,1] 0.21662532595560646 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.01, Z:-0.09 [[ 9.99928631e-01 -5.66047873e-03 -1.05209818e-02 5.27778639e-01] [ 5.65114734e-03 9.99983612e-01 -9.16448084e-04 -1.29022146e-02] [ 1.05259970e-02 8.56927060e-04 9.99944233e-01 -8.62961506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.83592 meters Centerline goodness [0,1] 0.14985066874431896 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.08 [[ 0.9999656 -0.00709268 -0.00430146 0.5632428 ] [ 0.00708796 0.99997426 -0.00111231 -0.01356034] [ 0.00430924 0.00108178 0.99999013 -0.08049235] [ 0. 0. 0. 1. ]] SLAMing on 0.86592 meters Centerline goodness [0,1] 0.1522446324007808 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:-0.07 [[ 9.99997668e-01 2.00798460e-03 -7.95338824e-04 5.74594370e-01] [-2.00881191e-03 9.99997441e-01 -1.04076987e-03 -1.11500829e-02] [ 7.93246938e-04 1.04236513e-03 9.99999142e-01 -6.97566895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.89592 meters Centerline goodness [0,1] 0.21112867530825163 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.08 [[ 0.99999665 0.00211402 -0.00149212 0.5851577 ] [-0.00211556 0.99999723 -0.00103249 -0.01024158] [ 0.00148993 0.00103564 0.99999835 -0.0817737 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9259199999999999 meters Centerline goodness [0,1] 0.1518682463220935 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.07 [[ 9.99981564e-01 2.56305660e-04 6.06678509e-03 6.13419295e-01] [-2.43040318e-04 9.99997579e-01 -2.18718850e-03 -6.14027840e-03] [-6.06733099e-03 2.18567371e-03 9.99979205e-01 -7.00282373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9559199999999999 meters Centerline goodness [0,1] 0.20060713382241335 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.09 [[ 9.99977207e-01 1.71777262e-03 6.52953376e-03 6.25820692e-01] [-1.71585581e-03 9.99998483e-01 -2.99150901e-04 -6.82851120e-03] [-6.53003773e-03 2.87940344e-04 9.99978638e-01 -8.62165835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9859199999999999 meters Centerline goodness [0,1] 0.1884308085650368 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.08 [[ 9.99995589e-01 5.43617132e-05 2.96962663e-03 6.75174115e-01] [-5.18893319e-05 9.99999652e-01 -8.32626965e-04 -5.06890856e-03] [-2.96967086e-03 8.32469200e-04 9.99995244e-01 -8.46381531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.01592 meters Centerline goodness [0,1] 0.1932677040330264 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.10 [[ 9.99998939e-01 -1.61185717e-04 1.44792939e-03 6.86630631e-01] [ 1.62171491e-04 9.99999755e-01 -6.80724263e-04 -6.38972998e-03] [-1.44781931e-03 6.80958353e-04 9.99998720e-01 -9.66944126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.04592 meters Centerline goodness [0,1] 0.2416029798985293 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.09 [[ 9.99980365e-01 6.25627239e-03 3.59783684e-04 7.06414918e-01] [-6.25521521e-03 9.99976323e-01 -2.86803085e-03 -3.09493338e-03] [-3.77718348e-04 2.86572401e-03 9.99995822e-01 -9.08619596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.07592 meters Centerline goodness [0,1] 0.21005138488532393 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.00, Z:-0.10 [[ 9.99981518e-01 6.07839112e-03 1.32826620e-04 7.17740699e-01] [-6.07804815e-03 9.99978538e-01 -2.44567769e-03 -4.95999410e-03] [-1.47689555e-04 2.44482516e-03 9.99997001e-01 -1.03066771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10592 meters Centerline goodness [0,1] 0.1466256883083622 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.00, Z:-0.09 [[ 0.99998871 0.00324905 -0.00346606 0.75685468] [-0.00326012 0.99998959 -0.00319143 -0.00295 ] [ 0.00345565 0.0032027 0.9999889 -0.09296125] [ 0. 0. 0. 1. ]] SLAMing on 1.1359199999999998 meters Centerline goodness [0,1] 0.2079634954369296 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.00, Z:-0.11 [[ 0.99998403 0.00266035 -0.00498644 0.77692748] [-0.00267637 0.99999127 -0.00320811 -0.00474194] [ 0.00497786 0.0032214 0.99998242 -0.1132451 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1659199999999998 meters Centerline goodness [0,1] 0.21017657110309473 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.00, Z:-0.10 [[ 9.99951341e-01 1.49108821e-04 -9.86379154e-03 8.16542061e-01] [-1.86980905e-04 9.99992615e-01 -3.83869497e-03 -3.63745169e-03] [ 9.86314631e-03 3.84035252e-03 9.99943983e-01 -1.04053583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1959199999999999 meters Centerline goodness [0,1] 0.21006922592825672 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.00, Z:-0.12 [[ 9.99937650e-01 -2.82124163e-05 -1.11667385e-02 8.28459497e-01] [-1.37109997e-05 9.99992953e-01 -3.75421725e-03 -4.41756138e-03] [ 1.11667657e-02 3.75413628e-03 9.99930602e-01 -1.15978873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22592 meters Centerline goodness [0,1] 0.20974832749283212 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.00, Z:-0.11 [[ 0.99997831 -0.00163404 -0.00638014 0.8644865 ] [ 0.00160695 0.99998968 -0.00424883 -0.00427488] [ 0.00638702 0.00423849 0.99997062 -0.10991508] [ 0. 0. 0. 1. ]] SLAMing on 1.25592 meters Centerline goodness [0,1] 0.20541321276061286 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.13 [[ 0.9999605 -0.00203816 -0.00865098 0.88649142] [ 0.00200375 0.99999005 -0.00398434 -0.00813076] [ 0.00865902 0.00396685 0.99995464 -0.13119044] [ 0. 0. 0. 1. ]] SLAMing on 1.28592 meters Centerline goodness [0,1] 0.20571570885997137 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.14 [[ 0.99994761 -0.00217753 -0.01000212 0.89815916] [ 0.00214067 0.99999088 -0.00369451 -0.01019061] [ 0.01001008 0.0036729 0.99994315 -0.14280454] [ 0. 0. 0. 1. ]] SLAMing on 1.31592 meters Centerline goodness [0,1] 0.20588419798005142 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.01, Z:-0.13 [[ 0.99998462 -0.00327995 -0.00447297 0.92465232] [ 0.00326453 0.99998872 -0.00345003 -0.01131602] [ 0.00448424 0.00343537 0.99998404 -0.12910142] [ 0. 0. 0. 1. ]] SLAMing on 1.3459199999999998 meters Centerline goodness [0,1] 0.20515554440541894 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.02, Z:-0.14 [[ 0.99998485 -0.00195076 -0.00514659 0.93132345] [ 0.0019437 0.99999716 -0.00137567 -0.01663982] [ 0.00514926 0.00136565 0.99998581 -0.13556182] [ 0. 0. 0. 1. ]] SLAMing on 1.3759199999999998 meters Centerline goodness [0,1] 0.2081652913073152 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.02, Z:-0.15 [[ 9.99979904e-01 -2.02144688e-03 -6.00876202e-03 9.44353197e-01] [ 2.01680370e-03 9.99997663e-01 -7.78694796e-04 -2.13357732e-02] [ 6.01032206e-03 7.66560654e-04 9.99981644e-01 -1.47624176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4059199999999998 meters Centerline goodness [0,1] 0.20889387144992522 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:-0.14 [[ 9.99998463e-01 -6.95971934e-04 -1.60903589e-03 9.80930063e-01] [ 6.98551495e-04 9.99998471e-01 1.60316576e-03 -2.40138419e-02] [ 1.60791767e-03 -1.60428729e-03 9.99997420e-01 -1.42297235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4359199999999999 meters Centerline goodness [0,1] 0.20896362045255656 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.13 [[ 0.99998452 0.00495722 -0.00252541 0.99788092] [-0.00496318 0.9999849 -0.00235925 -0.01774525] [ 0.00251368 0.00237174 0.99999403 -0.1335569 ] [ 0. 0. 0. 1. ]] SLAMing on 1.46592 meters Centerline goodness [0,1] 0.2012474775270593 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.02, Z:-0.15 [[ 0.99998009 0.00513615 -0.00366489 1.00921909] [-0.00514286 0.99998511 -0.00182494 -0.01885209] [ 0.00365547 0.00184375 0.99999162 -0.14513126] [ 0. 0. 0. 1. ]] SLAMing on 1.49592 meters Centerline goodness [0,1] 0.20309905921416715 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.02, Z:-0.14 [[ 9.99926800e-01 7.80482980e-03 -9.24547610e-03 1.05555082e+00] [-7.81210992e-03 9.99969203e-01 -7.51572816e-04 -1.99784372e-02] [ 9.23932547e-03 8.23744477e-04 9.99956977e-01 -1.40966746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52592 meters Centerline goodness [0,1] 0.20720221606648204 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:-0.14 [[ 0.99992196 0.00335737 -0.01203296 1.08020302] [-0.00330507 0.99998502 0.00436375 -0.026233 ] [ 0.01204743 -0.00432364 0.99991808 -0.14167192] [ 0. 0. 0. 1. ]] SLAMing on 1.55592 meters Centerline goodness [0,1] 0.20632004409333093 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:-0.15 [[ 0.99997425 0.00683747 -0.00217761 1.08263902] [-0.00682422 0.99995849 0.0060376 -0.02655438] [ 0.0022188 -0.00602258 0.9999794 -0.15053533] [ 0. 0. 0. 1. ]] SLAMing on 1.58592 meters Centerline goodness [0,1] 0.15951219512195125 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.16 [[ 0.99997907 0.00580688 -0.00285138 1.088894 ] [-0.00579393 0.99997295 0.00453093 -0.02264905] [ 0.00287762 -0.00451431 0.99998567 -0.15647772] [ 0. 0. 0. 1. ]] SLAMing on 1.6159199999999998 meters Centerline goodness [0,1] 0.20727472125753976 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.15 [[ 9.99984849e-01 -1.03696253e-03 -5.40609318e-03 1.11043369e+00] [ 1.06765576e-03 9.99983312e-01 5.67773341e-03 -2.22746799e-02] [ 5.40011536e-03 -5.68341923e-03 9.99969268e-01 -1.53834072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6459199999999998 meters Centerline goodness [0,1] 0.2062069386013048 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.16 [[ 0.99994155 0.00738528 -0.00789652 1.13976511] [-0.00736079 0.99996802 0.00312581 -0.00741739] [ 0.00791936 -0.00306751 0.99996394 -0.15641695] [ 0. 0. 0. 1. ]] SLAMing on 1.6759199999999999 meters Centerline goodness [0,1] 0.17677015584734324 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.01, Z:-0.15 [[ 9.99943458e-01 3.11225935e-04 -1.06293645e-02 1.16266612e+00] [-2.65060786e-04 9.99990528e-01 4.34430374e-03 -6.60417591e-03] [ 1.06306158e-02 -4.34124068e-03 9.99934070e-01 -1.54526928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7059199999999999 meters Centerline goodness [0,1] 0.17328498035660322 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.00, Z:-0.17 [[ 0.99999784 0.00149173 -0.00144986 1.16812472] [-0.00148498 0.99998812 0.0046421 -0.00122749] [ 0.00145677 -0.00463993 0.99998817 -0.16818084] [ 0. 0. 0. 1. ]] SLAMing on 1.73592 meters Centerline goodness [0,1] 0.17325483599663583 Centerline is valid? [False, False] Translation: X:1.18, Y:0.00, Z:-0.18 [[ 0.99999482 0.00150088 -0.00284679 1.17927885] [-0.00148883 0.99998995 0.0042296 0.00184685] [ 0.00285311 -0.00422534 0.999987 -0.1792046 ] [ 0. 0. 0. 1. ]] SLAMing on 1.76592 meters Centerline goodness [0,1] 0.17585791691751962 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:-0.18 [[ 9.99993543e-01 3.39900401e-04 -3.57745275e-03 1.18473048e+00] [-3.30276253e-04 9.99996326e-01 2.69047053e-03 5.73907601e-03] [ 3.57835410e-03 -2.68927161e-03 9.99989982e-01 -1.83687211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.79592 meters Centerline goodness [0,1] 0.16943008260533665 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:-0.19 [[ 9.99988988e-01 2.86669287e-04 -4.68412122e-03 1.19742587e+00] [-2.74526030e-04 9.99996601e-01 2.59286743e-03 1.01397813e-02] [ 4.68484859e-03 -2.59155296e-03 9.99985668e-01 -1.94124834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8259199999999998 meters Centerline goodness [0,1] 0.1703400876881147 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:-0.20 [[ 9.99984927e-01 -1.24696543e-03 -5.34711741e-03 1.20401476e+00] [ 1.25187375e-03 9.99998798e-01 9.14688596e-04 1.32914080e-02] [ 5.34597039e-03 -9.21368724e-04 9.99985286e-01 -1.99492173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8559199999999998 meters SLAMing on 1.8859199999999998 meters SLAMing on 1.9159199999999998 meters SLAMing on 1.9459199999999999 meters SLAMing on 1.97592 meters SLAMing on 2.00592 meters SLAMing on 2.03592 meters Centerline goodness [0,1] 0.3806641093263007 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.03, Z:-0.17 [[ 0.99967485 -0.02434298 0.00759064 1.29875631] [ 0.02432143 0.99969993 0.00291824 -0.03013775] [-0.0076594 -0.00273268 0.99996693 -0.17262445] [ 0. 0. 0. 1. ]] SLAMing on 2.06592 meters Centerline goodness [0,1] 0.25208681135225375 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.03, Z:-0.17 [[ 0.99981915 -0.01666228 0.00916745 1.31754577] [ 0.01664668 0.99985986 0.00177521 -0.03213122] [-0.00919575 -0.00162228 0.9999564 -0.16884078] [ 0. 0. 0. 1. ]] SLAMing on 2.09592 meters Centerline goodness [0,1] 0.6731141199226305 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.17 [[ 0.99987896 -0.00914146 0.01258936 1.3357167 ] [ 0.0091218 0.99995709 0.00161761 -0.0400364 ] [-0.01260361 -0.00150258 0.99991944 -0.16715637] [ 0. 0. 0. 1. ]] SLAMing on 2.1259200000000003 meters Centerline goodness [0,1] 0.43300692620014325 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.17 [[ 0.99990273 -0.00752777 0.0117411 1.34183036] [ 0.00747336 0.99996116 0.00467152 -0.04764897] [-0.01177581 -0.00458332 0.99992016 -0.17355096] [ 0. 0. 0. 1. ]] SLAMing on 2.15592 meters Centerline goodness [0,1] 0.33710930549789453 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.05, Z:-0.18 [[ 9.99899888e-01 1.31438820e-04 1.41491091e-02 1.36704610e+00] [-1.85412265e-04 9.99992712e-01 3.81337371e-03 -5.08746244e-02] [-1.41485047e-02 -3.81561536e-03 9.99892625e-01 -1.79331688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1859200000000003 meters Centerline goodness [0,1] 0.623542077875471 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:-0.18 [[ 0.99981183 0.00783769 0.01774479 1.3828463 ] [-0.0078732 0.99996714 0.00193224 -0.0500106 ] [-0.01772907 -0.00207159 0.99984068 -0.17503021] [ 0. 0. 0. 1. ]] SLAMing on 2.21592 meters Centerline goodness [0,1] 0.2843587930221594 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.06, Z:-0.19 [[ 0.99977628 0.00847875 0.01937785 1.39214764] [-0.00855369 0.99995624 0.0037878 -0.0582059 ] [-0.01934488 -0.0039527 0.99980506 -0.18693947] [ 0. 0. 0. 1. ]] SLAMing on 2.24592 meters Centerline goodness [0,1] 0.24979629845186824 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.06, Z:-0.20 [[ 0.99979868 0.00859657 0.01813025 1.40252429] [-0.00867701 0.99995284 0.00436299 -0.06060769] [-0.01809189 -0.00451943 0.99982611 -0.19807152] [ 0. 0. 0. 1. ]] SLAMing on 2.27592 meters Centerline goodness [0,1] 0.23674932084850586 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:-0.21 [[ 0.99982394 0.00881653 0.01656363 1.41319495] [-0.00889757 0.99994878 0.00482499 -0.06146102] [-0.01652024 -0.00497152 0.99985117 -0.20957821] [ 0. 0. 0. 1. ]] SLAMing on 2.30592 meters Centerline goodness [0,1] 0.21365539088132146 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.06, Z:-0.23 [[ 0.99982574 0.01077488 0.01524407 1.42833288] [-0.01088076 0.99991714 0.00687977 -0.0613668 ] [-0.01516868 -0.00704444 0.99986013 -0.22559158] [ 0. 0. 0. 1. ]] SLAMing on 2.33592 meters Centerline goodness [0,1] 0.21771532597565135 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.06, Z:-0.23 [[ 0.99984824 0.009545 0.01457371 1.43386064] [-0.0096234 0.99993955 0.00531875 -0.05803526] [-0.01452206 -0.00545819 0.99987965 -0.23135424] [ 0. 0. 0. 1. ]] SLAMing on 2.36592 meters Centerline goodness [0,1] 0.20758183032732136 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.06, Z:-0.24 [[ 0.99986374 0.00967361 0.01337636 1.44479154] [-0.00974377 0.99993906 0.00519015 -0.05590069] [-0.01332534 -0.00531978 0.99989706 -0.24318109] [ 0. 0. 0. 1. ]] SLAMing on 2.3959200000000003 meters Centerline goodness [0,1] 0.21065294018911207 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.05, Z:-0.24 [[ 0.99988403 0.00173783 0.01512961 1.46526268] [-0.00182915 0.99998019 0.00602352 -0.05294766] [-0.01511885 -0.00605049 0.9998674 -0.24242889] [ 0. 0. 0. 1. ]] SLAMing on 2.42592 meters Centerline goodness [0,1] 0.20711436170212771 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:-0.25 [[ 0.99990619 0.00213431 0.01352966 1.47631949] [-0.00221218 0.99998106 0.00574297 -0.04886822] [-0.01351715 -0.00577237 0.99989198 -0.25382213] [ 0. 0. 0. 1. ]] SLAMing on 2.45592 meters Centerline goodness [0,1] 0.20878321678321676 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.04, Z:-0.25 [[ 0.99995005 0.00290719 0.00956257 1.52539837] [-0.00294791 0.99998664 0.00424687 -0.03853251] [-0.0095501 -0.00427485 0.99994526 -0.25178731] [ 0. 0. 0. 1. ]] SLAMing on 2.48592 meters Centerline goodness [0,1] 0.20481194690265492 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.03, Z:-0.26 [[ 0.99996383 0.00308945 0.00792428 1.53661347] [-0.00311783 0.99998876 0.00357205 -0.03364498] [-0.00791316 -0.00359663 0.99996222 -0.26295287] [ 0. 0. 0. 1. ]] SLAMing on 2.51592 meters Centerline goodness [0,1] 0.17354689564068693 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.03, Z:-0.27 [[ 0.99997453 0.00341583 0.00626709 1.54793638] [-0.00343326 0.99999026 0.00277312 -0.02735296] [-0.00625756 -0.00279457 0.99997652 -0.27432395] [ 0. 0. 0. 1. ]] SLAMing on 2.54592 meters Centerline goodness [0,1] 0.20645666648016558 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.02, Z:-0.27 [[ 0.99997479 -0.00406648 0.00582032 1.57010899] [ 0.00405049 0.999988 0.00275695 -0.01761505] [-0.00583146 -0.00273331 0.99997926 -0.27264047] [ 0. 0. 0. 1. ]] SLAMing on 2.57592 meters Centerline goodness [0,1] 0.21131607152930554 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.01, Z:-0.27 [[ 0.99997547 -0.00411352 0.00566983 1.57253618] [ 0.00410285 0.99998979 0.00189155 -0.01252094] [-0.00567756 -0.00186824 0.99998214 -0.27415504] [ 0. 0. 0. 1. ]] SLAMing on 2.6059200000000002 meters SLAMing on 2.63592 meters Centerline goodness [0,1] 0.06795521639837354 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.01, Z:-0.29 [[ 9.99873192e-01 -1.49683245e-02 5.43597096e-03 1.60941207e+00] [ 1.49663603e-02 9.99887917e-01 4.01839824e-04 -7.25194720e-03] [-5.44137655e-03 -3.20432167e-04 9.99985144e-01 -2.87211720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.66592 meters SLAMing on 2.69592 meters SLAMing on 2.72592 meters SLAMing on 2.75592 meters SLAMing on 2.78592 meters SLAMing on 2.81592 meters SLAMing on 2.84592 meters Centerline goodness [0,1] 0.1785652549697494 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:-0.29 [[ 9.99052402e-01 -4.30974553e-02 6.07512695e-03 1.71386434e+00] [ 4.30972624e-02 9.99070868e-01 1.62707564e-04 -2.87619450e-02] [-6.07649464e-03 9.92679578e-05 9.99981533e-01 -2.88888769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8759200000000003 meters Centerline goodness [0,1] 0.14827421473784785 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.04, Z:-0.29 [[ 0.99926772 -0.0380498 0.0040289 1.74299459] [ 0.03806074 0.99927185 -0.00267385 -0.03568614] [-0.00392422 0.00282524 0.99998831 -0.29078678] [ 0. 0. 0. 1. ]] SLAMing on 2.90592 meters Centerline goodness [0,1] 0.21314920444311014 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.03, Z:-0.30 [[ 0.99965434 -0.02586888 0.00468973 1.75212 ] [ 0.02590793 0.99962847 -0.00846743 -0.03283734] [-0.00446894 0.008586 0.99995315 -0.29832841] [ 0. 0. 0. 1. ]] SLAMing on 2.93592 meters Centerline goodness [0,1] 0.21412121212121216 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.29 [[ 0.99980915 -0.01916101 0.00381093 1.77505265] [ 0.01919387 0.99977722 -0.00878093 -0.04432619] [-0.00364183 0.0088524 0.99995419 -0.29467465] [ 0. 0. 0. 1. ]] SLAMing on 2.96592 meters Centerline goodness [0,1] 0.21262538290588018 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.30 [[ 0.99995774 -0.00765306 0.00509316 1.7823699 ] [ 0.00772764 0.99986078 -0.01478882 -0.04290606] [-0.00497928 0.01482755 0.99987767 -0.3012521 ] [ 0. 0. 0. 1. ]] SLAMing on 2.99592 meters Centerline goodness [0,1] 0.21303030303030301 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:-0.30 [[ 9.99951828e-01 -9.76344203e-03 1.00848746e-03 1.83185306e+00] [ 9.77545047e-03 9.99871801e-01 -1.26815593e-02 -6.14443498e-02] [-8.84542508e-04 1.26908068e-02 9.99919077e-01 -2.96718918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.02592 meters Centerline goodness [0,1] 0.21335931315837542 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.07, Z:-0.29 [[ 9.99996558e-01 -2.62323810e-03 4.03983570e-05 1.85166270e+00] [ 2.62354596e-03 9.99900827e-01 -1.38366551e-02 -6.75879301e-02] [-4.09750977e-06 1.38367134e-02 9.99904268e-01 -2.91256924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.05592 meters Centerline goodness [0,1] 0.21312477086643045 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:-0.29 [[ 9.99954899e-01 -9.32919863e-03 -1.77928996e-03 1.87926640e+00] [ 9.31839550e-03 9.99938665e-01 -5.98620167e-03 -9.17627016e-02] [ 1.83502729e-03 5.96935156e-03 9.99980500e-01 -2.90963709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.08592 meters Centerline goodness [0,1] 0.21344497027059828 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.10, Z:-0.30 [[ 0.99996561 -0.00794714 -0.00237091 1.88563372] [ 0.00794109 0.99996521 -0.00255249 -0.10346943] [ 0.00239112 0.00253358 0.99999393 -0.29634831] [ 0. 0. 0. 1. ]] SLAMing on 3.11592 meters Centerline goodness [0,1] 0.21907200399675264 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.11, Z:-0.29 [[ 9.99996205e-01 -2.61693353e-03 -8.61192994e-04 1.89937494e+00] [ 2.61137460e-03 9.99976149e-01 -6.39394470e-03 -1.07248349e-01] [ 8.77904982e-04 6.39167154e-03 9.99979188e-01 -2.86760479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1459200000000003 meters Centerline goodness [0,1] 0.21369142297809862 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.12, Z:-0.30 [[ 9.99986887e-01 -4.89769685e-03 -1.49621942e-03 1.91524333e+00] [ 4.89001948e-03 9.99975077e-01 -5.09245248e-03 -1.24995472e-01] [ 1.52112342e-03 5.08506916e-03 9.99985914e-01 -3.01952997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.17592 meters Centerline goodness [0,1] 0.2212140175219024 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.13, Z:-0.29 [[ 9.99999827e-01 5.86986895e-04 4.50658114e-05 1.92879112e+00] [-5.86565920e-04 9.99960815e-01 -8.83318921e-03 -1.28949090e-01] [-5.02490118e-05 8.83316125e-03 9.99960986e-01 -2.92545605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.20592 meters Centerline goodness [0,1] 0.21143167551907294 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.30 [[ 9.99989458e-01 4.26661369e-04 4.57187691e-03 1.93445869e+00] [-3.98729101e-04 9.99981262e-01 -6.10875517e-03 -1.44282453e-01] [-4.57439762e-03 6.10686783e-03 9.99970890e-01 -3.02218700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.23592 meters Centerline goodness [0,1] 0.2124733799817463 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.15, Z:-0.30 [[ 0.99996486 0.00767937 0.00336159 1.95350336] [-0.00765165 0.99993726 -0.00818148 -0.14735464] [-0.0034242 0.00815547 0.99996088 -0.2960051 ] [ 0. 0. 0. 1. ]] SLAMing on 3.26592 meters Centerline goodness [0,1] 0.21541489819769943 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.29 [[ 0.9999898 0.00240069 0.00382697 1.96654274] [-0.00239129 0.99999412 -0.00245727 -0.15881368] [-0.00383285 0.0024481 0.99998966 -0.28576216] [ 0. 0. 0. 1. ]] SLAMing on 3.29592 meters Centerline goodness [0,1] 0.2150807240704501 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.30 [[ 9.99990022e-01 2.48649046e-03 3.71122292e-03 1.97693269e+00] [-2.48559033e-03 9.99996880e-01 -2.47134108e-04 -1.69395980e-01] [-3.71182584e-03 2.37907063e-04 9.99993083e-01 -2.95275635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.32592 meters Centerline goodness [0,1] 0.21093181266682848 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.17, Z:-0.31 [[ 9.99993080e-01 2.55646023e-03 2.70282262e-03 1.98787938e+00] [-2.55831828e-03 9.99996493e-01 6.84215222e-04 -1.73401178e-01] [-2.70106398e-03 -6.91125167e-04 9.99996113e-01 -3.05813928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3559200000000002 meters Centerline goodness [0,1] 0.21291066982449747 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.18, Z:-0.30 [[ 9.99979707e-01 1.99878569e-03 6.04895293e-03 2.02410106e+00] [-2.00240164e-03 9.99997820e-01 5.91784632e-04 -1.81271515e-01] [-6.04775690e-03 -6.03885056e-04 9.99981530e-01 -3.00241846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38592 meters Centerline goodness [0,1] 0.2112956810631229 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.19, Z:-0.31 [[ 9.99986772e-01 1.83644256e-03 4.80444196e-03 2.03516964e+00] [-1.84486573e-03 9.99996768e-01 1.74936122e-03 -1.87666523e-01] [-4.80121383e-03 -1.75820163e-03 9.99986928e-01 -3.10245704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.41592 meters Centerline goodness [0,1] 0.6780399726044455 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.19, Z:-0.30 [[ 9.99966364e-01 -7.83610128e-04 8.16437047e-03 2.07019054e+00] [ 7.90218566e-04 9.99999363e-01 -8.06229722e-04 -1.94783101e-01] [-8.16373350e-03 8.12654241e-04 9.99966346e-01 -3.03931997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44592 meters Centerline goodness [0,1] 0.20442187033164028 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.20, Z:-0.31 [[ 0.9995226 -0.0023255 0.0308085 2.0582615 ] [ 0.00239565 0.99999462 -0.0022402 -0.19627158] [-0.03080312 0.00231294 0.9995228 -0.30552141] [ 0. 0. 0. 1. ]] SLAMing on 3.47592 meters Centerline goodness [0,1] 0.21367624810892583 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.20, Z:-0.31 [[ 9.99512856e-01 -2.54173865e-03 3.11060987e-02 2.05871941e+00] [ 2.59052987e-03 9.99995477e-01 -1.52834217e-03 -2.00549233e-01] [-3.11020733e-02 1.60817892e-03 9.99514920e-01 -3.05484004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50592 meters Centerline goodness [0,1] 0.21594281906838697 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.20, Z:-0.30 [[ 9.99500105e-01 -2.70047653e-03 3.14999652e-02 2.05913552e+00] [ 2.72713318e-03 9.99995959e-01 -8.03311436e-04 -2.04481653e-01] [-3.14976685e-02 8.88814465e-04 9.99503430e-01 -3.04957443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.53592 meters Centerline goodness [0,1] 0.21163137488815986 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.21, Z:-0.31 [[ 9.99492918e-01 -2.77207485e-03 3.17210025e-02 2.06909933e+00] [ 2.72961379e-03 9.99995320e-01 1.38180457e-03 -2.14626357e-01] [-3.17246845e-02 -1.29451780e-03 9.99495807e-01 -3.13616742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56592 meters Centerline goodness [0,1] 0.2207242609273925 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.22, Z:-0.31 [[ 9.99487846e-01 1.92925083e-03 3.19425057e-02 2.08901686e+00] [-1.83519039e-03 9.99993894e-01 -2.97373528e-03 -2.21528280e-01] [-3.19480478e-02 2.91359169e-03 9.99485284e-01 -3.10502065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.59592 meters Centerline goodness [0,1] 0.21191697483001315 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.23, Z:-0.32 [[ 9.99525197e-01 2.13955628e-03 3.07376535e-02 2.09926928e+00] [-2.08811342e-03 9.99996365e-01 -1.70561244e-03 -2.26526688e-01] [-3.07411911e-02 1.64061891e-03 9.99526031e-01 -3.20889978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62592 meters Centerline goodness [0,1] 0.2124828450384868 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.23, Z:-0.32 [[ 9.99515989e-01 1.86784072e-03 3.10531634e-02 2.09952275e+00] [-1.84359293e-03 9.99997973e-01 -8.09461000e-04 -2.31797029e-01] [-3.10546124e-02 7.51819819e-04 9.99517406e-01 -3.20377738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.65592 meters Centerline goodness [0,1] 0.20907751252578843 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.24, Z:-0.33 [[ 9.99515229e-01 1.77632069e-03 3.10829904e-02 2.10909620e+00] [-1.80588703e-03 9.99997943e-01 9.23159276e-04 -2.39516126e-01] [-3.10812866e-02 -9.78844124e-04 9.99516381e-01 -3.29335816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68592 meters Centerline goodness [0,1] 0.2141208498550038 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.24, Z:-0.33 [[ 9.99505086e-01 1.48648561e-03 3.14225122e-02 2.10922575e+00] [-1.53021059e-03 9.99997894e-01 1.36751600e-03 -2.42832237e-01] [-3.14204133e-02 -1.41492225e-03 9.99505255e-01 -3.28888682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.71592 meters Centerline goodness [0,1] 0.2095271576727017 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.24, Z:-0.33 [[ 9.99502185e-01 -3.09620442e-04 3.15481689e-02 2.11397739e+00] [ 3.10160772e-04 9.99999952e-01 -1.22334243e-05 -2.44461884e-01] [-3.15481636e-02 2.20123388e-05 9.99502233e-01 -3.33205539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74592 meters Centerline goodness [0,1] 0.2073369882188265 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.24, Z:-0.34 [[ 9.99514447e-01 -1.94914651e-03 3.10977705e-02 2.11885472e+00] [ 1.99913552e-03 9.99996759e-01 -1.57646795e-03 -2.44656477e-01] [-3.10945969e-02 1.63787115e-03 9.99515104e-01 -3.37972909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77592 meters Centerline goodness [0,1] 0.96133824647599 Centerline is valid? [False, True] Translation: X:2.12, Y:-0.25, Z:-0.34 [[ 9.99508064e-01 -2.21066922e-03 3.12848580e-02 2.11918074e+00] [ 2.24874528e-03 9.99996773e-01 -1.18194432e-03 -2.47553601e-01] [-3.12821442e-02 1.25171456e-03 9.99509810e-01 -3.37448757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80592 meters Centerline goodness [0,1] 0.9640020868355458 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.26, Z:-0.33 [[ 9.99238836e-01 -1.04457362e-03 3.89956136e-02 2.15291380e+00] [ 8.84175454e-04 9.99991080e-01 4.13025554e-03 -2.56424881e-01] [-3.89995801e-02 -4.09263277e-03 9.99230846e-01 -3.32431499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.83592 meters Centerline goodness [0,1] 0.9637910224725559 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.25, Z:-0.34 [[ 9.99326715e-01 9.09780767e-04 3.66781880e-02 2.18248959e+00] [-1.05310200e-03 9.99991886e-01 3.88840302e-03 -2.53623336e-01] [-3.66743527e-02 -3.92441089e-03 9.99319564e-01 -3.39623888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86592 meters Centerline goodness [0,1] 0.9639958852440279 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.26, Z:-0.33 [[ 0.99796593 0.00227387 0.06370898 2.21704419] [-0.00270909 0.99997358 0.00674584 -0.26034024] [-0.06369196 -0.00690471 0.99794572 -0.3286944 ] [ 0. 0. 0. 1. ]] SLAMing on 3.89592 meters Centerline goodness [0,1] 0.9634591266674267 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.26, Z:-0.33 [[ 0.99700262 0.00271608 0.07732007 2.24850249] [-0.00335898 0.99996085 0.00818594 -0.26318085] [-0.07729481 -0.00842112 0.99697272 -0.32854857] [ 0. 0. 0. 1. ]] SLAMing on 3.92592 meters Centerline goodness [0,1] 0.9626848820142261 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.26, Z:-0.33 [[ 0.99709196 0.00379881 0.076113 2.27968658] [-0.00442492 0.99995773 0.00805908 -0.26138838] [-0.07607917 -0.00837244 0.99706663 -0.3331771 ] [ 0. 0. 0. 1. ]] SLAMing on 3.95592 meters Centerline goodness [0,1] 0.9609614633874296 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.27, Z:-0.33 [[ 0.99594046 0.00636628 0.08978906 2.3115526 ] [-0.00724803 0.99992863 0.00949762 -0.26584166] [-0.08972219 -0.01010986 0.99591552 -0.33220803] [ 0. 0. 0. 1. ]] SLAMing on 3.98592 meters Centerline goodness [0,1] 0.9645334526739763 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.27, Z:-0.33 [[ 0.99442635 0.0081149 0.10512082 2.34470999] [-0.00933515 0.99989458 0.01112125 -0.27203527] [-0.10501949 -0.01204059 0.99439727 -0.33080076] [ 0. 0. 0. 1. ]] SLAMing on 4.0159199999999995 meters Centerline goodness [0,1] 0.9650105356548742 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.27, Z:-0.35 [[ 0.99577682 0.01485611 0.09059704 2.3742823 ] [-0.01578832 0.99982945 0.00958168 -0.27491155] [-0.09043924 -0.01097159 0.99584154 -0.34503388] [ 0. 0. 0. 1. ]] SLAMing on 4.04592 meters Centerline goodness [0,1] 0.9627448822364076 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.27, Z:-0.35 [[ 0.99551927 0.0167521 0.09306318 2.40596269] [-0.01774637 0.99979384 0.00986653 -0.2730346 ] [-0.09287871 -0.01147386 0.99561132 -0.34989285] [ 0. 0. 0. 1. ]] SLAMing on 4.07592 meters Centerline goodness [0,1] 0.9530743447442167 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.27, Z:-0.35 [[ 0.99468354 0.01715331 0.10154027 2.43743411] [-0.01833261 0.99977477 0.01069236 -0.27422973] [-0.10133399 -0.01249701 0.99477397 -0.35240254] [ 0. 0. 0. 1. ]] SLAMing on 4.10592 meters Centerline goodness [0,1] 0.9478935097326899 Centerline is valid? [True, False] Translation: X:2.45, Y:-0.27, Z:-0.35 [[ 0.99437598 0.02238843 0.10351413 2.4538635 ] [-0.02283989 0.99973408 0.00317799 -0.26798751] [-0.10341545 -0.00552437 0.99462291 -0.34967072] [ 0. 0. 0. 1. ]] SLAMing on 4.13592 meters Centerline goodness [0,1] 0.9401488191523779 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.27, Z:-0.35 [[ 0.99458429 0.01469251 0.10288939 2.47393346] [-0.0151855 0.99987665 0.00400973 -0.26876469] [-0.10281779 -0.00555044 0.99468472 -0.35066171] [ 0. 0. 0. 1. ]] SLAMing on 4.16592 meters Centerline goodness [0,1] 0.9500159863583075 Centerline is valid? [False, True] Translation: X:2.50, Y:-0.27, Z:-0.35 [[ 0.99463186 0.00609832 0.10329702 2.49509548] [-0.00650793 0.99997224 0.00362883 -0.26753812] [-0.10327202 -0.0042816 0.99464394 -0.35315973] [ 0. 0. 0. 1. ]] SLAMing on 4.19592 meters Centerline goodness [0,1] 0.9650082302341634 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.27, Z:-0.36 [[ 9.94365687e-01 5.90485571e-04 1.06002508e-01 2.52619348e+00] [-1.91784975e-03 9.99921023e-01 1.24205085e-02 -2.69095030e-01] [-1.05986802e-01 -1.25538243e-02 9.94288288e-01 -3.57193105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22592 meters Centerline goodness [0,1] 0.9669622123706988 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.27, Z:-0.36 [[ 9.94189021e-01 -3.61168010e-03 1.07587850e-01 2.55688598e+00] [ 2.26924586e-03 9.99918075e-01 1.25973787e-02 -2.66530327e-01] [-1.07624534e-01 -1.22800323e-02 9.94115768e-01 -3.60460963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.25592 meters Centerline goodness [0,1] 0.9793765989662194 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.26, Z:-0.37 [[ 0.99319207 -0.01046997 0.11601679 2.58789872] [ 0.00895379 0.99986767 0.01358202 -0.26489267] [-0.11614364 -0.01245077 0.99315439 -0.36538847] [ 0. 0. 0. 1. ]] SLAMing on 4.28592 meters Centerline goodness [0,1] 0.9797001873828857 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.26, Z:-0.37 [[ 0.992352 -0.01346321 0.12270395 2.61846123] [ 0.01178914 0.9998274 0.01435907 -0.26389904] [-0.12287609 -0.01280267 0.99233944 -0.3702268 ] [ 0. 0. 0. 1. ]] SLAMing on 4.31592 meters Centerline goodness [0,1] 0.9844937358800575 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.26, Z:-0.37 [[ 0.99191099 -0.01761301 0.12570746 2.64972213] [ 0.01588956 0.99976569 0.01469962 -0.26272737] [-0.12593691 -0.01258328 0.99195844 -0.37311509] [ 0. 0. 0. 1. ]] SLAMing on 4.3459200000000004 meters Centerline goodness [0,1] 0.9856601454470961 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.26, Z:-0.38 [[ 0.99196895 -0.01911288 0.1250292 2.68216379] [ 0.01741971 0.99974135 0.01462153 -0.26058561] [-0.12527632 -0.01232613 0.99204532 -0.37685607] [ 0. 0. 0. 1. ]] SLAMing on 4.37592 meters Centerline goodness [0,1] 0.9886375216549476 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.26, Z:-0.38 [[ 0.9915361 -0.02096924 0.12812673 2.7132544 ] [ 0.01920867 0.99970355 0.01496125 -0.26016354] [-0.12840247 -0.01237347 0.99164495 -0.38213794] [ 0. 0. 0. 1. ]] SLAMing on 4.40592 meters Centerline goodness [0,1] 0.9908041279247982 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.26, Z:-0.39 [[ 0.99046898 -0.02224511 0.13592778 2.74419096] [ 0.02027442 0.99966856 0.01586544 -0.25856722] [-0.13623566 -0.01295837 0.99059171 -0.38863981] [ 0. 0. 0. 1. ]] SLAMing on 4.43592 meters Centerline goodness [0,1] 0.9909058578468729 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.26, Z:-0.39 [[ 0.98973618 -0.02233068 0.14115113 2.77558175] [ 0.02020644 0.99966025 0.01646494 -0.25913397] [-0.14147085 -0.01344378 0.98985113 -0.39419375] [ 0. 0. 0. 1. ]] SLAMing on 4.46592 meters Centerline goodness [0,1] 0.9914895759895256 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.27, Z:-0.40 [[ 0.98891384 -0.02247726 0.1467794 2.8085213 ] [ 0.02018172 0.99964991 0.01711009 -0.2660493 ] [-0.14711261 -0.01395814 0.98902126 -0.39716268] [ 0. 0. 0. 1. ]] SLAMing on 4.49592 meters Centerline goodness [0,1] 0.9894489448944894 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.27, Z:-0.40 [[ 0.98964181 -0.02251914 0.14178143 2.84016376] [ 0.02037898 0.99965569 0.01652891 -0.26577987] [-0.14210483 -0.01346834 0.98975998 -0.40135562] [ 0. 0. 0. 1. ]] SLAMing on 4.52592 meters Centerline goodness [0,1] 0.9912912912912913 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.27, Z:-0.41 [[ 0.98862135 -0.0256111 0.14822918 2.87155152] [ 0.02331375 0.99957996 0.01721573 -0.26870406] [-0.14860783 -0.01356406 0.98880318 -0.40879259] [ 0. 0. 0. 1. ]] SLAMing on 4.55592 meters Centerline goodness [0,1] 0.9945742275810098 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.27, Z:-0.42 [[ 0.98833785 -0.02610764 0.15002229 2.90250732] [ 0.02376151 0.99956605 0.0174101 -0.26723095] [-0.15041173 -0.01364231 0.98852931 -0.41639032] [ 0. 0. 0. 1. ]] SLAMing on 4.58592 meters Centerline goodness [0,1] 0.9943542343242568 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.28, Z:-0.42 [[ 0.98714211 -0.02818792 0.15734006 2.93432708] [ 0.0256334 0.99950496 0.01824171 -0.27642269] [-0.15777636 -0.013974 0.98737599 -0.4221311 ] [ 0. 0. 0. 1. ]] SLAMing on 4.61592 meters Centerline goodness [0,1] 0.9939896681899464 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.28, Z:-0.43 [[ 0.98628233 -0.02740291 0.16277666 2.96576542] [ 0.02466522 0.99951867 0.01881622 -0.27766007] [-0.16321393 -0.01454318 0.98648351 -0.42934869] [ 0. 0. 0. 1. ]] SLAMing on 4.64592 meters Centerline goodness [0,1] 0.9939896681899464 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.27, Z:-0.44 [[ 0.9862932 -0.02696651 0.16278369 2.99743785] [ 0.02423296 0.99953039 0.01875522 -0.27365829] [-0.16321301 -0.01455341 0.98648351 -0.43540094] [ 0. 0. 0. 1. ]] SLAMing on 4.67592 meters Centerline goodness [0,1] 0.9920138888888889 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.28, Z:-0.44 [[ 0.98602746 -0.02505039 0.16468858 3.02916877] [ 0.02223882 0.99957413 0.01889406 -0.27533007] [-0.16509175 -0.01496759 0.98616463 -0.44128255] [ 0. 0. 0. 1. ]] SLAMing on 4.70592 meters Centerline goodness [0,1] 0.9852409489376455 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.29, Z:-0.45 [[ 0.98556757 -0.02333254 0.16766683 3.06170727] [ 0.02039495 0.99960722 0.0192213 -0.28561615] [-0.16804945 -0.01552433 0.98565632 -0.4485369 ] [ 0. 0. 0. 1. ]] SLAMing on 4.73592 meters Centerline goodness [0,1] 0.9857468078788478 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.29, Z:-0.45 [[ 0.98543923 -0.02313358 0.16844692 3.09332439] [ 0.02017663 0.99961119 0.01924489 -0.28853948] [-0.16882663 -0.01556598 0.98552284 -0.45440509] [ 0. 0. 0. 1. ]] SLAMing on 4.76592 meters Centerline goodness [0,1] 0.9872302514353594 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.30, Z:-0.46 [[ 0.98492313 -0.02433005 0.17127309 3.1250318 ] [ 0.02130118 0.99958291 0.01950031 -0.29708172] [-0.1716761 -0.01555799 0.98503059 -0.46037131] [ 0. 0. 0. 1. ]] SLAMing on 4.79592 meters Centerline goodness [0,1] 0.9832954433132352 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.30, Z:-0.47 [[ 0.98434949 -0.02237665 0.17480091 3.15671775] [ 0.01919842 0.99961859 0.01985206 -0.30095953] [-0.17517846 -0.01618546 0.98440365 -0.46587068] [ 0. 0. 0. 1. ]] SLAMing on 4.82592 meters Centerline goodness [0,1] 0.9775414296314617 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.31, Z:-0.47 [[ 0.98376558 -0.01617141 0.17872823 3.1889652 ] [ 0.01275785 0.99971391 0.0202321 -0.30817467] [-0.17900427 -0.01762346 0.98369044 -0.47081504] [ 0. 0. 0. 1. ]] SLAMing on 4.85592 meters Centerline goodness [0,1] 0.9722194711300386 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.31, Z:-0.48 [[ 0.98383482 -0.01149183 0.17870924 3.22066747] [ 0.00800573 0.99976358 0.02021601 -0.30910883] [-0.17889931 -0.01845852 0.98369422 -0.47634037] [ 0. 0. 0. 1. ]] SLAMing on 4.88592 meters Centerline goodness [0,1] 0.971712158808933 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.31, Z:-0.48 [[ 0.98400751 -0.0068369 0.17799572 3.25199398] [ 0.00331544 0.999793 0.02007393 -0.30628827] [-0.17809611 -0.01916276 0.98382649 -0.48117009] [ 0. 0. 0. 1. ]] SLAMing on 4.91592 meters Centerline goodness [0,1] 0.9611607142857143 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.31, Z:-0.49 [[ 9.84031081e-01 2.25194816e-03 1.77982472e-01 3.28375099e+00] [-5.91474001e-03 9.99781451e-01 2.00515925e-02 -3.06263523e-01] [-1.77898419e-01 -2.07841103e-02 9.83829342e-01 -4.86315096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.94592 meters Centerline goodness [0,1] 0.9707407038181637 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.30, Z:-0.49 [[ 0.98366256 0.00609949 0.17991875 3.31449164] [-0.00990376 0.99974582 0.02025371 -0.29930821] [-0.17974948 -0.02170469 0.98347294 -0.49195852] [ 0. 0. 0. 1. ]] SLAMing on 4.97592 meters Centerline goodness [0,1] 0.9527967666284117 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.30, Z:-0.50 [[ 0.98231635 0.01506825 0.18662135 3.34549247] [-0.01932076 0.999593 0.02098893 -0.29846259] [-0.18622913 -0.02422343 0.98220768 -0.49807342] [ 0. 0. 0. 1. ]] SLAMing on 5.00592 meters Centerline goodness [0,1] 0.9181845179172441 Centerline is valid? [True, False] Translation: X:3.36, Y:-0.29, Z:-0.51 [[ 0.98473187 0.02421989 0.17238484 3.36136089] [-0.02633553 0.99960318 0.00999595 -0.28662742] [-0.17207433 -0.01438318 0.98497896 -0.50512027] [ 0. 0. 0. 1. ]] SLAMing on 5.03592 meters Centerline goodness [0,1] 0.9137828458106099 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.27, Z:-0.51 [[ 0.98613281 0.03144387 0.16295202 3.38996317] [-0.03263805 0.99945639 0.00465583 -0.27268017] [-0.16271704 -0.0099097 0.98662301 -0.51254076] [ 0. 0. 0. 1. ]] SLAMing on 5.06592 meters Centerline goodness [0,1] 0.9283864541832669 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.27, Z:-0.51 [[ 0.98621975 0.03137291 0.16243875 3.39139467] [-0.03236696 0.99947001 0.00347609 -0.26846699] [-0.1622436 -0.00868584 0.98671251 -0.51496984] [ 0. 0. 0. 1. ]] SLAMing on 5.09592 meters Centerline goodness [0,1] 0.9291165760462912 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.26, Z:-0.52 [[ 9.86362964e-01 3.12133066e-02 1.61597752e-01 3.39394220e+00] [-3.18608061e-02 9.99491312e-01 1.41642042e-03 -2.60956967e-01] [-1.61471338e-01 -6.54573927e-03 9.86855694e-01 -5.18645225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12592 meters Centerline goodness [0,1] 0.9140617247196586 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.26, Z:-0.52 [[ 9.86377670e-01 3.12626564e-02 1.61498417e-01 3.39438056e+00] [-3.18115261e-02 9.99493554e-01 8.13354469e-04 -2.58333322e-01] [-1.61391199e-01 -5.93978580e-03 9.86872636e-01 -5.19004062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.15592 meters Centerline goodness [0,1] 0.9431324579359928 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.26, Z:-0.52 [[ 9.86396599e-01 3.12029710e-02 1.61394315e-01 3.39480646e+00] [-3.16984500e-02 9.99497355e-01 4.95409735e-04 -2.57038421e-01] [-1.61297733e-01 -5.60462011e-03 9.86889877e-01 -5.18779633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.18592 meters Centerline goodness [0,1] 0.9366843646107279 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.26, Z:-0.52 [[ 9.86407780e-01 3.10955434e-02 1.61346705e-01 3.39524012e+00] [-3.15368984e-02 9.99502573e-01 1.74570250e-04 -2.55876232e-01] [-1.61261018e-01 -5.26057209e-03 9.86897771e-01 -5.18256524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.21592 meters Centerline goodness [0,1] 0.9322722990728345 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.25, Z:-0.52 [[ 9.86426694e-01 3.11277748e-02 1.61224807e-01 3.39562279e+00] [-3.15271084e-02 9.99502894e-01 -8.13747902e-05 -2.54665687e-01] [-1.61147194e-01 -5.00268170e-03 9.86917704e-01 -5.18314103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24592 meters Centerline goodness [0,1] 0.9401717888883372 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.25, Z:-0.52 [[ 9.86609623e-01 3.07496006e-02 1.60174635e-01 3.39853062e+00] [-3.09370621e-02 9.99520458e-01 -1.32387812e-03 -2.50950200e-01] [-1.60138533e-01 -3.64918174e-03 9.87087804e-01 -5.20796260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.27592 meters Centerline goodness [0,1] 0.9503669178897263 Centerline is valid? [False, True] Translation: X:3.40, Y:-0.25, Z:-0.52 [[ 9.86644608e-01 3.07150414e-02 1.59965630e-01 3.39911815e+00] [-3.08921949e-02 9.99521770e-01 -1.37989011e-03 -2.50758073e-01] [-1.59931513e-01 -3.58022829e-03 9.87121620e-01 -5.21126578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3059199999999995 meters Centerline goodness [0,1] 0.9469325001239894 Centerline is valid? [True, False] Translation: X:3.40, Y:-0.25, Z:-0.52 [[ 9.86686741e-01 3.06304841e-02 1.59721788e-01 3.39976418e+00] [-3.07798387e-02 9.99525003e-01 -1.53940207e-03 -2.50365480e-01] [-1.59693073e-01 -3.39730325e-03 9.87160869e-01 -5.21677456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.33592 meters Centerline goodness [0,1] 0.9552859618717504 Centerline is valid? [False, True] Translation: X:3.40, Y:-0.25, Z:-0.52 [[ 9.86699515e-01 3.06611529e-02 1.59636968e-01 3.40010679e+00] [-3.07048274e-02 9.99526088e-01 -2.19362651e-03 -2.47553852e-01] [-1.59628573e-01 -2.73717534e-03 9.87173352e-01 -5.21980697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36592 meters Centerline goodness [0,1] 0.9551912568306011 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.26, Z:-0.52 [[ 0.98690793 0.02941074 0.15858043 3.43423861] [-0.0324567 0.99933442 0.01665158 -0.25683635] [-0.15798515 -0.02158057 0.98720564 -0.51738513] [ 0. 0. 0. 1. ]] SLAMing on 5.39592 meters Centerline goodness [0,1] 0.9700899289511601 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.25, Z:-0.52 [[ 0.98689982 0.0291954 0.15867066 3.4657281 ] [-0.03224008 0.99934149 0.01664805 -0.24914422] [-0.15808013 -0.02154552 0.9871912 -0.52186631] [ 0. 0. 0. 1. ]] SLAMing on 5.42592 meters Centerline goodness [0,1] 0.9538759113227199 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.25, Z:-0.53 [[ 0.98732011 0.02788551 0.15627345 3.49649608] [-0.03081863 0.99939081 0.01637726 -0.24653257] [-0.15572156 -0.02098573 0.98757804 -0.52623268] [ 0. 0. 0. 1. ]] SLAMing on 5.45592 meters Centerline goodness [0,1] 0.9662664946919337 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.23, Z:-0.53 [[ 0.98760309 0.02309094 0.15526409 3.52603633] [-0.02592158 0.9995322 0.01623103 -0.23480565] [-0.15481667 -0.02005451 0.98773965 -0.53303987] [ 0. 0. 0. 1. ]] SLAMing on 5.48592 meters Centerline goodness [0,1] 0.9825164375373581 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.22, Z:-0.54 [[ 0.98762238 0.01988084 0.15558531 3.55657776] [-0.0226822 0.99961064 0.01625053 -0.22475867] [-0.15520166 -0.01957841 0.98768878 -0.53829726] [ 0. 0. 0. 1. ]] SLAMing on 5.51592 meters Centerline goodness [0,1] 0.9799960388195682 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.22, Z:-0.54 [[ 0.98725948 0.0129279 0.15859252 3.58780841] [-0.01574948 0.99973903 0.01654744 -0.22394909] [-0.1583372 -0.01883437 0.98720545 -0.54467467] [ 0. 0. 0. 1. ]] SLAMing on 5.54592 meters Centerline goodness [0,1] 0.9796322909955895 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.22, Z:-0.55 [[ 0.98724235 0.0093537 0.15894987 3.61824324] [-0.01213965 0.99978909 0.01656526 -0.21905495] [-0.1587614 -0.01828352 0.98714768 -0.55002372] [ 0. 0. 0. 1. ]] SLAMing on 5.57592 meters Centerline goodness [0,1] 0.9799159040316596 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.22, Z:-0.56 [[ 0.98725238 0.00651474 0.15902926 3.64925331] [-0.0092595 0.99982058 0.0165246 -0.2154277 ] [-0.15889307 -0.01778648 0.98713557 -0.55500895] [ 0. 0. 0. 1. ]] SLAMing on 5.60592 meters Centerline goodness [0,1] 0.9894721233689205 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.21, Z:-0.56 [[ 9.87480204e-01 3.00301576e-03 1.57714390e-01 3.67999859e+00] [-5.65019793e-03 9.99850545e-01 1.63389761e-02 -2.13091994e-01] [-1.57641753e-01 -1.70255330e-02 9.87349588e-01 -5.58905297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63592 meters Centerline goodness [0,1] 0.9912540764897717 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.21, Z:-0.56 [[ 9.87626940e-01 2.86634244e-03 1.56795445e-01 3.71178588e+00] [-5.47849483e-03 9.99853276e-01 1.62299817e-02 -2.12601273e-01] [-1.56725919e-01 -1.68881702e-02 9.87497735e-01 -5.63467645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66592 meters Centerline goodness [0,1] 0.9880156489872728 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.21, Z:-0.57 [[ 0.98734323 0.00715372 0.15843666 3.74315481] [-0.00986666 0.99981776 0.01634321 -0.21280984] [-0.15829087 -0.0176996 0.98723388 -0.56781597] [ 0. 0. 0. 1. ]] SLAMing on 5.69592 meters Centerline goodness [0,1] 0.9891886530450308 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.21, Z:-0.57 [[ 0.98722349 0.01189377 0.15889718 3.77440361] [-0.0146812 0.99975805 0.01638001 -0.21013987] [-0.15866391 -0.01850353 0.98715925 -0.57175632] [ 0. 0. 0. 1. ]] SLAMing on 5.72592 meters Centerline goodness [0,1] 0.9833465503568596 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.21, Z:-0.58 [[ 0.98689615 0.01590128 0.1605713 3.80613105] [-0.01879803 0.99968653 0.01653728 -0.21042675] [-0.160258 -0.019339 0.9868857 -0.57634477] [ 0. 0. 0. 1. ]] SLAMing on 5.75592 meters Centerline goodness [0,1] 0.9792423714470606 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.21, Z:-0.58 [[ 0.98711484 0.02447735 0.1581302 3.83727227] [-0.02739128 0.99949231 0.01627403 -0.20787028] [-0.15765157 -0.02039572 0.98728415 -0.58040939] [ 0. 0. 0. 1. ]] SLAMing on 5.78592 meters Centerline goodness [0,1] 0.9722898147688335 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.20, Z:-0.58 [[ 0.98721633 0.02812355 0.15688524 3.86802202] [-0.03102849 0.99938886 0.01609756 -0.20288256] [-0.15633664 -0.02075968 0.98748564 -0.58483106] [ 0. 0. 0. 1. ]] SLAMing on 5.81592 meters Centerline goodness [0,1] 0.9677355009225552 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.20, Z:-0.59 [[ 0.98678357 0.03365803 0.15850972 3.89897727] [-0.03668663 0.9991952 0.01621871 -0.19636161] [-0.15783626 -0.02181954 0.9872242 -0.58937069] [ 0. 0. 0. 1. ]] SLAMing on 5.84592 meters Centerline goodness [0,1] 0.938762344300531 Centerline is valid? [True, False] Translation: X:3.92, Y:-0.18, Z:-0.59 [[ 0.98950602 0.03686991 0.13970844 3.92280822] [-0.03796267 0.99926582 0.00516394 -0.18453384] [-0.13941548 -0.01041346 0.99017922 -0.59331249] [ 0. 0. 0. 1. ]] SLAMing on 5.87592 meters Centerline goodness [0,1] 0.9146541036449294 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.17, Z:-0.59 [[ 9.89495710e-01 3.73112913e-02 1.39664266e-01 3.92308892e+00] [-3.80980830e-02 9.99269611e-01 2.96317816e-03 -1.74229246e-01] [-1.39451697e-01 -8.25299288e-03 9.90194482e-01 -5.94659336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90592 meters Centerline goodness [0,1] 0.9445937873357229 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.17, Z:-0.60 [[ 9.89535489e-01 3.74842636e-02 1.39335728e-01 3.92397186e+00] [-3.80841473e-02 9.99273189e-01 1.64061148e-03 -1.68061158e-01] [-1.39172960e-01 -6.92992567e-03 9.90243840e-01 -5.95913311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.93592 meters Centerline goodness [0,1] 0.9075342465753424 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.16, Z:-0.60 [[ 9.89558857e-01 3.76657429e-02 1.39120669e-01 3.92467646e+00] [-3.80910972e-02 9.99274193e-01 3.95180872e-04 -1.62313719e-01] [-1.39004809e-01 -5.69031364e-03 9.90275357e-01 -5.97012386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96592 meters Centerline goodness [0,1] 0.9087105931570297 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.15, Z:-0.60 [[ 9.91829524e-01 3.51668494e-02 1.22627437e-01 3.94849644e+00] [-3.55493173e-02 9.99367489e-01 9.31736269e-04 -1.52606570e-01] [-1.22517108e-01 -5.28344522e-03 9.92452338e-01 -6.00788930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.99592 meters Centerline goodness [0,1] 0.9097404852875502 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.15, Z:-0.60 [[ 9.93471742e-01 3.54706860e-02 1.08423833e-01 3.96106317e+00] [-3.58090730e-02 9.99357959e-01 1.17492478e-03 -1.47386779e-01] [-1.08312545e-01 -5.04981151e-03 9.94104065e-01 -6.02848462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02592 meters Centerline goodness [0,1] 0.9180466457804963 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.13, Z:-0.61 [[ 9.95544521e-01 3.02475847e-02 8.93095153e-02 3.98784493e+00] [-3.05319254e-02 9.99532137e-01 1.81904504e-03 -1.34760930e-01] [-8.92127089e-02 -4.53773178e-03 9.96002260e-01 -6.07058803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0559199999999995 meters Centerline goodness [0,1] 0.9218556189531134 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.13, Z:-0.61 [[ 9.97010783e-01 2.87308674e-02 7.17219345e-02 4.00598327e+00] [-2.89675609e-02 9.99577793e-01 2.26197832e-03 -1.31004186e-01] [-7.16266644e-02 -4.33282628e-03 9.97422101e-01 -6.08880442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08592 meters Centerline goodness [0,1] 0.9366441754316333 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.12, Z:-0.61 [[ 9.98341340e-01 2.38951012e-02 5.23793113e-02 4.03196658e+00] [-2.40825875e-02 9.99705617e-01 2.95108520e-03 -1.24205233e-01] [-5.22933752e-02 -4.20761970e-03 9.98622901e-01 -6.10038877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.11592 meters Centerline goodness [0,1] 0.9555080532909127 Centerline is valid? [False, True] Translation: X:4.06, Y:-0.12, Z:-0.61 [[ 9.99233609e-01 1.99592947e-02 3.36722720e-02 4.05615443e+00] [-2.01066379e-02 9.99789667e-01 4.04284449e-03 -1.20507384e-01] [-3.35844973e-02 -4.71678227e-03 9.99424751e-01 -6.09909721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14592 meters Centerline goodness [0,1] 0.9785401314479187 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.10, Z:-0.61 [[ 0.99923151 0.01104458 0.03760848 4.08479236] [-0.01121411 0.99992787 0.00429992 -0.09960798] [-0.03755828 -0.00471836 0.9992833 -0.61137177] [ 0. 0. 0. 1. ]] SLAMing on 6.17592 meters Centerline goodness [0,1] 0.980743394536498 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.09, Z:-0.61 [[ 0.99918878 0.00529767 0.0399215 4.11502195] [-0.00548418 0.99997455 0.00456379 -0.09286071] [-0.03989631 -0.00477902 0.9991924 -0.61321792] [ 0. 0. 0. 1. ]] SLAMing on 6.20592 meters Centerline goodness [0,1] 0.9821738914543919 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.09, Z:-0.61 [[ 9.99183061e-01 -2.24838506e-03 4.03503950e-02 4.14502805e+00] [ 2.06395342e-03 9.99987235e-01 4.61182755e-03 -8.64535839e-02] [-4.03602491e-02 -4.52477863e-03 9.99174948e-01 -6.14255665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.23592 meters Centerline goodness [0,1] 0.9976173930308746 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.07, Z:-0.62 [[ 9.98955026e-01 -1.95483118e-02 4.13124601e-02 4.17450243e+00] [ 1.93696085e-02 9.99801243e-01 4.72154420e-03 -7.10700412e-02] [-4.13965471e-02 -3.91640413e-03 9.99135120e-01 -6.18685937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26592 meters Centerline goodness [0,1] 0.9992565424266455 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.07, Z:-0.62 [[ 9.98788137e-01 -2.93327739e-02 3.95202019e-02 4.20453075e+00] [ 2.91768155e-02 9.99564058e-01 4.51741854e-03 -6.71280259e-02] [-3.96354818e-02 -3.35887041e-03 9.99208560e-01 -6.21190713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29592 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.06, Z:-0.62 [[ 9.98165040e-01 -4.55939496e-02 3.98465235e-02 4.23503901e+00] [ 4.54482783e-02 9.98956311e-01 4.55450652e-03 -6.30687214e-02] [-4.00125940e-02 -2.73519330e-03 9.99195432e-01 -6.23229297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.06, Z:-0.62 [[ 9.97561403e-01 -5.47376184e-02 4.33017257e-02 4.26613157e+00] [ 5.45741461e-02 9.98497455e-01 4.94924401e-03 -6.41270680e-02] [-4.35075727e-02 -2.57402009e-03 9.99049781e-01 -6.23581157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.06, Z:-0.62 [[ 9.97344706e-01 -5.66710656e-02 4.57376059e-02 4.29845478e+00] [ 5.64909673e-02 9.98389455e-01 5.22167986e-03 -6.25023413e-02] [-4.59598616e-02 -2.62405317e-03 9.98939841e-01 -6.24940077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.07, Z:-0.63 [[ 9.97306446e-01 -5.87533752e-02 4.39077944e-02 4.33024426e+00] [ 5.85899757e-02 9.98269609e-01 5.00021773e-03 -6.80810182e-02] [-4.41255964e-02 -2.41419277e-03 9.99023075e-01 -6.26547896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.41592 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.07, Z:-0.63 [[ 9.97312081e-01 -5.92132177e-02 4.31556256e-02 4.36246615e+00] [ 5.90560961e-02 9.98242601e-01 4.90778188e-03 -6.85124646e-02] [-4.33703895e-02 -2.34598739e-03 9.99056308e-01 -6.27330111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.97240308e-01 -6.01042480e-02 4.35803626e-02 4.39488403e+00] [ 5.99456431e-02 9.98189427e-01 4.93830913e-03 -6.93444596e-02] [-4.37982706e-02 -2.31222805e-03 9.99037720e-01 -6.29622356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47592 meters Centerline goodness [0,1] 0.9999505366770539 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.07, Z:-0.63 [[ 9.97173154e-01 -6.10920365e-02 4.37431657e-02 4.42801071e+00] [ 6.09339791e-02 9.98129580e-01 4.93884173e-03 -7.47203042e-02] [-4.39630715e-02 -2.25943525e-03 9.99030602e-01 -6.29844273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50592 meters Centerline goodness [0,1] 0.9999505366770539 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.07, Z:-0.63 [[ 9.97200854e-01 -6.06367221e-02 4.37452281e-02 4.46016904e+00] [ 6.04790298e-02 9.98157340e-01 4.92051600e-03 -7.07688904e-02] [-4.39629845e-02 -2.26107380e-03 9.99030602e-01 -6.30850884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.07, Z:-0.63 [[ 9.97209904e-01 -6.01313215e-02 4.42338279e-02 4.49347355e+00] [ 5.99705047e-02 9.98187852e-01 4.95488211e-03 -7.07715635e-02] [-4.44516132e-02 -2.28833253e-03 9.99008918e-01 -6.31457443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.07, Z:-0.63 [[ 9.97236079e-01 -5.98222749e-02 4.40624454e-02 4.52685239e+00] [ 5.96633029e-02 9.98206456e-01 4.91536043e-03 -7.05200660e-02] [-4.42774655e-02 -2.27286374e-03 9.99016687e-01 -6.31924541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.08, Z:-0.63 [[ 9.97445839e-01 -5.76724220e-02 4.21389428e-02 4.56012594e+00] [ 5.75258987e-02 9.98333033e-01 4.68250350e-03 -7.72725227e-02] [-4.23387499e-02 -2.24646308e-03 9.99100788e-01 -6.32915217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62592 meters Centerline goodness [0,1] 0.9999012686972405 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.08, Z:-0.63 [[ 9.97479909e-01 -5.70564214e-02 4.21710254e-02 4.59428302e+00] [ 5.69098798e-02 9.98368405e-01 4.66829247e-03 -8.31711289e-02] [-4.23685755e-02 -2.25657996e-03 9.99099500e-01 -6.34906310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.08, Z:-0.64 [[ 9.97545249e-01 -5.65077571e-02 4.13563634e-02 4.62723672e+00] [ 5.63671348e-02 9.98399699e-01 4.55939960e-03 -8.43827242e-02] [-4.15478222e-02 -2.21706770e-03 9.99134057e-01 -6.36002031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68592 meters Centerline goodness [0,1] 0.9999505611311613 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.09, Z:-0.64 [[ 9.97560442e-01 -5.60554800e-02 4.16046526e-02 4.66039664e+00] [ 5.59135780e-02 9.98425165e-01 4.56747590e-03 -8.60495624e-02] [-4.17951642e-02 -2.23006830e-03 9.99123712e-01 -6.37860500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.09, Z:-0.64 [[ 9.97592441e-01 -5.53242023e-02 4.18157185e-02 4.69361170e+00] [ 5.51810344e-02 9.98465902e-01 4.57116937e-03 -9.11064321e-02] [-4.20044654e-02 -2.25272941e-03 9.99114883e-01 -6.39129447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74592 meters Centerline goodness [0,1] 0.9999506221607742 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.09, Z:-0.64 [[ 9.97610383e-01 -5.49438336e-02 4.18891184e-02 4.72633545e+00] [ 5.48006457e-02 9.98486904e-01 4.55977989e-03 -9.12670810e-02] [-4.20762680e-02 -2.25333303e-03 9.99111861e-01 -6.39988441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.10, Z:-0.64 [[ 9.97776572e-01 -5.36705830e-02 3.95143229e-02 4.75887674e+00] [ 5.35428601e-02 9.98556361e-01 4.28428581e-03 -9.60476253e-02] [-3.96872187e-02 -2.15905014e-03 9.99209819e-01 -6.40413340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8059199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.10, Z:-0.64 [[ 9.97875071e-01 -5.22457146e-02 3.89323457e-02 4.79140544e+00] [ 5.21212527e-02 9.98631908e-01 4.20572939e-03 -9.86835201e-02] [-3.90988140e-02 -2.16758989e-03 9.99232998e-01 -6.42276037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.10, Z:-0.64 [[ 9.98085926e-01 -4.95354095e-02 3.70233357e-02 4.82403533e+00] [ 4.94214676e-02 9.98770055e-01 3.98700975e-03 -1.04454130e-01] [-3.71752972e-02 -2.14963074e-03 9.99306448e-01 -6.43015812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86592 meters Centerline goodness [0,1] 0.9999009557767543 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.10, Z:-0.64 [[ 9.98076246e-01 -4.88772547e-02 3.81421077e-02 4.85655367e+00] [ 4.87560188e-02 9.98802292e-01 4.10280921e-03 -1.02765303e-01] [-3.82969586e-02 -2.23525909e-03 9.99263902e-01 -6.44458653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89592 meters Centerline goodness [0,1] 0.9999011369253584 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.10, Z:-0.65 [[ 9.98130865e-01 -4.72913138e-02 3.87079908e-02 4.88826228e+00] [ 4.71655621e-02 9.98878440e-01 4.15600250e-03 -1.01824244e-01] [-3.88611202e-02 -2.32255023e-03 9.99241922e-01 -6.45881982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92592 meters Centerline goodness [0,1] 0.9997536460386283 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.11, Z:-0.65 [[ 9.98129920e-01 -4.69321592e-02 3.91667626e-02 4.92211402e+00] [ 4.68037792e-02 9.98895320e-01 4.18880070e-03 -1.09272665e-01] [-3.93200853e-02 -2.34781479e-03 9.99223908e-01 -6.46400039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95592 meters Centerline goodness [0,1] 0.9999506562715879 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.11, Z:-0.65 [[ 9.98162185e-01 -4.65242899e-02 3.88296744e-02 4.95557627e+00] [ 4.63984950e-02 9.98914451e-01 4.13504304e-03 -1.12093190e-01] [-3.89799028e-02 -2.32580514e-03 9.99237288e-01 -6.46888992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.12, Z:-0.65 [[ 9.97969253e-01 -4.91465429e-02 4.05214386e-02 4.98827642e+00] [ 4.90123131e-02 9.98788918e-01 4.29996920e-03 -1.17564036e-01] [-4.06836924e-02 -2.30518761e-03 9.99169417e-01 -6.46884357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0159199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.12, Z:-0.65 [[ 9.97886873e-01 -5.02852051e-02 4.11483527e-02 5.02017126e+00] [ 5.01480292e-02 9.98732280e-01 4.35977391e-03 -1.17707372e-01] [-4.13154202e-02 -2.28705236e-03 9.99143536e-01 -6.48365313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.12, Z:-0.65 [[ 9.97694946e-01 -5.36908584e-02 4.14980243e-02 5.05172237e+00] [ 5.35548085e-02 9.98555288e-01 4.38403475e-03 -1.20896692e-01] [-4.16734542e-02 -2.15151057e-03 9.99128968e-01 -6.50513459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07592 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.12, Z:-0.65 [[ 9.97706653e-01 -5.33106886e-02 4.17061677e-02 5.08434696e+00] [ 5.31732200e-02 9.98575613e-01 4.39930567e-03 -1.22247095e-01] [-4.18812919e-02 -2.17156531e-03 9.99120234e-01 -6.51821233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10592 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.13, Z:-0.65 [[ 9.97761987e-01 -5.20629787e-02 4.19578699e-02 5.11699054e+00] [ 5.19235221e-02 9.98641338e-01 4.40742226e-03 -1.27430176e-01] [-4.21303269e-02 -2.21895801e-03 9.99109660e-01 -6.51190097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.13, Z:-0.65 [[ 9.97825737e-01 -5.01126150e-02 4.28079936e-02 5.14919304e+00] [ 4.99663895e-02 9.98740853e-01 4.47968686e-03 -1.27748213e-01] [-4.29785809e-02 -2.33098596e-03 9.99073275e-01 -6.53489082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16592 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.13, Z:-0.65 [[ 9.97900193e-01 -4.86463908e-02 4.27637023e-02 5.18146418e+00] [ 4.84998444e-02 9.98813240e-01 4.45833868e-03 -1.28161223e-01] [-4.29298341e-02 -2.37494411e-03 9.99075267e-01 -6.54843396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.13, Z:-0.66 [[ 9.97984870e-01 -4.76965559e-02 4.18477850e-02 5.21406967e+00] [ 4.75560691e-02 9.98859112e-01 4.34675236e-03 -1.28113666e-01] [-4.20073664e-02 -2.34787693e-03 9.99114542e-01 -6.55870955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2259199999999995 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.13, Z:-0.66 [[ 9.98216017e-01 -4.54479648e-02 3.87203606e-02 5.24600146e+00] [ 4.53265643e-02 9.98964183e-01 4.00787973e-03 -1.30788433e-01] [-3.88624034e-02 -2.24566882e-03 9.99242048e-01 -6.56896639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.13, Z:-0.66 [[ 9.98430805e-01 -4.29715469e-02 3.59078502e-02 5.27759892e+00] [ 4.28660006e-02 9.99073963e-01 3.70443163e-03 -1.28181887e-01] [-3.60337834e-02 -2.15939272e-03 9.99348239e-01 -6.55841376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28592 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.12, Z:-0.66 [[ 9.98542483e-01 -4.03477956e-02 3.58464224e-02 5.30949357e+00] [ 4.02413735e-02 9.99183190e-01 3.68567045e-03 -1.24465049e-01] [-3.59658513e-02 -2.23778925e-03 9.99350514e-01 -6.56837264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.31592 meters Centerline goodness [0,1] 0.9998525073746313 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.12, Z:-0.66 [[ 9.98622742e-01 -3.75651382e-02 3.66262104e-02 5.34097387e+00] [ 3.74523748e-02 9.99291339e-01 3.76025636e-03 -1.21650207e-01] [-3.67415094e-02 -2.38333896e-03 9.99321961e-01 -6.58297222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34592 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.12, Z:-0.66 [[ 9.98630795e-01 -3.53571342e-02 3.85539750e-02 5.37246791e+00] [ 3.52310250e-02 9.99371406e-01 3.94569889e-03 -1.16404337e-01] [-3.86692488e-02 -2.58200036e-03 9.99248729e-01 -6.61081782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.37592 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.11, Z:-0.66 [[ 9.98626658e-01 -3.48178361e-02 3.91473591e-02 5.40480140e+00] [ 3.46876768e-02 9.99390199e-01 3.99938646e-03 -1.10943328e-01] [-3.92627370e-02 -2.63596299e-03 9.99225445e-01 -6.62111337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40592 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.11, Z:-0.66 [[ 9.98627996e-01 -3.52646026e-02 3.87108891e-02 5.43666700e+00] [ 3.51382968e-02 9.99374698e-01 3.93854642e-03 -1.07351646e-01] [-3.88255744e-02 -2.57290801e-03 9.99242691e-01 -6.62085632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43592 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.10, Z:-0.66 [[ 9.98616899e-01 -3.62493068e-02 3.80824984e-02 5.46848785e+00] [ 3.61283322e-02 9.99339703e-01 3.86026136e-03 -1.02854458e-01] [-3.81972844e-02 -2.47906507e-03 9.99267142e-01 -6.62448557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46592 meters Centerline goodness [0,1] 0.9999016522423289 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.10, Z:-0.66 [[ 9.98576649e-01 -3.77422835e-02 3.76854955e-02 5.50027117e+00] [ 3.76254164e-02 9.99284666e-01 3.80578650e-03 -9.72734018e-02] [-3.78021768e-02 -2.38243707e-03 9.99282402e-01 -6.62598772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49592 meters Centerline goodness [0,1] 0.9998524348253812 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.09, Z:-0.66 [[ 9.98585761e-01 -3.59817324e-02 3.91381255e-02 5.53148892e+00] [ 3.58549283e-02 9.99349249e-01 3.93724552e-03 -9.37258419e-02] [-3.92543253e-02 -2.52838263e-03 9.99226053e-01 -6.64449840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52592 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.09, Z:-0.67 [[ 9.98623413e-01 -3.42981275e-02 3.96852383e-02 5.56300152e+00] [ 3.41670071e-02 9.99408222e-01 3.97773441e-03 -8.96207554e-02] [-3.97981823e-02 -2.61633289e-03 9.99204313e-01 -6.65882043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5559199999999995 meters Centerline goodness [0,1] 0.9999015941743751 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.09, Z:-0.67 [[ 9.98836997e-01 -2.93288880e-02 3.82683991e-02 5.59396523e+00] [ 2.92037828e-02 9.99566163e-01 3.82418231e-03 -9.08385568e-02] [-3.83639559e-02 -2.70215276e-03 9.99260179e-01 -6.65760897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58592 meters Centerline goodness [0,1] 0.9998522313072604 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.09, Z:-0.67 [[ 9.99011643e-01 -2.43063806e-02 3.72147443e-02 5.62489698e+00] [ 2.41846422e-02 9.99700595e-01 3.71798743e-03 -8.90572362e-02] [-3.72939729e-02 -2.81428746e-03 9.99300375e-01 -6.66434836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61592 meters Centerline goodness [0,1] 0.9997536703123461 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.09, Z:-0.67 [[ 9.99069686e-01 -2.17847630e-02 3.72180900e-02 5.65624813e+00] [ 2.16612922e-02 9.99758455e-01 3.71756541e-03 -8.52383009e-02] [-3.72900864e-02 -2.90791499e-03 9.99300252e-01 -6.67993679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64592 meters Centerline goodness [0,1] 0.9997037768452234 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.08, Z:-0.67 [[ 9.99063405e-01 -1.92186544e-02 3.87679836e-02 5.68727655e+00] [ 1.90828347e-02 9.99810415e-01 3.87043674e-03 -8.41839411e-02] [-3.88350183e-02 -3.12700869e-03 9.99240743e-01 -6.70662492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67592 meters Centerline goodness [0,1] 0.9997038060917214 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.08, Z:-0.67 [[ 9.99070266e-01 -1.46953627e-02 4.05296137e-02 5.71769971e+00] [ 1.45432533e-02 9.99886058e-01 4.04534635e-03 -8.15405649e-02] [-4.05844435e-02 -3.45215282e-03 9.99170148e-01 -6.71143699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70592 meters Centerline goodness [0,1] 0.999602879126334 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.08, Z:-0.67 [[ 9.99153254e-01 -1.16819370e-02 3.94500706e-02 5.74816396e+00] [ 1.15355281e-02 9.99925714e-01 3.93684289e-03 -7.59916155e-02] [-3.94931300e-02 -3.47843198e-03 9.99213788e-01 -6.71522961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.73592 meters Centerline goodness [0,1] 0.9997510456084445 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.07, Z:-0.67 [[ 9.99364973e-01 -4.25356495e-03 3.53773550e-02 5.77910308e+00] [ 4.13128690e-03 9.99985240e-01 3.52877543e-03 -7.14820884e-02] [-3.53918427e-02 -3.38038056e-03 9.99367795e-01 -6.72071285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7659199999999995 meters Centerline goodness [0,1] 0.9987659805518535 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.07, Z:-0.67 [[ 9.99403670e-01 2.15072746e-03 3.44627098e-02 5.80991365e+00] [-2.27048320e-03 9.99991519e-01 3.43617858e-03 -7.04916627e-02] [-3.44550272e-02 -3.51237649e-03 9.99400077e-01 -6.72780525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79592 meters Centerline goodness [0,1] 0.9980743593541698 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.07, Z:-0.67 [[ 9.99321615e-01 1.45437858e-02 3.38347252e-02 5.84043941e+00] [-1.46661774e-02 9.99886760e-01 3.37195793e-03 -7.13949174e-02] [-3.37818527e-02 -3.86589652e-03 9.99421753e-01 -6.72478530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82592 meters Centerline goodness [0,1] 0.9959986168058094 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.07, Z:-0.67 [[ 9.99209224e-01 2.05809907e-02 3.40198439e-02 5.87111840e+00] [-2.07081435e-02 9.99779818e-01 3.38945922e-03 -6.97386724e-02] [-3.39425949e-02 -4.09126672e-03 9.99415410e-01 -6.71824789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.85592 meters Centerline goodness [0,1] 0.9949417307215472 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.06, Z:-0.67 [[ 9.99071122e-01 2.64196304e-02 3.40425802e-02 5.90137413e+00] [-2.65502632e-02 9.99641728e-01 3.39093932e-03 -6.23344486e-02] [-3.39407963e-02 -4.29162902e-03 9.99414631e-01 -6.71161586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88592 meters Centerline goodness [0,1] 0.9866825090351008 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.05, Z:-0.67 [[ 9.98731896e-01 3.80238882e-02 3.29967124e-02 5.93087893e+00] [-3.81528184e-02 9.99266512e-01 3.28634198e-03 -5.05513911e-02] [-3.28475502e-02 -4.54109213e-03 9.99450057e-01 -6.70859906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91592 meters Centerline goodness [0,1] 0.9565260398634947 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.05, Z:-0.67 [[ 9.98536564e-01 4.27644300e-02 3.31048831e-02 5.96150549e+00] [-4.28967381e-02 9.99074073e-01 3.29643988e-03 -4.99823206e-02] [-3.29332600e-02 -4.71170725e-03 9.99446447e-01 -6.71537411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94592 meters Centerline goodness [0,1] 0.9358898137138327 Centerline is valid? [True, False] Translation: X:5.96, Y:-0.05, Z:-0.67 [[ 0.99892612 0.03295284 0.03256862 5.96072586] [-0.03336957 0.99936695 0.01233573 -0.04947967] [-0.0321415 -0.01340929 0.99939337 -0.67245004] [ 0. 0. 0. 1. ]] SLAMing on 7.9759199999999995 meters Centerline goodness [0,1] 0.9473710342088277 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.04, Z:-0.68 [[ 9.99054790e-01 2.89971358e-02 3.23835124e-02 5.96127420e+00] [-2.92047222e-02 9.99555708e-01 5.95565458e-03 -3.98553732e-02] [-3.21964277e-02 -6.89577672e-03 9.99457772e-01 -6.75204378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00592 meters Centerline goodness [0,1] 0.9547758672100188 Centerline is valid? [False, True] Translation: X:5.96, Y:-0.03, Z:-0.68 [[ 9.99063864e-01 2.89613056e-02 3.21347041e-02 5.96214138e+00] [-2.91310165e-02 9.99563954e-01 4.82558489e-03 -3.49626350e-02] [-3.19809366e-02 -5.75718408e-03 9.99471898e-01 -6.76020400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035919999999999 meters Centerline goodness [0,1] 0.9387045499701967 Centerline is valid? [True, False] Translation: X:5.99, Y:-0.03, Z:-0.68 [[ 9.99629205e-01 2.43577716e-02 1.21717529e-02 5.98991370e+00] [-2.44277681e-02 9.99685713e-01 5.63551640e-03 -2.83930701e-02] [-1.20306589e-02 -5.93075554e-03 9.99910041e-01 -6.77968135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065919999999998 meters Centerline goodness [0,1] 0.9491887063960701 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.02, Z:-0.68 [[ 0.99987707 0.01025311 0.0118628 5.99056986] [-0.01036218 0.99990427 0.00916929 -0.02133861] [-0.01176765 -0.00929109 0.99988759 -0.68043734] [ 0. 0. 0. 1. ]] SLAMing on 8.09592 meters Centerline goodness [0,1] 0.9656850573571039 Centerline is valid? [False, True] Translation: X:6.01, Y:-0.01, Z:-0.68 [[ 9.99975308e-01 8.79046525e-04 6.97210329e-03 6.01140824e+00] [-9.11976062e-04 9.99988439e-01 4.72126988e-03 -1.40853633e-02] [-6.96787247e-03 -4.72751170e-03 9.99964549e-01 -6.78962701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125919999999999 meters Centerline goodness [0,1] 0.9611949186184994 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.00, Z:-0.68 [[ 9.99966066e-01 -1.51591598e-04 8.23672974e-03 6.04179670e+00] [ 1.42232182e-04 9.99999344e-01 1.13687632e-03 -4.54284260e-03] [-8.23689668e-03 -1.13566621e-03 9.99965431e-01 -6.81089761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155919999999998 meters Centerline goodness [0,1] 0.9563236604932158 Centerline is valid? [True, True] Translation: X:6.07, Y:0.01, Z:-0.68 [[ 9.99945186e-01 -2.87091537e-03 1.00689265e-02 6.07122161e+00] [ 2.85706510e-03 9.99994953e-01 1.38966067e-03 5.76443432e-03] [-1.00728652e-02 -1.36081691e-03 9.99948341e-01 -6.80245046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18592 meters Centerline goodness [0,1] 0.9640152452606049 Centerline is valid? [True, True] Translation: X:6.10, Y:0.02, Z:-0.68 [[ 9.99924567e-01 -4.36732304e-03 1.14798246e-02 6.10197634e+00] [ 4.34942893e-03 9.99989288e-01 1.58324785e-03 1.58446981e-02] [-1.14866161e-02 -1.53319774e-03 9.99932851e-01 -6.80483670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215919999999999 meters Centerline goodness [0,1] 0.9814309120699072 Centerline is valid? [True, True] Translation: X:6.13, Y:0.03, Z:-0.68 [[ 9.99922556e-01 -8.10847139e-03 9.44108039e-03 6.13093178e+00] [ 8.09653739e-03 9.99966375e-01 1.30158691e-03 3.29403622e-02] [-9.45131682e-03 -1.22504605e-03 9.99954585e-01 -6.81736584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245919999999998 meters Centerline goodness [0,1] 0.9749528816585656 Centerline is valid? [True, True] Translation: X:6.16, Y:0.04, Z:-0.68 [[ 9.99914544e-01 -1.04714511e-02 7.82640053e-03 6.16099976e+00] [ 1.04633236e-02 9.99944676e-01 1.07870092e-03 3.96567770e-02] [-7.83726311e-03 -9.96718580e-04 9.99968791e-01 -6.80456070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27592 meters Centerline goodness [0,1] 0.9781455969076763 Centerline is valid? [True, True] Translation: X:6.19, Y:0.05, Z:-0.68 [[ 9.99902909e-01 -1.24389141e-02 6.28060567e-03 6.19085472e+00] [ 1.24337193e-02 9.99922324e-01 8.65487464e-04 4.73577234e-02] [-6.29088354e-03 -7.87312145e-04 9.99979902e-01 -6.80180045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305919999999999 meters Centerline goodness [0,1] 0.9823926197797838 Centerline is valid? [True, True] Translation: X:6.22, Y:0.06, Z:-0.68 [[ 9.99831019e-01 -1.60474018e-02 8.96739638e-03 6.22039780e+00] [ 1.60369548e-02 9.99870636e-01 1.23569829e-03 5.83429662e-02] [-8.98606607e-03 -1.09167975e-03 9.99959029e-01 -6.80056600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.33592 meters Centerline goodness [0,1] 0.9821118874188594 Centerline is valid? [True, True] Translation: X:6.25, Y:0.07, Z:-0.68 [[ 9.99734299e-01 -1.95139470e-02 1.22693941e-02 6.24928556e+00] [ 1.94946470e-02 9.99808532e-01 1.69066391e-03 7.16416937e-02] [-1.23000364e-02 -1.45102719e-03 9.99923299e-01 -6.80068148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36592 meters Centerline goodness [0,1] 0.9835935563816605 Centerline is valid? [True, True] Translation: X:6.28, Y:0.08, Z:-0.68 [[ 9.99709768e-01 -2.11511241e-02 1.15330173e-02 6.27997152e+00] [ 2.11341852e-02 9.99775386e-01 1.58864503e-03 7.95239041e-02] [-1.15640284e-02 -1.34444303e-03 9.99932231e-01 -6.79938191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395919999999998 meters Centerline goodness [0,1] 0.9861062869051754 Centerline is valid? [True, True] Translation: X:6.31, Y:0.09, Z:-0.68 [[ 9.99672043e-01 -2.27624568e-02 1.17335892e-02 6.31007577e+00] [ 2.27450401e-02 9.99739993e-01 1.61567238e-03 8.90449953e-02] [-1.17673151e-02 -1.34826155e-03 9.99929854e-01 -6.80483976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42592 meters Centerline goodness [0,1] 0.9861062869051754 Centerline is valid? [True, True] Translation: X:6.34, Y:0.09, Z:-0.68 [[ 9.99681066e-01 -2.23623359e-02 1.17341937e-02 6.34231745e+00] [ 2.23449429e-02 9.99749022e-01 1.61127570e-03 9.37901515e-02] [-1.17672806e-02 -1.34856192e-03 9.99929854e-01 -6.80512140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455919999999999 meters Centerline goodness [0,1] 0.9879930538327958 Centerline is valid? [True, True] Translation: X:6.37, Y:0.11, Z:-0.68 [[ 9.99583604e-01 -2.70141315e-02 1.01417766e-02 6.37176842e+00] [ 2.70013809e-02 9.99634427e-01 1.39208964e-03 1.07655008e-01] [-1.01756751e-02 -1.11766801e-03 9.99947602e-01 -6.81999789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485919999999998 meters Centerline goodness [0,1] 0.994480906921241 Centerline is valid? [True, True] Translation: X:6.40, Y:0.12, Z:-0.68 [[ 9.99513201e-01 -2.96941660e-02 9.57170671e-03 6.40092536e+00] [ 2.96829324e-02 9.99558502e-01 1.31359300e-03 1.18500082e-01] [-9.60648687e-03 -1.02883722e-03 9.99953327e-01 -6.82055795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51592 meters Centerline goodness [0,1] 0.9962747727611384 Centerline is valid? [True, True] Translation: X:6.43, Y:0.13, Z:-0.68 [[ 9.99274652e-01 -3.65419572e-02 1.07170578e-02 6.43064188e+00] [ 3.65282644e-02 9.99331538e-01 1.47070356e-03 1.26589926e-01] [-1.07636362e-02 -1.07816127e-03 9.99941489e-01 -6.82731727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545919999999999 meters Centerline goodness [0,1] 0.9950298210735586 Centerline is valid? [True, True] Translation: X:6.46, Y:0.13, Z:-0.68 [[ 9.99115897e-01 -4.01912717e-02 1.23322826e-02 6.46029911e+00] [ 4.01734124e-02 9.99191289e-01 1.69259611e-03 1.32842128e-01] [-1.23903369e-02 -1.19566980e-03 9.99922522e-01 -6.83385787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575919999999998 meters Centerline goodness [0,1] 0.9980582524271845 Centerline is valid? [True, True] Translation: X:6.49, Y:0.14, Z:-0.68 [[ 9.98749922e-01 -4.76093518e-02 1.52296916e-02 6.48962185e+00] [ 4.75829714e-02 9.98865102e-01 2.09006561e-03 1.43111592e-01] [-1.53119142e-02 -1.36277888e-03 9.99881837e-01 -6.84289512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60592 meters Centerline goodness [0,1] 0.998612693851261 Centerline is valid? [True, True] Translation: X:6.52, Y:0.15, Z:-0.68 [[ 9.98562240e-01 -5.12492920e-02 1.57150841e-02 6.51958204e+00] [ 5.12216494e-02 9.98684981e-01 2.15673592e-03 1.47015914e-01] [-1.58049496e-02 -1.34868253e-03 9.99874184e-01 -6.84664977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635919999999999 meters Centerline goodness [0,1] 0.9994504121908568 Centerline is valid? [True, True] Translation: X:6.55, Y:0.15, Z:-0.68 [[ 9.98397798e-01 -5.46177259e-02 1.47898767e-02 6.54895708e+00] [ 5.45935946e-02 9.98506593e-01 2.03076756e-03 1.52024577e-01] [-1.48787053e-02 -1.22008133e-03 9.99888562e-01 -6.84578619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66592 meters Centerline goodness [0,1] 0.9996515852869444 Centerline is valid? [True, True] Translation: X:6.58, Y:0.15, Z:-0.69 [[ 9.98005488e-01 -6.10683432e-02 1.59907179e-02 6.57945250e+00] [ 6.10409539e-02 9.98132847e-01 2.19579091e-03 1.53712362e-01] [-1.60949541e-02 -1.21532270e-03 9.99869729e-01 -6.85582971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69592 meters Centerline goodness [0,1] 0.9996531906460563 Centerline is valid? [True, True] Translation: X:6.61, Y:0.15, Z:-0.69 [[ 9.97831652e-01 -6.38098749e-02 1.61336076e-02 6.60977437e+00] [ 6.37823432e-02 9.97961373e-01 2.21584274e-03 1.54612546e-01] [-1.62421098e-02 -1.18199872e-03 9.99867390e-01 -6.85385795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725919999999999 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:6.64, Y:0.16, Z:-0.69 [[ 9.97602875e-01 -6.74063043e-02 1.56490687e-02 6.63971257e+00] [ 6.73808349e-02 9.97725013e-01 2.14972740e-03 1.55005249e-01] [-1.57583724e-02 -1.09012692e-03 9.99875235e-01 -6.85314674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.75592 meters Centerline goodness [0,1] 0.9998008761449622 Centerline is valid? [True, True] Translation: X:6.67, Y:0.16, Z:-0.68 [[ 9.97551539e-01 -6.81652778e-02 1.56340125e-02 6.66841066e+00] [ 6.81399236e-02 9.97673459e-01 2.14934337e-03 1.55798321e-01] [-1.57441499e-02 -1.07878036e-03 9.99875471e-01 -6.84928750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785919999999999 meters Centerline goodness [0,1] 0.9998511387882697 Centerline is valid? [True, True] Translation: X:6.70, Y:0.15, Z:-0.68 [[ 9.97646865e-01 -6.72912146e-02 1.31387192e-02 6.69790284e+00] [ 6.72732137e-02 9.97732954e-01 1.80775388e-03 1.54324274e-01] [-1.32305791e-02 -9.19616124e-04 9.99912049e-01 -6.83101474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815919999999998 meters Centerline goodness [0,1] 0.9996526054590571 Centerline is valid? [True, True] Translation: X:6.73, Y:0.16, Z:-0.68 [[ 9.97680710e-01 -6.64758906e-02 1.46340667e-02 6.72714362e+00] [ 6.64534471e-02 9.97787492e-01 2.01515054e-03 1.55887003e-01] [-1.47356476e-02 -1.03799264e-03 9.99890886e-01 -6.83445535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84592 meters Centerline goodness [0,1] 0.9997522299306244 Centerline is valid? [True, True] Translation: X:6.76, Y:0.16, Z:-0.68 [[ 9.97722052e-01 -6.54490316e-02 1.63441674e-02 6.75577135e+00] [ 6.54208555e-02 9.97855217e-01 2.25324837e-03 1.56656858e-01] [-1.64565856e-02 -1.17886617e-03 9.99863886e-01 -6.84521473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875919999999999 meters Centerline goodness [0,1] 0.9996520009942829 Centerline is valid? [True, True] Translation: X:6.79, Y:0.15, Z:-0.68 [[ 9.97865838e-01 -6.30828941e-02 1.68617246e-02 6.78531582e+00] [ 6.30525441e-02 9.98007498e-01 2.32606884e-03 1.54976546e-01] [-1.69748627e-02 -1.25793000e-03 9.99855125e-01 -6.84283101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905919999999998 meters Centerline goodness [0,1] 0.999603567888999 Centerline is valid? [True, True] Translation: X:6.81, Y:0.15, Z:-0.68 [[ 9.97983266e-01 -6.15018237e-02 1.57138749e-02 6.81473621e+00] [ 6.14752434e-02 9.98106251e-01 2.16944638e-03 1.54619184e-01] [-1.58175416e-02 -1.19905690e-03 9.99874176e-01 -6.84578583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93592 meters Centerline goodness [0,1] 0.9997522790328973 Centerline is valid? [True, True] Translation: X:6.84, Y:0.16, Z:-0.68 [[ 9.98091837e-01 -6.01379267e-02 1.40040611e-02 6.84322104e+00] [ 6.01166667e-02 9.98189483e-01 1.93455511e-03 1.60673971e-01] [-1.40950467e-02 -1.08898619e-03 9.99900067e-01 -6.84295482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965919999999999 meters Centerline goodness [0,1] 0.9998511461744567 Centerline is valid? [True, True] Translation: X:6.87, Y:0.17, Z:-0.68 [[ 9.98136433e-01 -5.93793453e-02 1.40625551e-02 6.87177469e+00] [ 5.93578159e-02 9.98234878e-01 1.94380844e-03 1.66640770e-01] [-1.41531551e-02 -1.10546346e-03 9.99899228e-01 -6.83778972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995919999999998 meters Centerline goodness [0,1] 0.9994550948630306 Centerline is valid? [True, True] Translation: X:6.90, Y:0.17, Z:-0.68 [[ 9.98154109e-01 -5.89367722e-02 1.46571029e-02 6.90028013e+00] [ 5.89133064e-02 9.98261043e-01 2.02801087e-03 1.67300057e-01] [-1.47511393e-02 -1.16076899e-03 9.99890522e-01 -6.84440018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02592 meters Centerline goodness [0,1] 0.9997024399920651 Centerline is valid? [True, True] Translation: X:6.93, Y:0.17, Z:-0.68 [[ 9.98224025e-01 -5.79070186e-02 1.39847440e-02 6.92865621e+00] [ 5.78855343e-02 9.98321348e-01 1.93652640e-03 1.71050698e-01] [-1.40734070e-02 -1.12357279e-03 9.99900333e-01 -6.83379469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055919999999999 meters Centerline goodness [0,1] 0.9997514663485436 Centerline is valid? [True, True] Translation: X:6.96, Y:0.18, Z:-0.68 [[ 9.98296802e-01 -5.63882344e-02 1.49620219e-02 6.95771801e+00] [ 5.63634654e-02 9.98408166e-01 2.07234113e-03 1.77194351e-01] [-1.50550605e-02 -1.22550012e-03 9.99885915e-01 -6.82851731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08592 meters Centerline goodness [0,1] 0.9988609914326747 Centerline is valid? [True, True] Translation: X:6.99, Y:0.18, Z:-0.68 [[ 9.98521106e-01 -5.23004278e-02 1.48413567e-02 6.98778010e+00] [ 5.22756080e-02 9.98630580e-01 2.05565148e-03 1.82686265e-01] [-1.49285441e-02 -1.27677045e-03 9.99887748e-01 -6.83485170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11592 meters Centerline goodness [0,1] 0.9984664094192144 Centerline is valid? [True, True] Translation: X:7.02, Y:0.19, Z:-0.68 [[ 9.98624782e-01 -5.08604486e-02 1.27184632e-02 7.01668254e+00] [ 5.08420977e-02 9.98705149e-01 1.76225235e-03 1.87984021e-01] [-1.27916236e-02 -1.11319552e-03 9.99917564e-01 -6.82967688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145919999999998 meters Centerline goodness [0,1] 0.9984165470829828 Centerline is valid? [True, True] Translation: X:7.05, Y:0.19, Z:-0.68 [[ 9.98733797e-01 -4.91126986e-02 1.08970465e-02 7.04551764e+00] [ 4.90991152e-02 9.98792769e-01 1.51072800e-03 1.93284671e-01] [-1.09580872e-02 -9.73779765e-04 9.99939484e-01 -6.82486205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.17592 meters Centerline goodness [0,1] 0.9989568327455168 Centerline is valid? [True, True] Translation: X:7.07, Y:0.20, Z:-0.68 [[ 9.98871135e-01 -4.65612177e-02 9.40786836e-03 7.07408183e+00] [ 4.65509675e-02 9.98915063e-01 1.30570719e-03 2.03040612e-01] [-9.45845673e-03 -8.66287853e-04 9.99954893e-01 -6.80169933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205919999999999 meters Centerline goodness [0,1] 0.9967818595900584 Centerline is valid? [True, True] Translation: X:7.10, Y:0.21, Z:-0.68 [[ 9.98949167e-01 -4.45190041e-02 1.08913238e-02 7.10269301e+00] [ 4.45051353e-02 9.99008011e-01 1.51257130e-03 2.09502800e-01] [-1.09478578e-02 -1.02626201e-03 9.99939544e-01 -6.79872898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235919999999998 meters Centerline goodness [0,1] 0.9949985144102209 Centerline is valid? [True, True] Translation: X:7.13, Y:0.22, Z:-0.68 [[ 9.98943179e-01 -4.41696869e-02 1.27108087e-02 7.12953258e+00] [ 4.41507475e-02 9.99023318e-01 1.76692697e-03 2.22130632e-01] [-1.27764389e-02 -1.20386793e-03 9.99917653e-01 -6.80613831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26592 meters Centerline goodness [0,1] 0.9970725414309815 Centerline is valid? [True, True] Translation: X:7.16, Y:0.23, Z:-0.68 [[ 9.98947146e-01 -4.45179626e-02 1.10793128e-02 7.15809051e+00] [ 4.45035742e-02 9.99008035e-01 1.54196585e-03 2.30027966e-01] [-1.11369677e-02 -1.04727336e-03 9.99937434e-01 -6.81141252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295919999999999 meters Centerline goodness [0,1] 0.9977141721327768 Centerline is valid? [True, True] Translation: X:7.19, Y:0.24, Z:-0.68 [[ 9.98868689e-01 -4.59391981e-02 1.22854830e-02 7.18655774e+00] [ 4.59215956e-02 9.98943581e-01 1.71121709e-03 2.36682637e-01] [-1.23511163e-02 -1.14511219e-03 9.99923066e-01 -6.81455601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325919999999998 meters Centerline goodness [0,1] 0.9975672723662 Centerline is valid? [True, True] Translation: X:7.22, Y:0.24, Z:-0.68 [[ 9.98835636e-01 -4.67960709e-02 1.17260590e-02 7.21562348e+00] [ 4.67800857e-02 9.98903876e-01 1.63396578e-03 2.42966534e-01] [-1.17896690e-02 -1.08351721e-03 9.99929912e-01 -6.80379243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35592 meters Centerline goodness [0,1] 0.9976198740516685 Centerline is valid? [True, True] Translation: X:7.24, Y:0.25, Z:-0.68 [[ 9.98654062e-01 -4.98668124e-02 1.42606518e-02 7.24424328e+00] [ 4.98434685e-02 9.98755063e-01 1.98792461e-03 2.52703483e-01] [-1.43420297e-02 -1.27444864e-03 9.99896336e-01 -6.81190642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385919999999999 meters Centerline goodness [0,1] 0.9992553983618764 Centerline is valid? [True, True] Translation: X:7.27, Y:0.26, Z:-0.68 [[ 9.98470246e-01 -5.28589580e-02 1.62203370e-02 7.27250071e+00] [ 5.28291407e-02 9.98601005e-01 2.26157697e-03 2.64639154e-01] [-1.63171894e-02 -1.40121085e-03 9.99865884e-01 -6.82580359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415919999999998 meters Centerline goodness [0,1] 0.9979199683042789 Centerline is valid? [True, True] Translation: X:7.30, Y:0.27, Z:-0.68 [[ 9.98469318e-01 -5.34254596e-02 1.43088049e-02 7.30207951e+00] [ 5.34023033e-02 9.98571084e-01 1.99582302e-03 2.66603208e-01] [-1.43949866e-02 -1.22864491e-03 9.99895632e-01 -6.81354069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44592 meters Centerline goodness [0,1] 0.9986624393143763 Centerline is valid? [True, True] Translation: X:7.33, Y:0.27, Z:-0.68 [[ 9.98456522e-01 -5.35702486e-02 1.46561018e-02 7.33008429e+00] [ 5.35459473e-02 9.98563291e-01 2.04579745e-03 2.72746932e-01] [-1.47446392e-02 -1.25786496e-03 9.99890501e-01 -6.81479323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475919999999999 meters Centerline goodness [0,1] 0.9988577671831546 Centerline is valid? [True, True] Translation: X:7.36, Y:0.28, Z:-0.68 [[ 9.98454976e-01 -5.33224092e-02 1.56327045e-02 7.35825690e+00] [ 5.32947042e-02 9.98576439e-01 2.18381711e-03 2.78427075e-01] [-1.57268967e-02 -1.34730270e-03 9.99875417e-01 -6.81044502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50592 meters Centerline goodness [0,1] 0.9990570251625391 Centerline is valid? [True, True] Translation: X:7.39, Y:0.28, Z:-0.68 [[ 9.98486831e-01 -5.31682196e-02 1.40423818e-02 7.38715817e+00] [ 5.31458388e-02 9.98584833e-01 1.96245434e-03 2.83654161e-01] [-1.41268497e-02 -1.21319065e-03 9.99899475e-01 -6.80848470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535919999999999 meters Centerline goodness [0,1] 0.9989574542024524 Centerline is valid? [True, True] Translation: X:7.42, Y:0.29, Z:-0.68 [[ 9.98443350e-01 -5.38926549e-02 1.43686650e-02 7.41644951e+00] [ 5.38692849e-02 9.98545975e-01 2.00884199e-03 2.89036952e-01] [-1.44560345e-02 -1.23168521e-03 9.99894747e-01 -6.82126129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565919999999998 meters Centerline goodness [0,1] 0.9988086965154374 Centerline is valid? [True, True] Translation: X:7.45, Y:0.30, Z:-0.68 [[ 9.98469629e-01 -5.33912743e-02 1.44142895e-02 7.44523982e+00] [ 5.33676924e-02 9.98572894e-01 2.01600565e-03 2.96616820e-01] [-1.45013559e-02 -1.24366304e-03 9.99894076e-01 -6.81263740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59592 meters Centerline goodness [0,1] 0.9994003897466647 Centerline is valid? [True, True] Translation: X:7.47, Y:0.31, Z:-0.68 [[ 9.98580991e-01 -5.13882102e-02 1.39733778e-02 7.47411267e+00] [ 5.13658260e-02 9.98677988e-01 1.95635892e-03 3.06636155e-01] [-1.40554387e-02 -1.23582873e-03 9.99900454e-01 -6.79972881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625919999999999 meters Centerline goodness [0,1] 0.996479571598572 Centerline is valid? [True, True] Translation: X:7.50, Y:0.32, Z:-0.68 [[ 9.98856611e-01 -4.56544788e-02 1.41823389e-02 7.50373533e+00] [ 4.56308451e-02 9.98956397e-01 1.98573370e-03 3.15461741e-01] [-1.42581958e-02 -1.33631112e-03 9.99897454e-01 -6.79069568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655919999999998 meters Centerline goodness [0,1] 0.9939932486100079 Centerline is valid? [True, True] Translation: X:7.53, Y:0.32, Z:-0.68 [[ 9.99023631e-01 -4.18993280e-02 1.40082539e-02 7.53310355e+00] [ 4.18759065e-02 9.99120895e-01 1.96126394e-03 3.23418632e-01] [-1.40781148e-02 -1.37274069e-03 9.99899956e-01 -6.78483177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68592 meters Centerline goodness [0,1] 0.9897710909181191 Centerline is valid? [True, True] Translation: X:7.56, Y:0.34, Z:-0.68 [[ 9.99181419e-01 -3.71472353e-02 1.60179666e-02 7.56230762e+00] [ 3.71160071e-02 9.99308447e-01 2.24256578e-03 3.38057911e-01] [-1.60901945e-02 -1.64620710e-03 9.99869189e-01 -6.79095271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715919999999999 meters Centerline goodness [0,1] 0.990333831589437 Centerline is valid? [True, True] Translation: X:7.59, Y:0.35, Z:-0.68 [[ 9.99239242e-01 -3.55029928e-02 1.61392002e-02 7.59276136e+00] [ 3.54711628e-02 9.99368158e-01 2.25430775e-03 3.48112102e-01] [-1.62090374e-02 -1.68011657e-03 9.99867213e-01 -6.78628237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745919999999998 meters Centerline goodness [0,1] 0.9906086956521739 Centerline is valid? [True, True] Translation: X:7.62, Y:0.36, Z:-0.68 [[ 9.99180805e-01 -3.70237205e-02 1.63389870e-02 7.62280994e+00] [ 3.69913236e-02 9.99312984e-01 2.28068385e-03 3.62937454e-01] [-1.64122012e-02 -1.67441477e-03 9.99863909e-01 -6.79782935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77592 meters Centerline goodness [0,1] 0.994327229299363 Centerline is valid? [True, True] Translation: X:7.65, Y:0.37, Z:-0.68 [[ 9.99082921e-01 -3.90659685e-02 1.75261626e-02 7.65262569e+00] [ 3.90290200e-02 9.99235085e-01 2.44543258e-03 3.74494040e-01] [-1.76082898e-02 -1.75916098e-03 9.99843414e-01 -6.80109581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805919999999999 meters Centerline goodness [0,1] 0.9970583836067208 Centerline is valid? [True, True] Translation: X:7.68, Y:0.39, Z:-0.68 [[ 9.98866649e-01 -4.40012981e-02 1.81466951e-02 7.68106168e+00] [ 4.39624939e-02 9.99029974e-01 2.53196135e-03 3.89420524e-01] [-1.82405020e-02 -1.73131778e-03 9.99832129e-01 -6.80815990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.83592 meters Centerline goodness [0,1] 0.9981133012263542 Centerline is valid? [True, True] Translation: X:7.71, Y:0.40, Z:-0.68 [[ 9.98718667e-01 -4.71853449e-02 1.82911933e-02 7.71109834e+00] [ 4.71464580e-02 9.98884728e-01 2.55165224e-03 3.98904981e-01] [-1.83911942e-02 -1.68601775e-03 9.99829446e-01 -6.80481077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86592 meters Centerline goodness [0,1] 0.9990056182568489 Centerline is valid? [True, True] Translation: X:7.74, Y:0.41, Z:-0.68 [[ 9.98565493e-01 -5.03569542e-02 1.81970581e-02 7.74040027e+00] [ 5.03189891e-02 9.98729971e-01 2.53849727e-03 4.08232005e-01] [-1.83017783e-02 -1.61919821e-03 9.99831197e-01 -6.79871569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895919999999998 meters Centerline goodness [0,1] 0.9995535271356285 Centerline is valid? [True, True] Translation: X:7.77, Y:0.42, Z:-0.68 [[ 9.98272116e-01 -5.57308605e-02 1.86240255e-02 7.76970554e+00] [ 5.56920210e-02 9.98444615e-01 2.59803462e-03 4.21013073e-01] [-1.87398486e-02 -1.55633590e-03 9.99823182e-01 -6.79684552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92592 meters Centerline goodness [0,1] 0.9996029579631743 Centerline is valid? [True, True] Translation: X:7.80, Y:0.43, Z:-0.68 [[ 9.98101111e-01 -5.81306195e-02 2.03716443e-02 7.79997528e+00] [ 5.80846663e-02 9.98307619e-01 2.84073541e-03 4.29541116e-01] [-2.05023014e-02 -1.65206101e-03 9.99788441e-01 -6.81079221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955919999999999 meters Centerline goodness [0,1] 0.9999004727544165 Centerline is valid? [True, True] Translation: X:7.83, Y:0.44, Z:-0.68 [[ 9.97840444e-01 -6.32441655e-02 1.77376294e-02 7.82920810e+00] [ 6.32101495e-02 9.97997176e-01 2.47242218e-03 4.44344147e-01] [-1.78584704e-02 -1.34588463e-03 9.99839619e-01 -6.81520165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985919999999998 meters Centerline goodness [0,1] 0.9998013310817523 Centerline is valid? [True, True] Translation: X:7.86, Y:0.45, Z:-0.68 [[ 9.97768861e-01 -6.47922567e-02 1.61016569e-02 7.85984345e+00] [ 6.47644490e-02 9.97898058e-01 2.24303906e-03 4.53652888e-01] [-1.62131438e-02 -1.19521959e-03 9.99867844e-01 -6.81307495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01592 meters Centerline goodness [0,1] 0.999851315854686 Centerline is valid? [True, True] Translation: X:7.89, Y:0.47, Z:-0.68 [[ 9.97594571e-01 -6.76103560e-02 1.52941960e-02 7.88955102e+00] [ 6.75856108e-02 9.97711206e-01 2.12965474e-03 4.67107718e-01] [-1.54031775e-02 -1.09086443e-03 9.99880769e-01 -6.79381520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045919999999999 meters Centerline goodness [0,1] 0.9999003438138423 Centerline is valid? [True, True] Translation: X:7.92, Y:0.48, Z:-0.68 [[ 9.97541292e-01 -6.82392131e-02 1.59618312e-02 7.92061979e+00] [ 6.82124380e-02 9.97668357e-01 2.21653872e-03 4.76496542e-01] [-1.60758688e-02 -1.12229348e-03 9.99870145e-01 -6.78756409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075919999999998 meters Centerline goodness [0,1] 0.9998015873015873 Centerline is valid? [True, True] Translation: X:7.95, Y:0.49, Z:-0.68 [[ 9.97514443e-01 -6.80141822e-02 1.84121180e-02 7.95178376e+00] [ 6.79786545e-02 9.97683519e-01 2.54934612e-03 4.85264065e-01] [-1.85428584e-02 -1.29137856e-03 9.99827232e-01 -6.79579579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:7.98, Y:0.50, Z:-0.68 [[ 9.97601599e-01 -6.63877810e-02 1.95885985e-02 7.98211019e+00] [ 6.63474103e-02 9.97792918e-01 2.70438386e-03 4.99132908e-01] [-1.97249029e-02 -1.39824488e-03 9.99804467e-01 -6.79980675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135919999999999 meters Centerline goodness [0,1] 0.9998507759649821 Centerline is valid? [True, True] Translation: X:8.01, Y:0.51, Z:-0.68 [[ 9.97631051e-01 -6.62105196e-02 1.86668876e-02 8.01327377e+00] [ 6.61739684e-02 9.97804792e-01 2.56968705e-03 5.08271976e-01] [-1.87960502e-02 -1.32833756e-03 9.99822456e-01 -6.79995241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165919999999998 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:8.04, Y:0.52, Z:-0.68 [[ 9.97492588e-01 -6.84257105e-02 1.80681608e-02 8.04377979e+00] [ 6.83918704e-02 9.97655440e-01 2.48494698e-03 5.20919074e-01] [-1.81958332e-02 -1.24300089e-03 9.99833669e-01 -6.79090348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:8.08, Y:0.53, Z:-0.68 [[ 9.97263254e-01 -7.14109113e-02 1.91437550e-02 8.07504682e+00] [ 7.13735023e-02 9.97446189e-01 2.63115723e-03 5.28389894e-01] [-1.92827588e-02 -1.25759958e-03 9.99813279e-01 -6.79682204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225919999999999 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:8.10, Y:0.54, Z:-0.68 [[ 9.96786193e-01 -7.70104141e-02 2.20608484e-02 8.10468364e+00] [ 7.69621081e-02 9.97029409e-01 3.03165486e-03 5.39544392e-01] [-2.22287837e-02 -1.32406230e-03 9.99752033e-01 -6.80825875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.25592 meters Centerline goodness [0,1] 0.9999007641163045 Centerline is valid? [True, True] Translation: X:8.14, Y:0.54, Z:-0.68 [[ 9.96499432e-01 -8.04363112e-02 2.27789579e-02 8.13618514e+00] [ 8.03857460e-02 9.96758920e-01 3.12834663e-03 5.44579666e-01] [-2.29567622e-02 -1.28629211e-03 9.99735631e-01 -6.81374386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285919999999999 meters Centerline goodness [0,1] 0.999900823167708 Centerline is valid? [True, True] Translation: X:8.17, Y:0.55, Z:-0.68 [[ 9.96097238e-01 -8.48416015e-02 2.43350539e-02 8.16691300e+00] [ 8.47852369e-02 9.96393649e-01 3.34055561e-03 5.50100325e-01] [-2.45307113e-02 -1.26426491e-03 9.99698277e-01 -6.82439961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315919999999998 meters Centerline goodness [0,1] 0.999900823167708 Centerline is valid? [True, True] Translation: X:8.20, Y:0.55, Z:-0.68 [[ 9.96137095e-01 -8.43719036e-02 2.43365776e-02 8.19906394e+00] [ 8.43156702e-02 9.96433531e-01 3.32943666e-03 5.54820268e-01] [-2.45306928e-02 -1.26462052e-03 9.99698277e-01 -6.82468037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34592 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:8.23, Y:0.56, Z:-0.68 [[ 9.95446459e-01 -9.25975681e-02 2.26282441e-02 8.22887874e+00] [ 9.25510862e-02 9.95703127e-01 3.09511512e-03 5.63291591e-01] [-2.28176135e-02 -9.86752820e-04 9.99739157e-01 -6.82183404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.26, Y:0.57, Z:-0.68 [[ 9.95145574e-01 -9.59994062e-02 2.16656393e-02 8.25968815e+00] [ 9.59576284e-02 9.95381012e-01 2.96215357e-03 5.68473804e-01] [-2.18499310e-02 -8.68790646e-04 9.99760884e-01 -6.81941835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.29, Y:0.57, Z:-0.68 [[ 9.94683780e-01 -1.01117094e-01 1.94810348e-02 8.29141586e+00] [ 1.01084353e-01 9.94874301e-01 2.66065136e-03 5.69390126e-01] [-1.96502182e-02 -6.77278958e-04 9.99806686e-01 -6.81555116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:0.57, Z:-0.68 [[ 9.94469511e-01 -1.02753762e-01 2.17268667e-02 8.32350917e+00] [ 1.02713629e-01 9.94706570e-01 2.95808036e-03 5.71159834e-01] [-2.19158110e-02 -7.10075406e-04 9.99759568e-01 -6.82237240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.36, Y:0.57, Z:-0.68 [[ 9.94413274e-01 -1.03231299e-01 2.20349654e-02 8.35567698e+00] [ 1.03190351e-01 9.94657131e-01 2.99041375e-03 5.74737472e-01] [-2.22259398e-02 -6.99911320e-04 9.99752728e-01 -6.82001303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.39, Y:0.58, Z:-0.68 [[ 9.94289083e-01 -1.04902562e-01 1.96130472e-02 8.38754255e+00] [ 1.04870616e-01 9.94482335e-01 2.65314127e-03 5.77615758e-01] [-1.97831503e-02 -5.81157054e-04 9.99804125e-01 -6.80996662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.42, Y:0.58, Z:-0.68 [[ 9.94348902e-01 -1.04379538e-01 1.93694049e-02 8.42015823e+00] [ 1.04348474e-01 9.94537371e-01 2.61034961e-03 5.79705752e-01] [-1.95360641e-02 -5.74430420e-04 9.99808988e-01 -6.81280292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.45, Y:0.58, Z:-0.68 [[ 9.94537010e-01 -1.02202694e-01 2.12307473e-02 8.45204335e+00] [ 1.02165077e-01 9.94763371e-01 2.85178587e-03 5.81698087e-01] [-2.14110300e-02 -6.67165654e-04 9.99770535e-01 -6.80284664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:0.59, Z:-0.68 [[ 9.94794782e-01 -9.94942174e-02 2.20055153e-02 8.48331914e+00] [ 9.94532668e-02 9.95037860e-01 2.95027409e-03 5.85962197e-01] [-2.21898560e-02 -7.46396889e-04 9.99753496e-01 -6.80507534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.51, Y:0.59, Z:-0.68 [[ 9.95237680e-01 -9.45933103e-02 2.35385934e-02 8.51462261e+00] [ 9.45451237e-02 9.95515580e-01 3.15416533e-03 5.88475618e-01] [-2.37313994e-02 -9.13684964e-04 9.99717953e-01 -6.82583379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.55, Y:0.59, Z:-0.68 [[ 9.95600636e-01 -9.08462557e-02 2.29419047e-02 8.54674742e+00] [ 9.07995526e-02 9.95864452e-01 3.07142515e-03 5.91024319e-01] [-2.31260549e-02 -9.74798150e-04 9.99732082e-01 -6.82491920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.58, Y:0.59, Z:-0.68 [[ 9.95918065e-01 -8.71891110e-02 2.33509387e-02 8.57899678e+00] [ 8.71397911e-02 9.96191197e-01 3.12333421e-03 5.94975662e-01] [-2.35343203e-02 -1.07578904e-03 9.99722451e-01 -6.81200822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.61, Y:0.60, Z:-0.68 [[ 9.96492929e-01 -8.13610285e-02 1.95506078e-02 8.61002006e+00] [ 8.13253624e-02 9.96684179e-01 2.61380359e-03 6.01066259e-01] [-1.96984432e-02 -1.01467653e-03 9.99805452e-01 -6.79641724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.64, Y:0.61, Z:-0.68 [[ 9.96688601e-01 -7.89259510e-02 1.95583083e-02 8.64153136e+00] [ 7.88899455e-02 9.96879923e-01 2.60689762e-03 6.05286068e-01] [-1.97030368e-02 -1.05531126e-03 9.99805319e-01 -6.80998052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.67, Y:0.61, Z:-0.68 [[ 9.96822829e-01 -7.74047108e-02 1.87818391e-02 8.67279655e+00] [ 7.73713858e-02 9.96999218e-01 2.49562405e-03 6.10562333e-01] [-1.89186519e-02 -1.03451811e-03 9.99820491e-01 -6.81178223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795919999999999 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:8.71, Y:0.62, Z:-0.68 [[ 9.96903453e-01 -7.65090654e-02 1.81622644e-02 8.70509445e+00] [ 7.64779115e-02 9.97068376e-01 2.40473462e-03 6.19829332e-01] [-1.82930035e-02 -1.00827620e-03 9.99832161e-01 -6.80071156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825919999999998 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:8.74, Y:0.63, Z:-0.68 [[ 9.96987497e-01 -7.49924875e-02 1.98004695e-02 8.73701861e+00] [ 7.49553280e-02 9.97183468e-01 2.61327356e-03 6.25169667e-01] [-1.99406767e-02 -1.12125038e-03 9.99800536e-01 -6.80325993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85592 meters Centerline goodness [0,1] 0.9998513084853291 Centerline is valid? [True, True] Translation: X:8.77, Y:0.63, Z:-0.68 [[ 9.97180174e-01 -7.20792834e-02 2.08872385e-02 8.76810889e+00] [ 7.20374649e-02 9.97398139e-01 2.74863175e-03 6.30085209e-01] [-2.10310122e-02 -1.23621738e-03 9.99778060e-01 -6.80960391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885919999999999 meters Centerline goodness [0,1] 0.9999504140427431 Centerline is valid? [True, True] Translation: X:8.80, Y:0.63, Z:-0.68 [[ 9.97324821e-01 -7.02803903e-02 2.00964687e-02 8.79955939e+00] [ 7.02414710e-02 9.97526532e-01 2.63685792e-03 6.33965656e-01] [-2.02320802e-02 -1.21819833e-03 9.99794568e-01 -6.81748729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915919999999998 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:8.83, Y:0.64, Z:-0.68 [[ 9.97457403e-01 -6.88764962e-02 1.82963550e-02 8.83153244e+00] [ 6.88441400e-02 9.97624557e-01 2.39320166e-03 6.38625689e-01] [-1.84177284e-02 -1.12751989e-03 9.99829743e-01 -6.81349005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.86, Y:0.64, Z:-0.68 [[ 9.97519119e-01 -6.81678398e-02 1.75713559e-02 8.86413784e+00] [ 6.81380334e-02 9.97673275e-01 2.29014641e-03 6.44488669e-01] [-1.76865865e-02 -1.08718720e-03 9.99842989e-01 -6.81908570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.90, Y:0.65, Z:-0.68 [[ 9.97455073e-01 -6.90672953e-02 1.76942383e-02 8.89582618e+00] [ 6.90373421e-02 9.97611428e-01 2.29882790e-03 6.51044623e-01] [-1.78107482e-02 -1.07141437e-03 9.99840802e-01 -6.82128154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.93, Y:0.66, Z:-0.68 [[ 9.97409400e-01 -6.97591008e-02 1.75543795e-02 8.92623632e+00] [ 6.97298531e-02 9.97563321e-01 2.27346899e-03 6.63114024e-01] [-1.76702003e-02 -1.04351504e-03 9.99843325e-01 -6.82336628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.96, Y:0.67, Z:-0.68 [[ 9.97394283e-01 -6.99006243e-02 1.78478699e-02 8.95705595e+00] [ 6.98705451e-02 9.97553406e-01 2.30411772e-03 6.71680550e-01] [-1.79652627e-02 -1.05107344e-03 9.99838059e-01 -6.82718026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.99, Y:0.68, Z:-0.68 [[ 9.97442710e-01 -6.89984351e-02 1.86348357e-02 8.98869604e+00] [ 6.89656329e-02 9.97616154e-01 2.39796456e-03 6.78571826e-01] [-1.87558690e-02 -1.10666903e-03 9.99823481e-01 -6.83048802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.02, Y:0.69, Z:-0.68 [[ 9.97467845e-01 -6.80808870e-02 2.05643363e-02 9.01997688e+00] [ 6.80409215e-02 9.97679044e-01 2.63771711e-03 6.89766041e-01] [-2.06961855e-02 -1.23182161e-03 9.99785052e-01 -6.83207964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.05, Y:0.70, Z:-0.68 [[ 9.97400321e-01 -6.88716230e-02 2.11967015e-02 9.05102915e+00] [ 6.88294119e-02 9.97624748e-01 2.71542499e-03 6.98203655e-01] [-2.13333698e-02 -1.24940925e-03 9.99771637e-01 -6.83386040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.08, Y:0.71, Z:-0.69 [[ 9.97093753e-01 -7.29303180e-02 2.20276506e-02 9.08183509e+00] [ 7.28857646e-02 9.97336309e-01 2.81980407e-03 7.06397355e-01] [-2.21746250e-02 -1.20610687e-03 9.99753385e-01 -6.85472160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:9.11, Y:0.71, Z:-0.69 [[ 9.96775099e-01 -7.67962204e-02 2.32753428e-02 9.11237746e+00] [ 7.67475601e-02 9.97046109e-01 2.97808275e-03 7.12752572e-01] [-2.34352955e-02 -1.18215295e-03 9.99724657e-01 -6.86254313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.14, Y:0.72, Z:-0.68 [[ 9.96475780e-01 -8.13379724e-02 2.04976810e-02 9.14254369e+00] [ 8.13012189e-02 9.96686129e-01 2.62143715e-03 7.20512569e-01] [-2.06429767e-02 -9.45712177e-04 9.99786464e-01 -6.84761051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.17, Y:0.73, Z:-0.69 [[ 9.95606811e-01 -9.12303449e-02 2.10737200e-02 9.17305730e+00] [ 9.11937209e-02 9.95829526e-01 2.69442111e-03 7.28573239e-01] [-2.12316456e-02 -7.60793072e-04 9.99774294e-01 -6.85773774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.20, Y:0.73, Z:-0.69 [[ 9.95096278e-01 -9.63402445e-02 2.24043642e-02 9.20435993e+00] [ 9.63001880e-02 9.95348220e-01 2.86249376e-03 7.34350790e-01] [-2.25759174e-02 -6.90912397e-04 9.99744893e-01 -6.86910179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.24, Y:0.74, Z:-0.69 [[ 9.93930271e-01 -1.06951164e-01 2.57694396e-02 9.23565819e+00] [ 1.06901771e-01 9.94264141e-01 3.29072949e-03 7.38303977e-01] [-2.59735771e-02 -5.15956913e-04 9.99662497e-01 -6.88458055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.27, Y:0.74, Z:-0.69 [[ 9.93222802e-01 -1.12729383e-01 2.82940387e-02 9.26725034e+00] [ 1.12672533e-01 9.93625652e-01 3.60066879e-03 7.41061989e-01] [-2.85195838e-02 -3.88305331e-04 9.99593159e-01 -6.88425266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.30, Y:0.74, Z:-0.69 [[ 9.91871897e-01 -1.23708937e-01 2.97697630e-02 9.29977293e+00] [ 1.23651170e-01 9.92318545e-01 3.78073605e-03 7.39764296e-01] [-3.00087988e-02 -6.89397963e-05 9.99549632e-01 -6.87209504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.33, Y:0.74, Z:-0.69 [[ 9.91222281e-01 -1.28951928e-01 2.91511624e-02 9.33248591e+00] [ 1.28899258e-01 9.91650841e-01 3.68669131e-03 7.40785860e-01] [-2.93831807e-02 1.03232626e-04 9.99568216e-01 -6.87362836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:0.74, Z:-0.69 [[ 9.90094125e-01 -1.37746214e-01 2.71956616e-02 9.36596258e+00] [ 1.37704087e-01 9.90467493e-01 3.42481102e-03 7.35589329e-01] [-2.74081735e-02 3.54068473e-04 9.99624263e-01 -6.88181796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.40, Y:0.73, Z:-0.69 [[ 9.89759104e-01 -1.40221377e-01 2.67372733e-02 9.39835867e+00] [ 1.40181903e-01 9.90120085e-01 3.35437302e-03 7.34431322e-01] [-2.69434661e-02 4.28060634e-04 9.99636867e-01 -6.88128598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.43, Y:0.73, Z:-0.69 [[ 9.89842156e-01 -1.39382086e-01 2.80203468e-02 9.43176739e+00] [ 1.39338770e-01 9.90238579e-01 3.50208439e-03 7.25685405e-01] [-2.82349562e-02 4.37809899e-04 9.99601218e-01 -6.86280357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.46, Y:0.72, Z:-0.69 [[ 9.90104128e-01 -1.37400708e-01 2.85457657e-02 9.46491519e+00] [ 1.37355370e-01 9.90515463e-01 3.55242536e-03 7.23053797e-01] [-2.87631281e-02 4.03643205e-04 9.99586174e-01 -6.85787622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.50, Y:0.72, Z:-0.69 [[ 9.90579164e-01 -1.34065049e-01 2.79191979e-02 9.49764924e+00] [ 1.34020730e-01 9.90972484e-01 3.46111901e-03 7.20197276e-01] [-2.81311720e-02 3.13238924e-04 9.99604191e-01 -6.86212510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:0.71, Z:-0.69 [[ 9.91623711e-01 -1.27144261e-01 2.27322033e-02 9.53089983e+00] [ 1.27113121e-01 9.91884231e-01 2.81552572e-03 7.09120732e-01] [-2.29056919e-02 9.76192389e-05 9.99737625e-01 -6.87666479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:0.71, Z:-0.69 [[ 9.92239761e-01 -1.22719280e-01 2.00058651e-02 9.56277227e+00] [ 1.22694289e-01 9.92441423e-01 2.47648950e-03 7.05406909e-01] [-2.01585623e-02 -2.66595409e-06 9.99796796e-01 -6.86977551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.59, Y:0.70, Z:-0.69 [[ 9.92990638e-01 -1.16429314e-01 2.03422430e-02 9.59260396e+00] [ 1.16402083e-01 9.93198971e-01 2.52165537e-03 6.95494500e-01] [-2.04974895e-02 -1.36100706e-04 9.99789895e-01 -6.85864787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.62, Y:0.69, Z:-0.69 [[ 9.93351014e-01 -1.13142008e-01 2.12755341e-02 9.62293267e+00] [ 1.13111435e-01 9.93578804e-01 2.63884545e-03 6.93704969e-01] [-2.14374840e-02 -2.14793615e-04 9.99770168e-01 -6.86097649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:0.69, Z:-0.69 [[ 9.93765215e-01 -1.09251320e-01 2.22451435e-02 9.65265870e+00] [ 1.09216873e-01 9.94014110e-01 2.76124944e-03 6.91521660e-01] [-2.24136566e-02 -3.14488636e-04 9.99748733e-01 -6.86503906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:0.68, Z:-0.69 [[ 9.94419110e-01 -1.03382694e-01 2.10392842e-02 9.68403800e+00] [ 1.03350538e-01 9.94641563e-01 2.61295204e-03 6.82960804e-01] [-2.11966806e-02 -4.23948097e-04 9.99775235e-01 -6.86787795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.71, Y:0.68, Z:-0.69 [[ 9.94752601e-01 -1.00519304e-01 1.90560182e-02 9.71431075e+00] [ 1.00492377e-01 9.94935011e-01 2.36784965e-03 6.81356955e-01] [-1.91975142e-02 -4.40440048e-04 9.99815614e-01 -6.86326442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.74, Y:0.67, Z:-0.69 [[ 9.95181936e-01 -9.62381555e-02 1.87385104e-02 9.74396376e+00] [ 9.62113153e-02 9.95358202e-01 2.33072798e-03 6.74492319e-01] [-1.88758350e-02 -5.16641659e-04 9.99821702e-01 -6.87670396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.77, Y:0.67, Z:-0.69 [[ 9.95394827e-01 -9.40823362e-02 1.83752953e-02 9.77337602e+00] [ 9.40561174e-02 9.95564268e-01 2.28782347e-03 6.72695873e-01] [-1.85090312e-02 -5.48978717e-04 9.99828542e-01 -6.87914374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.80, Y:0.67, Z:-0.69 [[ 9.95786048e-01 -8.98730726e-02 1.82476956e-02 9.80341008e+00] [ 8.98464696e-02 9.95953031e-01 2.27415988e-03 6.65969753e-01] [-1.83782335e-02 -6.25085651e-04 9.99830911e-01 -6.89134534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.83, Y:0.66, Z:-0.69 [[ 9.95951699e-01 -8.77298725e-02 1.95877976e-02 9.83226820e+00] [ 8.76987455e-02 9.96144044e-01 2.44413793e-03 6.64153371e-01] [-1.97266918e-02 -7.16418052e-04 9.99805153e-01 -6.89832977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.86, Y:0.66, Z:-0.69 [[ 9.96152847e-01 -8.53862961e-02 1.97151343e-02 9.86212720e+00] [ 8.53542796e-02 9.96347625e-01 2.46129209e-03 6.62927592e-01] [-1.98532878e-02 -7.69052038e-04 9.99802608e-01 -6.89945877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:0.66, Z:-0.69 [[ 9.96407741e-01 -8.22792876e-02 2.00432789e-02 9.89231587e+00] [ 8.22455326e-02 9.96608951e-01 2.50404046e-03 6.57795388e-01] [-2.01813418e-02 -8.46575155e-04 9.99795978e-01 -6.89238749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.92, Y:0.66, Z:-0.69 [[ 9.96525769e-01 -8.06024911e-02 2.09673422e-02 9.92267282e+00] [ 8.05651537e-02 9.96745899e-01 2.62077465e-03 6.55852912e-01] [-2.11103533e-02 -9.22432324e-04 9.99776726e-01 -6.90045380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.95, Y:0.65, Z:-0.69 [[ 9.96856468e-01 -7.71841571e-02 1.78826126e-02 9.95330573e+00] [ 7.71564311e-02 9.97016491e-01 2.23625709e-03 6.50752176e-01] [-1.80018633e-02 -8.49468778e-04 9.99837592e-01 -6.88882583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:0.65, Z:-0.69 [[ 9.97020122e-01 -7.48477581e-02 1.86732068e-02 9.98348697e+00] [ 7.48170965e-02 9.97194537e-01 2.33622475e-03 6.51594412e-01] [-1.87956810e-02 -9.32187971e-04 9.99822911e-01 -6.89787273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.01, Y:0.65, Z:-0.69 [[ 9.97276305e-01 -7.16205465e-02 1.76200998e-02 1.00131054e+01] [ 7.15927256e-02 9.97431510e-01 2.20549066e-03 6.53208253e-01] [-1.77328012e-02 -9.38012599e-04 9.99842322e-01 -6.89691534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.04, Y:0.65, Z:-0.69 [[ 9.97570815e-01 -6.75623697e-02 1.69645364e-02 1.00422878e+01] [ 6.75359709e-02 9.97714577e-01 2.12487976e-03 6.54042708e-01] [-1.70693271e-02 -9.74001601e-04 9.99853834e-01 -6.89646895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.11592 meters Centerline goodness [0,1] 0.999802205409682 Centerline is valid? [True, True] Translation: X:10.07, Y:0.65, Z:-0.69 [[ 9.98137560e-01 -5.91164399e-02 1.50551362e-02 1.00736076e+01] [ 5.90946911e-02 9.98250600e-01 1.88579379e-03 6.50544015e-01] [-1.51402802e-02 -9.92602989e-04 9.99884887e-01 -6.88636011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145919999999998 meters Centerline goodness [0,1] 0.9998015380798809 Centerline is valid? [True, True] Translation: X:10.10, Y:0.65, Z:-0.69 [[ 9.98484046e-01 -5.36939120e-02 1.21067894e-02 1.01037773e+01] [ 5.36794549e-02 9.98557068e-01 1.51617036e-03 6.54964052e-01] [-1.21707292e-02 -8.63986061e-04 9.99925561e-01 -6.86684798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17592 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:10.13, Y:0.66, Z:-0.69 [[ 9.98537346e-01 -5.27579246e-02 1.18224340e-02 1.01318510e+01] [ 5.27440552e-02 9.98606964e-01 1.48210005e-03 6.59696825e-01] [-1.18841574e-02 -8.56369138e-04 9.99929014e-01 -6.86851895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205919999999999 meters Centerline goodness [0,1] 0.9999009557767543 Centerline is valid? [True, True] Translation: X:10.16, Y:0.67, Z:-0.69 [[ 9.98524996e-01 -5.28426066e-02 1.24696287e-02 1.01604198e+01] [ 5.28271655e-02 9.98602445e-01 1.56467086e-03 6.65398413e-01] [-1.25348830e-02 -9.03627825e-04 9.99921027e-01 -6.88623707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235919999999998 meters Centerline goodness [0,1] 0.9999009557767543 Centerline is valid? [True, True] Translation: X:10.19, Y:0.67, Z:-0.69 [[ 9.98519168e-01 -5.29526632e-02 1.24694561e-02 1.01886423e+01] [ 5.29372136e-02 9.98596615e-01 1.56604568e-03 6.68905175e-01] [-1.25348830e-02 -9.03628365e-04 9.99921027e-01 -6.88648243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.22, Y:0.67, Z:-0.69 [[ 9.98380584e-01 -5.51016033e-02 1.41429149e-02 1.02175440e+01] [ 5.50819253e-02 9.98480256e-01 1.77744200e-03 6.74535482e-01] [-1.42193612e-02 -9.95544603e-04 9.99898404e-01 -6.88037809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295919999999999 meters Centerline goodness [0,1] 0.9999504459861249 Centerline is valid? [True, True] Translation: X:10.25, Y:0.68, Z:-0.69 [[ 9.98273560e-01 -5.66866336e-02 1.53793760e-02 1.02465083e+01] [ 5.66635374e-02 9.98391458e-01 1.93373508e-03 6.78880386e-01] [-1.54642546e-02 -1.05894676e-03 9.99879861e-01 -6.87672186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325919999999998 meters Centerline goodness [0,1] 0.9999504017458586 Centerline is valid? [True, True] Translation: X:10.28, Y:0.69, Z:-0.69 [[ 9.98058979e-01 -5.99601269e-02 1.68243266e-02 1.02759658e+01] [ 5.99329336e-02 9.98200163e-01 2.11633317e-03 6.85044567e-01] [-1.69209411e-02 -1.10389408e-03 9.99856221e-01 -6.88051268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.35592 meters Centerline goodness [0,1] 0.9999504189597898 Centerline is valid? [True, True] Translation: X:10.31, Y:0.69, Z:-0.69 [[ 9.97944757e-01 -6.20017214e-02 1.61879238e-02 1.03051368e+01] [ 6.19767992e-02 9.98075511e-01 2.03719545e-03 6.89837039e-01] [-1.62830800e-02 -1.02973281e-03 9.99866892e-01 -6.87836824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385919999999999 meters Centerline goodness [0,1] 0.9999504876961925 Centerline is valid? [True, True] Translation: X:10.33, Y:0.69, Z:-0.69 [[ 9.97852120e-01 -6.33634643e-02 1.66198052e-02 1.03343521e+01] [ 6.33373665e-02 9.97989980e-01 2.09250068e-03 6.93125410e-01] [-1.67189872e-02 -1.03535155e-03 9.99859692e-01 -6.88975780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.36, Y:0.70, Z:-0.69 [[ 9.97692817e-01 -6.64204698e-02 1.40486548e-02 1.03641302e+01] [ 6.64021034e-02 9.97791374e-01 1.77029110e-03 6.99801152e-01] [-1.41352101e-02 -8.33346484e-04 9.99899746e-01 -6.89921981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.39, Y:0.70, Z:-0.69 [[ 9.97626926e-01 -6.74273599e-02 1.39308311e-02 1.03930499e+01] [ 6.74093757e-02 9.97723854e-01 1.75705202e-03 7.03135493e-01] [-1.40175959e-02 -8.13813780e-04 9.99901417e-01 -6.90391081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475919999999999 meters Centerline goodness [0,1] 0.9999010097010493 Centerline is valid? [True, True] Translation: X:10.42, Y:0.70, Z:-0.69 [[ 9.97636120e-01 -6.74751678e-02 1.30105644e-02 1.04223695e+01] [ 6.74594657e-02 9.97720664e-01 1.64247831e-03 7.02645780e-01] [-1.30917354e-02 -7.60909967e-04 9.99914010e-01 -6.89165176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50592 meters Centerline goodness [0,1] 0.9999008968832069 Centerline is valid? [True, True] Translation: X:10.45, Y:0.71, Z:-0.69 [[ 9.97549091e-01 -6.88358123e-02 1.25475755e-02 1.04515462e+01] [ 6.88213012e-02 9.97627744e-01 1.58513653e-03 7.05560951e-01] [-1.26269236e-02 -7.17711031e-04 9.99920020e-01 -6.88515354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535919999999999 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:10.48, Y:0.71, Z:-0.69 [[ 9.97513466e-01 -6.94672901e-02 1.18819773e-02 1.04797881e+01] [ 6.94543062e-02 9.97584003e-01 1.50240389e-03 7.08591163e-01] [-1.19576384e-02 -6.73413617e-04 9.99928278e-01 -6.87668965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565919999999998 meters Centerline goodness [0,1] 0.9999504705299653 Centerline is valid? [True, True] Translation: X:10.51, Y:0.71, Z:-0.69 [[ 9.97468546e-01 -6.99447975e-02 1.28150388e-02 1.05081907e+01] [ 6.99297143e-02 9.97550603e-01 1.62188004e-03 7.11927720e-01] [-1.28970917e-02 -7.21622323e-04 9.99916569e-01 -6.88709154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59592 meters Centerline goodness [0,1] 0.9999010782471065 Centerline is valid? [True, True] Translation: X:10.54, Y:0.71, Z:-0.69 [[ 9.97520420e-01 -6.93286111e-02 1.21060171e-02 1.05368175e+01] [ 6.93150884e-02 9.97593638e-01 1.53355458e-03 7.13256661e-01] [-1.21832048e-02 -6.90622364e-04 9.99925544e-01 -6.87791505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625919999999999 meters Centerline goodness [0,1] 0.9999003587086489 Centerline is valid? [True, True] Translation: X:10.57, Y:0.72, Z:-0.69 [[ 9.97612937e-01 -6.80468949e-02 1.17493686e-02 1.05660825e+01] [ 6.80340380e-02 9.97681887e-01 1.49098180e-03 7.15477265e-01] [-1.18235889e-02 -6.88065749e-04 9.99929862e-01 -6.88259208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.59, Y:0.72, Z:-0.69 [[ 9.97647430e-01 -6.72895774e-02 1.31041360e-02 1.05947387e+01] [ 6.72734974e-02 9.97733184e-01 1.66455106e-03 7.17785604e-01] [-1.31864382e-02 -7.79074026e-04 9.99912752e-01 -6.89514483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68592 meters Centerline goodness [0,1] 0.9999504999505 Centerline is valid? [True, True] Translation: X:10.62, Y:0.72, Z:-0.69 [[ 9.97672903e-01 -6.63807020e-02 1.55685897e-02 1.06230094e+01] [ 6.63578588e-02 9.97793924e-01 1.97985271e-03 7.19749837e-01] [-1.56656683e-02 -9.42147123e-04 9.99876842e-01 -6.90304426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.65, Y:0.72, Z:-0.69 [[ 9.97539019e-01 -6.78276569e-02 1.77571154e-02 1.06521611e+01] [ 6.77981301e-02 9.97696499e-01 2.26025733e-03 7.22546557e-01] [-1.78695198e-02 -1.05079566e-03 9.99839775e-01 -6.90517520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745919999999998 meters Centerline goodness [0,1] 0.9999010831396211 Centerline is valid? [True, True] Translation: X:10.68, Y:0.73, Z:-0.69 [[ 9.97399102e-01 -6.98913014e-02 1.76135557e-02 1.06814719e+01] [ 6.98625519e-02 9.97554105e-01 2.24305086e-03 7.26244759e-01] [-1.77272445e-02 -1.00668896e-03 9.99842353e-01 -6.89799467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.71, Y:0.73, Z:-0.69 [[ 9.96901785e-01 -7.65616788e-02 1.80316250e-02 1.07110544e+01] [ 7.65326196e-02 9.97064432e-01 2.29716603e-03 7.32508887e-01] [-1.81545668e-02 -9.10041423e-04 9.99834778e-01 -6.90729414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.74, Y:0.74, Z:-0.69 [[ 9.96693711e-01 -7.91251426e-02 1.84623663e-02 1.07397867e+01] [ 7.90950779e-02 9.96864297e-01 2.35414124e-03 7.36201209e-01] [-1.85907455e-02 -8.86075475e-04 9.99826785e-01 -6.91877560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.77, Y:0.74, Z:-0.69 [[ 9.96262982e-01 -8.41370718e-02 1.95198077e-02 1.07691276e+01] [ 8.41044105e-02 9.96453837e-01 2.48963264e-03 7.38340258e-01] [-1.96600577e-02 -8.38626919e-04 9.99806371e-01 -6.93624403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.80, Y:0.74, Z:-0.69 [[ 9.96108430e-01 -8.58417029e-02 1.99799261e-02 1.07980463e+01] [ 8.58077790e-02 9.96308446e-01 2.55063526e-03 7.39518637e-01] [-2.01251200e-02 -8.26276203e-04 9.99797128e-01 -6.94599177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.83, Y:0.74, Z:-0.69 [[ 9.95948133e-01 -8.76090957e-02 2.02968812e-02 1.08270552e+01] [ 8.75744036e-02 9.96154605e-01 2.59352104e-03 7.40901685e-01] [-2.04460477e-02 -8.05525174e-04 9.99790633e-01 -6.94806127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.86, Y:0.74, Z:-0.69 [[ 9.95606255e-01 -9.13924333e-02 2.03864454e-02 1.08567148e+01] [ 9.13581998e-02 9.95814685e-01 2.60624014e-03 7.39502685e-01] [-2.05393123e-02 -7.32320038e-04 9.99788778e-01 -6.94110622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.89, Y:0.74, Z:-0.69 [[ 9.95384035e-01 -9.37330690e-02 2.06090981e-02 1.08857167e+01] [ 9.36985333e-02 9.95597122e-01 2.63716518e-03 7.39172475e-01] [-2.07655484e-02 -6.93949847e-04 9.99784132e-01 -6.94270284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:0.74, Z:-0.69 [[ 9.95235681e-01 -9.54940258e-02 1.96679857e-02 1.09148411e+01] [ 9.54628691e-02 9.95429804e-01 2.51911021e-03 7.35737018e-01] [-1.98186591e-02 -6.29546023e-04 9.99803393e-01 -6.94543521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.94, Y:0.74, Z:-0.69 [[ 9.95150301e-01 -9.65470045e-02 1.88296373e-02 1.09441372e+01] [ 9.65185927e-02 9.95328254e-01 2.41400899e-03 7.37174598e-01] [-1.89747353e-02 -5.84891684e-04 9.99819792e-01 -6.94939543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.97, Y:0.73, Z:-0.70 [[ 9.95119399e-01 -9.70914443e-02 1.76247887e-02 1.09735273e+01] [ 9.70666000e-02 9.95275319e-01 2.26167205e-03 7.33695896e-01] [-1.77611062e-02 -5.39855415e-04 9.99842113e-01 -6.95488253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.00, Y:0.73, Z:-0.70 [[ 9.95082938e-01 -9.75243344e-02 1.72902056e-02 1.10028684e+01] [ 9.75004533e-02 9.95233003e-01 2.22083237e-03 7.31601178e-01] [-1.74243685e-02 -5.24109510e-04 9.99848047e-01 -6.95787367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.03, Y:0.72, Z:-0.69 [[ 9.95342166e-01 -9.45521030e-02 1.88114918e-02 1.10330184e+01] [ 9.45232607e-02 9.95519716e-01 2.41849973e-03 7.23961020e-01] [-1.89558852e-02 -6.29111223e-04 9.99820123e-01 -6.94836958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.06, Y:0.72, Z:-0.70 [[ 9.95558587e-01 -9.19532550e-02 2.01915459e-02 1.10618308e+01] [ 9.19194018e-02 9.95763055e-01 2.60031086e-03 7.22572600e-01] [-2.03451025e-02 -7.32766976e-04 9.99792748e-01 -6.95071400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.09, Y:0.72, Z:-0.70 [[ 9.95889836e-01 -8.83836201e-02 1.97931624e-02 1.10913649e+01] [ 8.83503377e-02 9.96086195e-01 2.55141093e-03 7.22052016e-01] [-1.99411987e-02 -7.92191633e-04 9.99800841e-01 -6.95209138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.19592 meters Centerline goodness [0,1] 0.9998028099580971 Centerline is valid? [True, True] Translation: X:11.12, Y:0.71, Z:-0.69 [[ 9.96725495e-01 -7.87958933e-02 1.81519982e-02 1.11227078e+01] [ 7.87663058e-02 9.96890361e-01 2.34031699e-03 7.14658556e-01] [-1.82799594e-02 -9.02887773e-04 9.99832500e-01 -6.93534403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225919999999999 meters Centerline goodness [0,1] 0.9999505611311613 Centerline is valid? [True, True] Translation: X:11.15, Y:0.71, Z:-0.69 [[ 9.97073191e-01 -7.43064790e-02 1.79888594e-02 1.11524425e+01] [ 7.42766649e-02 9.97234973e-01 2.32078515e-03 7.14163508e-01] [-1.81115691e-02 -9.77840179e-04 9.99835494e-01 -6.93335654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255919999999998 meters Centerline goodness [0,1] 0.9999505195447798 Centerline is valid? [True, True] Translation: X:11.18, Y:0.71, Z:-0.69 [[ 9.97792120e-01 -6.42738124e-02 1.67260867e-02 1.11833628e+01] [ 6.42466279e-02 9.97931718e-01 2.15812314e-03 7.10828550e-01] [-1.68302032e-02 -1.07876360e-03 9.99857780e-01 -6.92927177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285919999999999 meters Centerline goodness [0,1] 0.9997532204728296 Centerline is valid? [True, True] Translation: X:11.21, Y:0.71, Z:-0.69 [[ 9.98070576e-01 -5.95902584e-02 1.74392341e-02 1.12139826e+01] [ 5.95599857e-02 9.98222191e-01 2.25061743e-03 7.10540561e-01] [-1.75423454e-02 -1.20759450e-03 9.99845392e-01 -6.94201950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315919999999998 meters Centerline goodness [0,1] 0.9995561254685342 Centerline is valid? [True, True] Translation: X:11.24, Y:0.71, Z:-0.69 [[ 9.98320250e-01 -5.54968882e-02 1.66364953e-02 1.12442932e+01] [ 5.54687645e-02 9.98458113e-01 2.14753815e-03 7.12423179e-01] [-1.67300254e-02 -1.22112498e-03 9.99859298e-01 -6.94298529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34592 meters Centerline goodness [0,1] 0.9991116375481196 Centerline is valid? [True, True] Translation: X:11.27, Y:0.72, Z:-0.69 [[ 9.98643200e-01 -4.96044600e-02 1.58478921e-02 1.12743335e+01] [ 4.95781995e-02 9.98768150e-01 2.04588213e-03 7.18304335e-01] [-1.59298548e-02 -1.25739632e-03 9.99872321e-01 -6.93976082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375919999999999 meters Centerline goodness [0,1] 0.9989134729355986 Centerline is valid? [True, True] Translation: X:11.30, Y:0.72, Z:-0.69 [[ 9.98706744e-01 -4.82827889e-02 1.59251908e-02 1.13034650e+01] [ 4.82560915e-02 9.98832879e-01 2.05668099e-03 7.24002254e-01] [-1.60059065e-02 -1.28553371e-03 9.99871071e-01 -6.93534571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405919999999998 meters Centerline goodness [0,1] 0.9978763334650336 Centerline is valid? [True, True] Translation: X:11.33, Y:0.73, Z:-0.69 [[ 9.98922373e-01 -4.43691514e-02 1.36187860e-02 1.13332683e+01] [ 4.43492611e-02 9.99014539e-01 1.75920205e-03 7.29450935e-01] [-1.36834196e-02 -1.15332319e-03 9.99905712e-01 -6.93698155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.43592 meters Centerline goodness [0,1] 0.9971359439040047 Centerline is valid? [True, True] Translation: X:11.36, Y:0.74, Z:-0.69 [[ 9.99008822e-01 -4.22999604e-02 1.38595552e-02 1.13619999e+01] [ 4.22791529e-02 9.99104232e-01 1.79101715e-03 7.37082734e-01] [-1.39229002e-02 -1.20327168e-03 9.99902348e-01 -6.93536729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465919999999999 meters Centerline goodness [0,1] 0.9940173053152039 Centerline is valid? [True, True] Translation: X:11.39, Y:0.75, Z:-0.69 [[ 9.99201795e-01 -3.70573287e-02 1.49173426e-02 1.13910640e+01] [ 3.70326433e-02 9.99312197e-01 1.92775047e-03 7.50711589e-01] [-1.49785197e-02 -1.37378310e-03 9.99886872e-01 -6.92642936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495919999999998 meters Centerline goodness [0,1] 0.9945636058119997 Centerline is valid? [True, True] Translation: X:11.42, Y:0.76, Z:-0.69 [[ 9.99264990e-01 -3.52867481e-02 1.49774806e-02 1.14215496e+01] [ 3.52616773e-02 9.99376241e-01 1.93477831e-03 7.60131982e-01] [-1.50364103e-02 -1.40522515e-03 9.99885959e-01 -6.91908798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52592 meters Centerline goodness [0,1] 0.9916464831199644 Centerline is valid? [True, True] Translation: X:11.45, Y:0.77, Z:-0.69 [[ 9.99283973e-01 -3.44902606e-02 1.55551872e-02 1.14521376e+01] [ 3.44631353e-02 9.99403951e-01 2.00858243e-03 7.67784088e-01] [-1.56151921e-02 -1.47106371e-03 9.99876993e-01 -6.91703106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555919999999999 meters Centerline goodness [0,1] 0.9922818127844845 Centerline is valid? [True, True] Translation: X:11.48, Y:0.79, Z:-0.69 [[ 9.99243082e-01 -3.59282029e-02 1.49139961e-02 1.14816170e+01] [ 3.59034440e-02 9.99353410e-01 1.92463845e-03 7.86686967e-01] [-1.49735017e-02 -1.38771783e-03 9.99886928e-01 -6.91793767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585919999999998 meters Centerline goodness [0,1] 0.996875155002232 Centerline is valid? [True, True] Translation: X:11.51, Y:0.80, Z:-0.69 [[ 9.99196575e-01 -3.73047005e-02 1.46479890e-02 1.15113738e+01] [ 3.72809809e-02 9.99303037e-01 1.88913741e-03 8.00670118e-01] [-1.47082536e-02 -1.34152823e-03 9.99890928e-01 -6.91225699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.61592 meters Centerline goodness [0,1] 0.9987116594816907 Centerline is valid? [True, True] Translation: X:11.54, Y:0.82, Z:-0.69 [[ 9.98920896e-01 -4.33833425e-02 1.65810104e-02 1.15404349e+01] [ 4.33537946e-02 9.99057496e-01 2.13751532e-03 8.17942054e-01] [-1.66581153e-02 -1.41635900e-03 9.99860241e-01 -6.91617262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645919999999998 meters Centerline goodness [0,1] 0.9988587873375012 Centerline is valid? [True, True] Translation: X:11.57, Y:0.83, Z:-0.69 [[ 9.98726504e-01 -4.70899829e-02 1.81081070e-02 1.15701515e+01] [ 4.70553467e-02 9.98889556e-01 2.33432840e-03 8.26659176e-01] [-1.81979225e-02 -1.47927239e-03 9.99833310e-01 -6.92366809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.67592 meters Centerline goodness [0,1] 0.9994534433071649 Centerline is valid? [True, True] Translation: X:11.60, Y:0.84, Z:-0.69 [[ 9.98565891e-01 -5.02182028e-02 1.85551641e-02 1.16000697e+01] [ 5.01823810e-02 9.98737207e-01 2.39144491e-03 8.37222702e-01] [-1.86518268e-02 -1.45687301e-03 9.99824978e-01 -6.92796664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705919999999999 meters Centerline goodness [0,1] 0.999554587746214 Centerline is valid? [True, True] Translation: X:11.63, Y:0.85, Z:-0.70 [[ 9.98283887e-01 -5.54306839e-02 1.88870605e-02 1.16293451e+01] [ 5.53945007e-02 9.98461579e-01 2.43397991e-03 8.52552070e-01] [-1.89929214e-02 -1.38356364e-03 9.99818661e-01 -6.95276795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735919999999998 meters Centerline goodness [0,1] 0.9996042934164318 Centerline is valid? [True, True] Translation: X:11.66, Y:0.86, Z:-0.70 [[ 9.98142525e-01 -5.82040652e-02 1.79940944e-02 1.16598053e+01] [ 5.81716888e-02 9.98303903e-01 2.31793225e-03 8.61100458e-01] [-1.80984877e-02 -1.26687989e-03 9.99835406e-01 -6.95902361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.69, Y:0.87, Z:-0.69 [[ 9.97790675e-01 -6.45842779e-02 1.55768818e-02 1.16894860e+01] [ 6.45607727e-02 9.97911758e-01 2.00767385e-03 8.73282534e-01] [-1.56740176e-02 -9.97582720e-04 9.99876657e-01 -6.93925913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795919999999999 meters Centerline goodness [0,1] 0.9998515586343394 Centerline is valid? [True, True] Translation: X:11.72, Y:0.88, Z:-0.69 [[ 9.97547951e-01 -6.79238715e-02 1.68651604e-02 1.17187851e+01] [ 6.78967754e-02 9.97689981e-01 2.17471864e-03 8.79081749e-01] [-1.69739169e-02 -1.02429611e-03 9.99855408e-01 -6.94629006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.75, Y:0.89, Z:-0.69 [[ 9.97162201e-01 -7.29483930e-02 1.86031365e-02 1.17473178e+01] [ 7.29162746e-02 9.97335178e-01 2.39989861e-03 8.90711104e-01] [-1.87286312e-02 -1.03661677e-03 9.99824066e-01 -6.94261366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85592 meters Centerline goodness [0,1] 0.9999505293361037 Centerline is valid? [True, True] Translation: X:11.78, Y:0.90, Z:-0.69 [[ 9.97062298e-01 -7.41650869e-02 1.91393233e-02 1.17759675e+01] [ 7.41312922e-02 9.97245431e-01 2.47017666e-03 8.97739689e-01] [-1.92698036e-02 -1.04409725e-03 9.99813775e-01 -6.94592187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.81, Y:0.91, Z:-0.69 [[ 9.97034094e-01 -7.49172349e-02 1.76188287e-02 1.18052816e+01] [ 7.48887134e-02 9.97189305e-01 2.27398278e-03 9.06215118e-01] [-1.77396681e-02 -9.47786951e-04 9.99842190e-01 -6.94059761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915919999999998 meters Centerline goodness [0,1] 0.9999504508968388 Centerline is valid? [True, True] Translation: X:11.83, Y:0.91, Z:-0.69 [[ 9.97077545e-01 -7.47700647e-02 1.56782440e-02 1.18341984e+01] [ 7.47474486e-02 9.97200442e-01 2.02439655e-03 9.14867365e-01] [-1.57857161e-02 -8.46571602e-04 9.99875039e-01 -6.94972282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94592 meters Centerline goodness [0,1] 0.9999505464615993 Centerline is valid? [True, True] Translation: X:11.86, Y:0.92, Z:-0.69 [[ 9.97037607e-01 -7.52998838e-02 1.56823715e-02 1.18624350e+01] [ 7.52772932e-02 9.97160580e-01 2.02669929e-03 9.21613524e-01] [-1.57904529e-02 -8.40168933e-04 9.99874970e-01 -6.94993673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.89, Y:0.93, Z:-0.69 [[ 9.96946722e-01 -7.66353064e-02 1.49754429e-02 1.18901858e+01] [ 7.66148369e-02 9.97058883e-01 1.93667048e-03 9.32549952e-01] [-1.50798157e-02 -7.83416170e-04 9.99885986e-01 -6.93595496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005919999999998 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:11.92, Y:0.94, Z:-0.69 [[ 9.96849497e-01 -7.79304312e-02 1.47623746e-02 1.19188113e+01] [ 7.79106622e-02 9.96958514e-01 1.91042305e-03 9.40458556e-01] [-1.48663551e-02 -7.54257880e-04 9.99889205e-01 -6.93449692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.95, Y:0.95, Z:-0.69 [[ 9.96796969e-01 -7.84287584e-02 1.56439390e-02 1.19469827e+01] [ 7.84065897e-02 9.96919405e-01 2.02635426e-03 9.48765111e-01] [-1.57546708e-02 -7.93275879e-04 9.99875573e-01 -6.94504607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065919999999998 meters Centerline goodness [0,1] 0.9999504705299653 Centerline is valid? [True, True] Translation: X:11.98, Y:0.95, Z:-0.69 [[ 9.96737416e-01 -7.91742506e-02 1.56831873e-02 1.19764848e+01] [ 7.91520471e-02 9.96860483e-01 2.03241538e-03 9.54929009e-01] [-1.57948647e-02 -7.84428071e-04 9.99874946e-01 -6.94377418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.00, Y:0.96, Z:-0.69 [[ 9.96608629e-01 -8.06982330e-02 1.60946087e-02 1.20048673e+01] [ 8.06750321e-02 9.96738273e-01 2.08668119e-03 9.64623676e-01] [-1.62105039e-02 -7.81171410e-04 9.99868296e-01 -6.94207732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.03, Y:0.97, Z:-0.69 [[ 9.96603906e-01 -8.07565544e-02 1.60944866e-02 1.20338434e+01] [ 8.07333459e-02 9.96733549e-01 2.08762239e-03 9.68362827e-01] [-1.62105040e-02 -7.81170878e-04 9.99868296e-01 -6.94232956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.06, Y:0.97, Z:-0.69 [[ 9.96499250e-01 -8.20033859e-02 1.62692798e-02 1.20634179e+01] [ 8.19798279e-02 9.96631754e-01 2.11080534e-03 9.74397437e-01] [-1.63875740e-02 -7.69663179e-04 9.99865418e-01 -6.94586611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18592 meters Centerline goodness [0,1] 0.9999505146476643 Centerline is valid? [True, True] Translation: X:12.09, Y:0.98, Z:-0.69 [[ 9.96382242e-01 -8.34486246e-02 1.60858578e-02 1.20926455e+01] [ 8.34257677e-02 9.96511807e-01 2.08793777e-03 9.79733929e-01] [-1.62039828e-02 -7.38409086e-04 9.99868434e-01 -6.94885020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.12, Y:0.99, Z:-0.70 [[ 9.96035320e-01 -8.75038874e-02 1.60222265e-02 1.21221008e+01] [ 8.74817336e-02 9.96163953e-01 2.07972913e-03 9.87425086e-01] [-1.61427488e-02 -6.69831525e-04 9.99869473e-01 -6.95212486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.15, Y:0.99, Z:-0.70 [[ 9.95845192e-01 -8.92353718e-02 1.81494436e-02 1.21501949e+01] [ 8.92071926e-02 9.96010300e-01 2.35795281e-03 9.92674005e-01] [-1.82874455e-02 -7.29095059e-04 9.99832505e-01 -6.95743593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.18, Y:1.00, Z:-0.70 [[ 9.95641847e-01 -9.14095948e-02 1.84823729e-02 1.21789356e+01] [ 9.13807243e-02 9.95813131e-01 2.40238058e-03 9.99463698e-01] [-1.86245902e-02 -7.02978017e-04 9.99826300e-01 -6.96337759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305919999999999 meters Centerline goodness [0,1] 0.9999504484416035 Centerline is valid? [True, True] Translation: X:12.21, Y:1.00, Z:-0.70 [[ 9.95564857e-01 -9.23862372e-02 1.77594474e-02 1.22085506e+01] [ 9.23597171e-02 9.95723028e-01 2.30949080e-03 1.00400896e+00] [-1.78968559e-02 -6.58990341e-04 9.99839621e-01 -6.97080156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.24, Y:1.01, Z:-0.70 [[ 9.95273343e-01 -9.57634994e-02 1.61345747e-02 1.22384229e+01] [ 9.57420453e-02 9.95403966e-01 2.09870067e-03 1.00752440e+00] [-1.62613985e-02 -5.44023653e-04 9.99867627e-01 -6.97759031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.27, Y:1.01, Z:-0.70 [[ 9.95148830e-01 -9.70650462e-02 1.60369428e-02 1.22672188e+01] [ 9.70439893e-02 9.95277903e-01 2.08788632e-03 1.01075095e+00] [-1.61638756e-02 -5.21468726e-04 9.99869220e-01 -6.97927300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.30, Y:1.01, Z:-0.70 [[ 9.94877032e-01 -9.98137990e-02 1.60280241e-02 1.22955330e+01] [ 9.97930898e-02 9.95006018e-01 2.08869937e-03 1.01479758e+00] [-1.61564615e-02 -4.78512979e-04 9.99869361e-01 -6.97507793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.32, Y:1.02, Z:-0.70 [[ 9.94255274e-01 -1.05443090e-01 1.83903719e-02 1.23246546e+01] [ 1.05416755e-01 9.94425239e-01 2.39830751e-03 1.01877786e+00] [-1.85407350e-02 -4.45876566e-04 9.99828006e-01 -6.98005247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.35, Y:1.02, Z:-0.70 [[ 9.93805661e-01 -1.09443892e-01 1.92961841e-02 1.23534049e+01] [ 1.09415605e-01 9.93992898e-01 2.51883642e-03 1.01876980e+00] [-1.94559412e-02 -3.91930243e-04 9.99810638e-01 -6.97769431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.38, Y:1.02, Z:-0.70 [[ 9.93672439e-01 -1.10644964e-01 1.93073840e-02 1.23823416e+01] [ 1.10616823e-01 9.93859927e-01 2.52275024e-03 1.02040370e+00] [-1.94679649e-02 -3.71065908e-04 9.99810412e-01 -6.97669481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.41, Y:1.02, Z:-0.70 [[ 9.93550364e-01 -1.11700428e-01 1.95112408e-02 1.24107219e+01] [ 1.11671844e-01 9.93741862e-01 2.55186153e-03 1.02278276e+00] [-1.96741808e-02 -3.56546720e-04 9.99806381e-01 -6.97588948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.44, Y:1.02, Z:-0.70 [[ 9.93645237e-01 -1.10914540e-01 1.91600381e-02 1.24396758e+01] [ 1.10886783e-01 9.93829880e-01 2.50835846e-03 1.02174204e+00] [-1.93200318e-02 -3.67823446e-04 9.99813283e-01 -6.98796469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.47, Y:1.02, Z:-0.70 [[ 9.93714579e-01 -1.10283457e-01 1.92066420e-02 1.24691063e+01] [ 1.10255399e-01 9.93900102e-01 2.51692840e-03 1.02054433e+00] [-1.93670590e-02 -3.83472454e-04 9.99812367e-01 -6.99429672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.50, Y:1.02, Z:-0.70 [[ 9.93913179e-01 -1.08441020e-01 1.94200132e-02 1.24985847e+01] [ 1.08411936e-01 9.94102793e-01 2.54733609e-03 1.01647918e+00] [-1.95817251e-02 -4.26469685e-04 9.99808169e-01 -6.99609439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.53, Y:1.02, Z:-0.70 [[ 9.93966102e-01 -1.07994541e-01 1.91980907e-02 1.25271846e+01] [ 1.07965987e-01 9.94151393e-01 2.52065076e-03 1.01697231e+00] [-1.93580252e-02 -4.32700582e-04 9.99812522e-01 -6.99920767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.56, Y:1.02, Z:-0.70 [[ 9.94081717e-01 -1.07226592e-01 1.74355130e-02 1.25559055e+01] [ 1.07202885e-01 9.94234525e-01 2.29140196e-03 1.01715636e+00] [-1.75806882e-02 -4.08703510e-04 9.99845364e-01 -7.00018409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.59, Y:1.01, Z:-0.70 [[ 9.93967088e-01 -1.08359213e-01 1.69620157e-02 1.25857311e+01] [ 1.08336905e-01 9.94111732e-01 2.23127631e-03 1.01414933e+00] [-1.71039181e-02 -3.80202939e-04 9.99853645e-01 -6.99487341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.61, Y:1.01, Z:-0.70 [[ 9.93836253e-01 -1.09482158e-01 1.74114856e-02 1.26147107e+01] [ 1.09458786e-01 9.93988691e-01 2.29257403e-03 1.01486792e+00] [-1.75578157e-02 -3.72603107e-04 9.99845780e-01 -6.99007697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.64, Y:1.01, Z:-0.70 [[ 9.93721004e-01 -1.10401672e-01 1.81669340e-02 1.26429477e+01] [ 1.10376320e-01 9.93886980e-01 2.39540899e-03 1.01240897e+00] [-1.83203363e-02 -3.75168907e-04 9.99832098e-01 -7.00675916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.67, Y:1.01, Z:-0.70 [[ 9.93700272e-01 -1.10626224e-01 1.79334134e-02 1.26718850e+01] [ 1.10601514e-01 9.93862014e-01 2.36691662e-03 1.01282584e+00] [-1.80851814e-02 -3.68543019e-04 9.99836382e-01 -7.01580691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.70, Y:1.01, Z:-0.70 [[ 9.93683458e-01 -1.10912449e-01 1.70766952e-02 1.27010697e+01] [ 1.10890049e-01 9.93830120e-01 2.25597699e-03 1.00970416e+00] [-1.72215500e-02 -3.48091450e-04 9.99851638e-01 -7.01363858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.73, Y:1.01, Z:-0.70 [[ 9.93679188e-01 -1.10793790e-01 1.80667199e-02 1.27304923e+01] [ 1.10768657e-01 9.93843346e-01 2.38902604e-03 1.01017166e+00] [-1.82201786e-02 -3.72699151e-04 9.99833929e-01 -7.00611955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.76, Y:1.01, Z:-0.70 [[ 9.93654242e-01 -1.10902892e-01 1.87562106e-02 1.27594599e+01] [ 1.10875779e-01 9.93831172e-01 2.48254839e-03 1.01098997e+00] [-1.89158286e-02 -3.87185276e-04 9.99821005e-01 -6.99199629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.79, Y:1.01, Z:-0.70 [[ 9.93623943e-01 -1.10720242e-01 2.12717754e-02 1.27893666e+01] [ 1.10685268e-01 9.93851513e-01 2.81820330e-03 1.00811064e+00] [-2.14530183e-02 -4.45762120e-04 9.99769758e-01 -7.00517577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.82, Y:1.01, Z:-0.70 [[ 9.93522661e-01 -1.11540551e-01 2.17124015e-02 1.28179007e+01] [ 1.11504220e-01 9.93759785e-01 2.88058420e-03 1.00877236e+00] [-2.18982134e-02 -4.40901279e-04 9.99760108e-01 -7.00464053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.85, Y:1.00, Z:-0.70 [[ 9.93177524e-01 -1.14296001e-01 2.31263800e-02 1.28476669e+01] [ 1.14255461e-01 9.93446656e-01 3.07114049e-03 1.00462227e+00] [-2.33258440e-02 -4.07872504e-04 9.99727832e-01 -7.02755059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.88, Y:1.00, Z:-0.70 [[ 9.92972716e-01 -1.16270380e-01 2.20541273e-02 1.28768563e+01] [ 1.16233938e-01 9.93217538e-01 2.93149873e-03 1.00450037e+00] [-2.22453925e-02 -3.47460203e-04 9.99752480e-01 -7.02452812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.91, Y:1.00, Z:-0.70 [[ 9.92866875e-01 -1.17431098e-01 2.06229395e-02 1.29060664e+01] [ 1.17399430e-01 9.93080986e-01 2.74382737e-03 1.00477744e+00] [-2.08024597e-02 -3.03133973e-04 9.99783559e-01 -7.01257090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.94, Y:1.00, Z:-0.70 [[ 9.92585889e-01 -1.19637432e-01 2.14508095e-02 1.29358324e+01] [ 1.19603626e-01 9.92817613e-01 2.85668209e-03 1.00079238e+00] [-2.16385076e-02 -2.69907739e-04 9.99765824e-01 -7.02046570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.97, Y:0.99, Z:-0.70 [[ 9.92332024e-01 -1.21618933e-01 2.20451574e-02 1.29656658e+01] [ 1.21583655e-01 9.92576838e-01 2.93859461e-03 9.94386494e-01] [-2.22389014e-02 -2.35730721e-04 9.99752657e-01 -7.02553805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.11592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.99, Y:0.99, Z:-0.70 [[ 9.92293345e-01 -1.22047225e-01 2.14100869e-02 1.29948229e+01] [ 1.22013991e-01 9.92524269e-01 2.85665186e-03 9.92825165e-01] [-2.15986773e-02 -2.22306481e-04 9.99766697e-01 -7.01453877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.02, Y:0.99, Z:-0.70 [[ 9.92321675e-01 -1.21940878e-01 2.06909693e-02 1.30245508e+01] [ 1.21909762e-01 9.92537341e-01 2.76334214e-03 9.91124041e-01] [-2.08735241e-02 -2.19693163e-04 9.99782100e-01 -7.02541952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.05, Y:0.99, Z:-0.70 [[ 9.92553843e-01 -1.20886766e-01 1.49418661e-02 1.30545727e+01] [ 1.20870333e-01 9.92666287e-01 2.00135400e-03 9.85132435e-01] [-1.50742239e-02 -1.80423267e-04 9.99886361e-01 -7.00998490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.08, Y:0.98, Z:-0.70 [[ 9.92630519e-01 -1.20394907e-01 1.37738756e-02 1.30835065e+01] [ 1.20380800e-01 9.92726062e-01 1.85181282e-03 9.83778376e-01] [-1.38966341e-02 -1.80055768e-04 9.99903421e-01 -7.01279754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235919999999998 meters Centerline goodness [0,1] 0.9998024788899313 Centerline is valid? [True, True] Translation: X:13.11, Y:0.98, Z:-0.70 [[ 9.92931202e-01 -1.17750511e-01 1.49145763e-02 1.31133123e+01] [ 1.17733571e-01 9.93043181e-01 2.01184548e-03 9.79050766e-01] [-1.50477141e-02 -2.41677815e-04 9.99886748e-01 -7.01121670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26592 meters Centerline goodness [0,1] 0.9997047534691468 Centerline is valid? [True, True] Translation: X:13.14, Y:0.98, Z:-0.70 [[ 9.93038535e-01 -1.16728692e-01 1.57759298e-02 1.31427032e+01] [ 1.16709500e-01 9.93163801e-01 2.13495814e-03 9.78037592e-01] [-1.59172933e-02 -2.78894831e-04 9.99873273e-01 -6.99106959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295919999999999 meters Centerline goodness [0,1] 0.999901463270434 Centerline is valid? [True, True] Translation: X:13.17, Y:0.98, Z:-0.70 [[ 9.93227793e-01 -1.14878941e-01 1.73603056e-02 1.31723223e+01] [ 1.14855285e-01 9.93379438e-01 2.35694861e-03 9.76380747e-01] [-1.75161344e-02 -3.47064022e-04 9.99846521e-01 -6.99065067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325919999999998 meters Centerline goodness [0,1] 0.9998520710059171 Centerline is valid? [True, True] Translation: X:13.20, Y:0.97, Z:-0.70 [[ 9.93730038e-01 -1.10321326e-01 1.81608269e-02 1.32026156e+01] [ 1.10294533e-01 9.93895869e-01 2.47342258e-03 9.69195822e-01] [-1.83228421e-02 -4.54874390e-04 9.99832019e-01 -6.97097078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35592 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:13.23, Y:0.97, Z:-0.70 [[ 9.94019905e-01 -1.07795863e-01 1.74493873e-02 1.32320199e+01] [ 1.07770609e-01 9.94172929e-01 2.38393954e-03 9.68419212e-01] [-1.76046873e-02 -4.89152252e-04 9.99844906e-01 -6.97582061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385919999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.26, Y:0.97, Z:-0.70 [[ 9.94438398e-01 -1.03766840e-01 1.80198804e-02 1.32616660e+01] [ 1.03739108e-01 9.94601477e-01 2.46950685e-03 9.66498441e-01] [-1.81788526e-02 -5.86406122e-04 9.99834579e-01 -6.98848418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.29, Y:0.97, Z:-0.70 [[ 9.94598899e-01 -1.02070936e-01 1.88296008e-02 1.32904960e+01] [ 1.02040303e-01 9.94776912e-01 2.58301839e-03 9.68336543e-01] [-1.89949032e-02 -6.47689077e-04 9.99819371e-01 -6.98665976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44592 meters Centerline goodness [0,1] 0.9999011760055342 Centerline is valid? [True, True] Translation: X:13.32, Y:0.97, Z:-0.70 [[ 9.94998665e-01 -9.80609969e-02 1.90183238e-02 1.33200930e+01] [ 9.80289924e-02 9.95180136e-01 2.61009896e-03 9.68891380e-01] [-1.91826070e-02 -7.32697867e-04 9.99815728e-01 -6.98094877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475919999999999 meters Centerline goodness [0,1] 0.9997045499310616 Centerline is valid? [True, True] Translation: X:13.35, Y:0.97, Z:-0.70 [[ 9.95090266e-01 -9.71874500e-02 1.87072704e-02 1.33490187e+01] [ 9.71561865e-02 9.95265816e-01 2.57500306e-03 9.70058286e-01] [-1.88689647e-02 -7.44833424e-04 9.99821688e-01 -6.98142603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505919999999998 meters Centerline goodness [0,1] 0.9996558505408063 Centerline is valid? [True, True] Translation: X:13.38, Y:0.97, Z:-0.70 [[ 9.95267022e-01 -9.58418122e-02 1.60593241e-02 1.33780541e+01] [ 9.58185647e-02 9.95396357e-01 2.21261623e-03 9.72363597e-01] [-1.61974539e-02 -6.63362573e-04 9.99868593e-01 -6.97825647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535919999999999 meters Centerline goodness [0,1] 0.9993585948292876 Centerline is valid? [True, True] Translation: X:13.41, Y:0.98, Z:-0.70 [[ 9.94923287e-01 -9.96984768e-02 1.37064332e-02 1.34063953e+01] [ 9.96818392e-02 9.95017561e-01 1.89342568e-03 9.78526735e-01] [-1.38269134e-02 -5.17530825e-04 9.99904270e-01 -6.99061597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565919999999998 meters Centerline goodness [0,1] 0.9993586264739257 Centerline is valid? [True, True] Translation: X:13.44, Y:0.98, Z:-0.70 [[ 9.94670230e-01 -1.02313815e-01 1.27678410e-02 1.34356795e+01] [ 1.02299530e-01 9.94752069e-01 1.76868588e-03 9.82308189e-01] [-1.28817973e-02 -4.53115060e-04 9.99916924e-01 -6.99478220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.59592 meters Centerline goodness [0,1] 0.999605016293078 Centerline is valid? [True, True] Translation: X:13.46, Y:0.98, Z:-0.70 [[ 9.94166983e-01 -1.06514810e-01 1.69294067e-02 1.34647411e+01] [ 1.06490178e-01 9.94310972e-01 2.35240729e-03 9.82043431e-01] [-1.70836610e-02 -5.35870131e-04 9.99853920e-01 -7.00257156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625919999999999 meters Centerline goodness [0,1] 0.9993588162762023 Centerline is valid? [True, True] Translation: X:13.49, Y:0.98, Z:-0.70 [[ 9.93914113e-01 -1.08587685e-01 1.85323940e-02 1.34934744e+01] [ 1.08558391e-01 9.94086720e-01 2.58245095e-03 9.84738106e-01] [-1.87032291e-02 -5.54887577e-04 9.99824925e-01 -6.99964855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655919999999998 meters Centerline goodness [0,1] 0.9989659247587158 Centerline is valid? [True, True] Translation: X:13.52, Y:0.99, Z:-0.70 [[ 9.93285882e-01 -1.13823175e-01 2.06746326e-02 1.35221152e+01] [ 1.13787790e-01 9.93500892e-01 2.88376243e-03 9.87295848e-01] [-2.08685050e-02 -5.11879746e-04 9.99782098e-01 -7.01227168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68592 meters Centerline goodness [0,1] 0.9992608288572414 Centerline is valid? [True, True] Translation: X:13.55, Y:0.99, Z:-0.70 [[ 9.93036586e-01 -1.16379182e-01 1.82818421e-02 1.35508459e+01] [ 1.16351906e-01 9.93204772e-01 2.55222432e-03 9.88785577e-01] [-1.84546386e-02 -4.07324946e-04 9.99829616e-01 -7.00426324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715919999999999 meters Centerline goodness [0,1] 0.9992133339888883 Centerline is valid? [True, True] Translation: X:13.58, Y:0.99, Z:-0.70 [[ 9.92416776e-01 -1.21837009e-01 1.62691975e-02 1.35806485e+01] [ 1.21816034e-01 9.92550082e-01 2.27779249e-03 9.85375522e-01] [-1.64255127e-02 -2.78670368e-04 9.99865053e-01 -7.00278456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745919999999998 meters Centerline goodness [0,1] 0.9992614111970063 Centerline is valid? [True, True] Translation: X:13.61, Y:0.99, Z:-0.70 [[ 9.92145168e-01 -1.23995647e-01 1.65240873e-02 1.36098229e+01] [ 1.23974189e-01 9.92282729e-01 2.32063710e-03 9.86173449e-01] [-1.66843154e-02 -2.53848555e-04 9.99860775e-01 -7.00653743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.77592 meters Centerline goodness [0,1] 0.9992621015348289 Centerline is valid? [True, True] Translation: X:13.64, Y:0.98, Z:-0.70 [[ 9.91832031e-01 -1.26248211e-01 1.81827217e-02 1.36391543e+01] [ 1.26222440e-01 9.91998653e-01 2.56270486e-03 9.83237693e-01] [-1.83607723e-02 -2.46705271e-04 9.99831396e-01 -7.01614238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805919999999999 meters Centerline goodness [0,1] 0.9987231743849139 Centerline is valid? [True, True] Translation: X:13.67, Y:0.98, Z:-0.70 [[ 9.91708283e-01 -1.27027714e-01 1.94587194e-02 1.36687709e+01] [ 1.26998177e-01 9.91899135e-01 2.75124551e-03 9.82815320e-01] [-1.96505714e-02 -2.57211074e-04 9.99806876e-01 -7.01919034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835919999999998 meters Centerline goodness [0,1] 0.9990149239028715 Centerline is valid? [True, True] Translation: X:13.70, Y:0.98, Z:-0.70 [[ 9.91721860e-01 -1.26975266e-01 1.91058505e-02 1.36973997e+01] [ 1.26946599e-01 9.91905849e-01 2.71074809e-03 9.82237168e-01] [-1.92954028e-02 -2.62885395e-04 9.99813792e-01 -7.01081984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86592 meters Centerline goodness [0,1] 0.9988217389169817 Centerline is valid? [True, True] Translation: X:13.73, Y:0.98, Z:-0.70 [[ 9.91969148e-01 -1.24931762e-01 1.97297879e-02 1.37273033e+01] [ 1.24900616e-01 9.92165284e-01 2.80791768e-03 9.76734889e-01] [-1.99260087e-02 -3.21105051e-04 9.99801406e-01 -7.01955249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895919999999998 meters Centerline goodness [0,1] 0.9990667976424361 Centerline is valid? [True, True] Translation: X:13.76, Y:0.97, Z:-0.70 [[ 9.91914896e-01 -1.25618476e-01 1.80232735e-02 1.37574822e+01] [ 1.25592457e-01 9.92078583e-01 2.57279250e-03 9.69981003e-01] [-1.82036939e-02 -2.88404006e-04 9.99834257e-01 -7.02626151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925919999999998 meters Centerline goodness [0,1] 0.999069676345297 Centerline is valid? [True, True] Translation: X:13.79, Y:0.97, Z:-0.70 [[ 9.91821915e-01 -1.26396648e-01 1.76967824e-02 1.37858337e+01] [ 1.26371535e-01 9.91979743e-01 2.53477546e-03 9.68456853e-01] [-1.78752368e-02 -2.77676299e-04 9.99840187e-01 -7.02880267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955919999999999 meters Centerline goodness [0,1] 0.9991172576136531 Centerline is valid? [True, True] Translation: X:13.81, Y:0.97, Z:-0.70 [[ 9.91549868e-01 -1.28416762e-01 1.83846304e-02 1.38138631e+01] [ 1.28389839e-01 9.91720257e-01 2.64223817e-03 9.68496909e-01] [-1.85717181e-02 -2.59511180e-04 9.99827497e-01 -7.03330606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985919999999998 meters Centerline goodness [0,1] 0.9985316430913808 Centerline is valid? [True, True] Translation: X:13.84, Y:0.96, Z:-0.70 [[ 9.91182472e-01 -1.31229981e-01 1.83302710e-02 1.38438636e+01] [ 1.31203552e-01 9.91351929e-01 2.64230133e-03 9.63923825e-01] [-1.85184986e-02 -2.14006110e-04 9.99828495e-01 -7.04780190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01592 meters Centerline goodness [0,1] 0.9986784787822427 Centerline is valid? [True, True] Translation: X:13.87, Y:0.96, Z:-0.70 [[ 9.90935924e-01 -1.32973295e-01 1.90813480e-02 1.38722052e+01] [ 1.32944797e-01 9.91119601e-01 2.75996244e-03 9.61762521e-01] [-1.92788993e-02 -1.98179998e-04 9.99814125e-01 -7.04684637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04592 meters Centerline goodness [0,1] 0.9986784787822427 Centerline is valid? [True, True] Translation: X:13.90, Y:0.97, Z:-0.70 [[ 9.90871405e-01 -1.33453410e-01 1.90800086e-02 1.38996958e+01] [ 1.33424823e-01 9.91055068e-01 2.76920572e-03 9.65399375e-01] [-1.92788992e-02 -1.98179997e-04 9.99814125e-01 -7.04708382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07592 meters Centerline goodness [0,1] 0.9987299106052464 Centerline is valid? [True, True] Translation: X:13.93, Y:0.96, Z:-0.70 [[ 9.90748984e-01 -1.34337903e-01 1.92296238e-02 1.39292497e+01] [ 1.34308847e-01 9.90935564e-01 2.80044373e-03 9.56172894e-01] [-1.94315238e-02 -1.91828178e-04 9.99811172e-01 -7.04247249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105919999999998 meters Centerline goodness [0,1] 0.9987292898685304 Centerline is valid? [True, True] Translation: X:13.96, Y:0.95, Z:-0.71 [[ 9.90686521e-01 -1.34717614e-01 1.97833447e-02 1.39579013e+01] [ 1.34686741e-01 9.90884012e-01 2.89083623e-03 9.54768091e-01] [-1.99924465e-02 -1.99358261e-04 9.99800111e-01 -7.05064693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.13592 meters Centerline goodness [0,1] 0.998679706601467 Centerline is valid? [True, True] Translation: X:13.99, Y:0.95, Z:-0.71 [[ 9.91076922e-01 -1.31818368e-01 1.97598529e-02 1.39886354e+01] [ 1.31786822e-01 9.91273851e-01 2.89597943e-03 9.46774548e-01] [-1.99691688e-02 -2.66050173e-04 9.99800561e-01 -7.06462928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16592 meters Centerline goodness [0,1] 0.9988273233655819 Centerline is valid? [True, True] Translation: X:14.02, Y:0.94, Z:-0.71 [[ 9.91437510e-01 -1.29146170e-01 1.93114359e-02 1.40184399e+01] [ 1.29115383e-01 9.91625516e-01 2.83786063e-03 9.43567673e-01] [-1.95162114e-02 -3.20158025e-04 9.99809489e-01 -7.05214091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195919999999997 meters Centerline goodness [0,1] 0.9991679310851157 Centerline is valid? [True, True] Translation: X:14.05, Y:0.93, Z:-0.70 [[ 9.92344066e-01 -1.22355600e-01 1.68036157e-02 1.40493035e+01] [ 1.22331196e-01 9.92486245e-01 2.47641813e-03 9.32178566e-01] [-1.69803610e-02 -4.01852425e-04 9.99855743e-01 -7.03156843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22592 meters Centerline goodness [0,1] 0.9990640855130289 Centerline is valid? [True, True] Translation: X:14.08, Y:0.93, Z:-0.70 [[ 9.92789402e-01 -1.18759601e-01 1.62898988e-02 1.40785544e+01] [ 1.18736078e-01 9.92922932e-01 2.40712325e-03 9.30329942e-01] [-1.64604831e-02 -4.55567759e-04 9.99864413e-01 -7.02616426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25592 meters Centerline goodness [0,1] 0.9990215264187867 Centerline is valid? [True, True] Translation: X:14.11, Y:0.93, Z:-0.70 [[ 9.93270685e-01 -1.14743290e-01 1.57265482e-02 1.41086130e+01] [ 1.14720756e-01 9.93395046e-01 2.33055987e-03 9.27125523e-01] [-1.58900912e-02 -5.10715296e-04 9.99873614e-01 -7.03746127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285919999999997 meters Centerline goodness [0,1] 0.9995565847169532 Centerline is valid? [True, True] Translation: X:14.14, Y:0.92, Z:-0.70 [[ 9.94200374e-01 -1.06462833e-01 1.52079434e-02 1.41397010e+01] [ 1.06440780e-01 9.94316488e-01 2.25447334e-03 9.22759643e-01] [-1.53615265e-02 -6.22652870e-04 9.99881811e-01 -7.02268185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31592 meters Centerline goodness [0,1] 0.9996085531144493 Centerline is valid? [True, True] Translation: X:14.17, Y:0.92, Z:-0.70 [[ 9.94669415e-01 -1.01913867e-01 1.56945617e-02 1.41698890e+01] [ 1.01889802e-01 9.94792969e-01 2.32748968e-03 9.21000001e-01] [-1.58500431e-02 -7.15967016e-04 9.99874124e-01 -7.02323290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34592 meters Centerline goodness [0,1] 0.9997552498898624 Centerline is valid? [True, True] Translation: X:14.20, Y:0.92, Z:-0.70 [[ 9.95642770e-01 -9.17862347e-02 1.64548225e-02 1.42008609e+01] [ 9.17583959e-02 9.95778309e-01 2.44050555e-03 9.19804298e-01] [-1.66093601e-02 -9.20003590e-04 9.99861632e-01 -7.02440888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375919999999997 meters Centerline goodness [0,1] 0.9999009312462849 Centerline is valid? [True, True] Translation: X:14.23, Y:0.92, Z:-0.70 [[ 9.95986384e-01 -8.82622356e-02 1.48627274e-02 1.42299123e+01] [ 8.82391210e-02 9.96096880e-01 2.20514083e-03 9.22848120e-01] [-1.49993470e-02 -8.84816241e-04 9.99887112e-01 -7.01415586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40592 meters Centerline goodness [0,1] 0.999559686888454 Centerline is valid? [True, True] Translation: X:14.26, Y:0.93, Z:-0.70 [[ 9.96695033e-01 -8.04144406e-02 1.15121008e-02 1.42605260e+01] [ 8.04000509e-02 9.96761212e-01 1.70810657e-03 9.25048058e-01] [-1.16121720e-02 -7.76887841e-04 9.99932275e-01 -6.99276077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43592 meters Centerline goodness [0,1] 0.9998038254046101 Centerline is valid? [True, True] Translation: X:14.29, Y:0.93, Z:-0.70 [[ 9.96808370e-01 -7.89514603e-02 1.18211979e-02 1.42891917e+01] [ 7.89361356e-02 9.96878125e-01 1.75811991e-03 9.31172957e-01] [-1.19230997e-02 -8.19388957e-04 9.99928582e-01 -6.98735012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465919999999997 meters Centerline goodness [0,1] 0.9997548899455856 Centerline is valid? [True, True] Translation: X:14.32, Y:0.94, Z:-0.70 [[ 9.96884795e-01 -7.79226933e-02 1.21967271e-02 1.43175425e+01] [ 7.79062456e-02 9.96959031e-01 1.81861623e-03 9.36693881e-01] [-1.23013487e-02 -8.62749649e-04 9.99923963e-01 -6.99027543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495919999999998 meters Centerline goodness [0,1] 0.9998499699939988 Centerline is valid? [True, True] Translation: X:14.35, Y:0.94, Z:-0.70 [[ 9.96988824e-01 -7.59370652e-02 1.57113789e-02 1.43463929e+01] [ 7.59095067e-02 9.97111956e-01 2.34389490e-03 9.43986041e-01] [-1.58439923e-02 -1.14419399e-03 9.99873821e-01 -7.00577815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52592 meters Centerline goodness [0,1] 0.9999017150719937 Centerline is valid? [True, True] Translation: X:14.38, Y:0.95, Z:-0.70 [[ 9.96926487e-01 -7.63651075e-02 1.74914343e-02 1.43752430e+01] [ 7.63309028e-02 9.97079110e-01 2.61582873e-03 9.48483947e-01] [-1.76401018e-02 -1.27265198e-03 9.99843591e-01 -7.00631979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.41, Y:0.95, Z:-0.70 [[ 9.96624805e-01 -8.03988089e-02 1.65839973e-02 1.44055001e+01] [ 8.03685966e-02 9.96762124e-01 2.48134607e-03 9.52194107e-01] [-1.67297976e-02 -1.14013846e-03 9.99859397e-01 -6.99253253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585919999999998 meters Centerline goodness [0,1] 0.999852739053603 Centerline is valid? [True, True] Translation: X:14.43, Y:0.96, Z:-0.70 [[ 9.96357162e-01 -8.35839708e-02 1.69152355e-02 1.44348384e+01] [ 8.35529879e-02 9.96500121e-01 2.53139247e-03 9.59492738e-01] [-1.70676181e-02 -1.10885255e-03 9.99853723e-01 -6.98924200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61592 meters Centerline goodness [0,1] 0.9998040176384125 Centerline is valid? [True, True] Translation: X:14.46, Y:0.97, Z:-0.70 [[ 9.96039261e-01 -8.67916450e-02 1.93132479e-02 1.44626444e+01] [ 8.67518140e-02 9.96225756e-01 2.89229063e-03 9.67771836e-01] [-1.94913816e-02 -1.20537573e-03 9.99809298e-01 -7.01606715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64592 meters Centerline goodness [0,1] 0.9996566776202854 Centerline is valid? [True, True] Translation: X:14.49, Y:0.98, Z:-0.70 [[ 9.95692094e-01 -9.01175312e-02 2.18193647e-02 1.44911521e+01] [ 9.00673203e-02 9.95930295e-01 3.27510076e-03 9.75713216e-01] [-2.20257103e-02 -1.29578023e-03 9.99756565e-01 -7.03580714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675919999999998 meters Centerline goodness [0,1] 0.9995587153714146 Centerline is valid? [True, True] Translation: X:14.52, Y:0.98, Z:-0.70 [[ 9.95678021e-01 -9.05485037e-02 2.06457557e-02 1.45198461e+01] [ 9.05034798e-02 9.95891293e-01 3.10672822e-03 9.78829844e-01] [-2.08422380e-02 -1.22478827e-03 9.99782027e-01 -7.02851756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70592 meters Centerline goodness [0,1] 0.9998522385854307 Centerline is valid? [True, True] Translation: X:14.55, Y:0.98, Z:-0.70 [[ 9.95695514e-01 -9.11553457e-02 1.67674288e-02 1.45485063e+01] [ 9.11256292e-02 9.95836192e-01 2.52943776e-03 9.82641081e-01] [-1.69281842e-02 -9.90607338e-04 9.99856217e-01 -7.00739824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73592 meters Centerline goodness [0,1] 0.9998041903270022 Centerline is valid? [True, True] Translation: X:14.58, Y:0.99, Z:-0.70 [[ 9.95668264e-01 -9.15298964e-02 1.63397201e-02 1.45761073e+01] [ 9.15016103e-02 9.95801860e-01 2.47198909e-03 9.86757341e-01] [-1.64973845e-02 -9.66170388e-04 9.99863442e-01 -7.02042914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765919999999998 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:14.60, Y:0.99, Z:-0.70 [[ 9.95583047e-01 -9.20243522e-02 1.85987697e-02 1.46046588e+01] [ 9.19877095e-02 9.95756155e-01 2.81798240e-03 9.92255271e-01] [-1.87791624e-02 -1.09467729e-03 9.99823057e-01 -7.02215957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79592 meters Centerline goodness [0,1] 0.9999011418120706 Centerline is valid? [True, True] Translation: X:14.63, Y:1.00, Z:-0.70 [[ 9.95469441e-01 -9.29533477e-02 2.00066546e-02 1.46329842e+01] [ 9.29109592e-02 9.95669781e-01 3.03992114e-03 9.96056754e-01] [-2.02025922e-02 -1.16731114e-03 9.99795225e-01 -7.02015832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82592 meters Centerline goodness [0,1] 0.9999507389162562 Centerline is valid? [True, True] Translation: X:14.66, Y:1.00, Z:-0.70 [[ 9.95694836e-01 -9.05652244e-02 1.97416905e-02 1.46626474e+01] [ 9.05234554e-02 9.95889802e-01 3.00107743e-03 9.97169844e-01] [-1.99323415e-02 -1.20107125e-03 9.99800610e-01 -7.01927604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855919999999998 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:14.69, Y:1.00, Z:-0.70 [[ 9.95738951e-01 -9.01911373e-02 1.92224011e-02 1.46918006e+01] [ 9.01513309e-02 9.95923771e-01 2.92918192e-03 1.00043921e+00] [-1.94082325e-02 -1.18377549e-03 9.99810942e-01 -7.02627521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88592 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:14.72, Y:1.00, Z:-0.70 [[ 9.95829240e-01 -8.95627835e-02 1.73963617e-02 1.47204366e+01] [ 8.95299708e-02 9.95980583e-01 2.65748789e-03 1.00437682e+00] [-1.75644505e-02 -1.08890839e-03 9.99845140e-01 -7.01097411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.75, Y:1.01, Z:-0.70 [[ 9.95952558e-01 -8.81589993e-02 1.75069308e-02 1.47491082e+01] [ 8.81254340e-02 9.96105777e-01 2.68105783e-03 1.00688662e+00] [-1.76751143e-02 -1.12740053e-03 9.99843147e-01 -7.01160466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945919999999997 meters Centerline goodness [0,1] 0.9999022769471319 Centerline is valid? [True, True] Translation: X:14.78, Y:1.01, Z:-0.70 [[ 9.96134488e-01 -8.60721248e-02 1.75405369e-02 1.47779924e+01] [ 8.60380786e-02 9.96288224e-01 2.68788524e-03 1.01069099e+00] [-1.77067824e-02 -1.16834109e-03 9.99842540e-01 -7.00868687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97592 meters Centerline goodness [0,1] 0.9999017054111171 Centerline is valid? [True, True] Translation: X:14.81, Y:1.01, Z:-0.70 [[ 9.96053983e-01 -8.66717775e-02 1.90910153e-02 1.48063835e+01] [ 8.66314200e-02 9.96236115e-01 2.93248205e-03 1.01397754e+00] [-1.92733224e-02 -1.26702866e-03 9.99813449e-01 -7.01749657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00592 meters Centerline goodness [0,1] 0.9997063573630891 Centerline is valid? [True, True] Translation: X:14.83, Y:1.02, Z:-0.70 [[ 9.96003675e-01 -8.72306628e-02 1.91700642e-02 1.48344799e+01] [ 8.71899123e-02 9.96187331e-01 2.95294236e-03 1.01695054e+00] [-1.93545622e-02 -1.26970523e-03 9.99811877e-01 -7.02982541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035919999999997 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:14.86, Y:1.02, Z:-0.70 [[ 9.96109100e-01 -8.63915477e-02 1.74115108e-02 1.48630774e+01] [ 8.63576873e-02 9.96260569e-01 2.68869491e-03 1.01942368e+00] [-1.75786821e-02 -1.17461566e-03 9.99844793e-01 -7.02499439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06592 meters Centerline goodness [0,1] 0.9998519542045006 Centerline is valid? [True, True] Translation: X:14.89, Y:1.02, Z:-0.70 [[ 9.96222799e-01 -8.51312705e-02 1.71114504e-02 1.48913914e+01] [ 8.50982698e-02 9.96369042e-01 2.64886567e-03 1.02404406e+00] [-1.72748207e-02 -1.18270555e-03 9.99850080e-01 -7.02076419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09592 meters Centerline goodness [0,1] 0.9999021191210297 Centerline is valid? [True, True] Translation: X:14.92, Y:1.03, Z:-0.70 [[ 9.96398824e-01 -8.30799708e-02 1.69440988e-02 1.49205916e+01] [ 8.30472969e-02 9.96542152e-01 2.62415183e-03 1.02898786e+00] [-1.71035232e-02 -1.20754019e-03 9.99852995e-01 -7.02705757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125919999999997 meters Centerline goodness [0,1] 0.9998526522593321 Centerline is valid? [True, True] Translation: X:14.95, Y:1.04, Z:-0.70 [[ 9.96831509e-01 -7.77366618e-02 1.68509584e-02 1.49505332e+01] [ 7.77035831e-02 9.96973090e-01 2.60993261e-03 1.03659963e+00] [-1.70028395e-02 -1.29228322e-03 9.99854606e-01 -7.02708675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15592 meters Centerline goodness [0,1] 0.9993638365549302 Centerline is valid? [True, True] Translation: X:14.98, Y:1.04, Z:-0.70 [[ 9.97332571e-01 -7.09324846e-02 1.72140925e-02 1.49809851e+01] [ 7.08969577e-02 9.97480082e-01 2.66615359e-03 1.03939799e+00] [-1.73598313e-02 -1.43861502e-03 9.99848272e-01 -7.03410689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18592 meters Centerline goodness [0,1] 0.9996078431372549 Centerline is valid? [True, True] Translation: X:15.01, Y:1.05, Z:-0.70 [[ 9.97575133e-01 -6.74744508e-02 1.70602730e-02 1.50104910e+01] [ 6.74390540e-02 9.97719897e-01 2.64232810e-03 1.04680713e+00] [-1.71996635e-02 -1.48539213e-03 9.99850971e-01 -7.03011455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215919999999997 meters Centerline goodness [0,1] 0.9996061829280299 Centerline is valid? [True, True] Translation: X:15.04, Y:1.05, Z:-0.70 [[ 9.97720682e-01 -6.52563675e-02 1.71769233e-02 1.50399121e+01] [ 6.52201438e-02 9.97867351e-01 2.66126146e-03 1.05270790e+00] [-1.73139553e-02 -1.53491419e-03 9.99848924e-01 -7.03581749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245919999999998 meters Centerline goodness [0,1] 0.9989200333807864 Centerline is valid? [True, True] Translation: X:15.07, Y:1.06, Z:-0.70 [[ 9.98082025e-01 -5.94151435e-02 1.73813734e-02 1.50697827e+01] [ 5.93771658e-02 9.98231986e-01 2.69339143e-03 1.05693182e+00] [-1.75106711e-02 -1.65616888e-03 9.99845305e-01 -7.03329040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27592 meters Centerline goodness [0,1] 0.9972432804962095 Centerline is valid? [True, True] Translation: X:15.10, Y:1.06, Z:-0.70 [[ 9.98317276e-01 -5.52123193e-02 1.77261478e-02 1.51001213e+01] [ 5.51721622e-02 9.98473078e-01 2.74688369e-03 1.06203481e+00] [-1.78507432e-02 -1.76427154e-03 9.99839106e-01 -7.03221081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30592 meters Centerline goodness [0,1] 0.9977828143476547 Centerline is valid? [True, True] Translation: X:15.13, Y:1.07, Z:-0.70 [[ 9.98385207e-01 -5.42819554e-02 1.67465926e-02 1.51282270e+01] [ 5.42459574e-02 9.98524228e-01 2.59671989e-03 1.06927252e+00] [-1.68628335e-02 -1.68409178e-03 9.99856394e-01 -7.03174040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335919999999998 meters Centerline goodness [0,1] 0.9980772075136815 Centerline is valid? [True, True] Translation: X:15.16, Y:1.08, Z:-0.70 [[ 9.98509577e-01 -5.23499175e-02 1.54308702e-02 1.51563422e+01] [ 5.23191130e-02 9.98627549e-01 2.39353890e-03 1.07924792e+00] [-1.55349936e-02 -1.58264207e-03 9.99878072e-01 -7.02555697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36592 meters Centerline goodness [0,1] 0.9965601965601966 Centerline is valid? [True, True] Translation: X:15.19, Y:1.09, Z:-0.70 [[ 9.98732192e-01 -4.78489794e-02 1.56359772e-02 1.51857128e+01] [ 4.78168034e-02 9.98853178e-01 2.42544882e-03 1.08625525e+00] [-1.57341008e-02 -1.67471136e-03 9.99874809e-01 -7.01303893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39592 meters Centerline goodness [0,1] 0.9958271968581247 Centerline is valid? [True, True] Translation: X:15.22, Y:1.09, Z:-0.70 [[ 9.98827760e-01 -4.55157961e-02 1.64747920e-02 1.52159249e+01] [ 4.54797611e-02 9.98961991e-01 2.55556861e-03 1.09120107e+00] [-1.65740098e-02 -1.80330327e-03 9.99861015e-01 -7.01346890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425919999999998 meters Centerline goodness [0,1] 0.99257474429583 Centerline is valid? [True, True] Translation: X:15.24, Y:1.10, Z:-0.70 [[ 9.98912554e-01 -4.31214888e-02 1.77270009e-02 1.52444409e+01] [ 4.30793869e-02 9.99067867e-01 2.75023654e-03 1.10485977e+00] [-1.78290713e-02 -1.98357748e-03 9.99839082e-01 -7.03615635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45592 meters Centerline goodness [0,1] 0.9938037865748709 Centerline is valid? [True, True] Translation: X:15.27, Y:1.11, Z:-0.70 [[ 9.98946884e-01 -4.24964232e-02 1.72967426e-02 1.52717379e+01] [ 4.24562078e-02 9.99094719e-01 2.68579390e-03 1.11391368e+00] [-1.73952208e-02 -1.94861135e-03 9.99846793e-01 -7.04171705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48592 meters Centerline goodness [0,1] 0.9968277571251549 Centerline is valid? [True, True] Translation: X:15.30, Y:1.13, Z:-0.70 [[ 9.98957040e-01 -4.22236238e-02 1.73780800e-02 1.52985592e+01] [ 4.21829641e-02 9.99106255e-01 2.69981578e-03 1.13220205e+00] [-1.74765444e-02 -1.96394105e-03 9.99845345e-01 -7.01608939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515919999999998 meters Centerline goodness [0,1] 0.9935382035219257 Centerline is valid? [True, True] Translation: X:15.33, Y:1.14, Z:-0.70 [[ 9.98962193e-01 -4.23146578e-02 1.68524982e-02 1.53267504e+01] [ 4.22764043e-02 9.99102518e-01 2.61988981e-03 1.13811556e+00] [-1.69482332e-02 -1.90470784e-03 9.99854554e-01 -7.01492064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54592 meters Centerline goodness [0,1] 0.9964278626711649 Centerline is valid? [True, True] Translation: X:15.35, Y:1.16, Z:-0.70 [[ 9.98881240e-01 -4.39994001e-02 1.73297590e-02 1.53538251e+01] [ 4.39591765e-02 9.99029692e-01 2.69538310e-03 1.15572850e+00] [-1.74315390e-02 -1.93056568e-03 9.99846195e-01 -7.01575605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57592 meters Centerline goodness [0,1] 0.9959920831271648 Centerline is valid? [True, True] Translation: X:15.38, Y:1.18, Z:-0.70 [[ 9.98596148e-01 -5.03434787e-02 1.64701726e-02 1.53813264e+01] [ 5.03079986e-02 9.98730466e-01 2.56173353e-03 1.17718401e+00] [-1.65782297e-02 -1.72955582e-03 9.99861076e-01 -7.03595978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605919999999998 meters Centerline goodness [0,1] 0.9975730559683011 Centerline is valid? [True, True] Translation: X:15.41, Y:1.20, Z:-0.71 [[ 9.97877442e-01 -6.17826319e-02 2.05795508e-02 1.54092073e+01] [ 6.17296389e-02 9.98087774e-01 3.20101495e-03 1.19526111e+00] [-2.07379651e-02 -1.92385237e-03 9.99783094e-01 -7.05142314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63592 meters Centerline goodness [0,1] 0.99812789437383 Centerline is valid? [True, True] Translation: X:15.44, Y:1.21, Z:-0.70 [[ 9.97437742e-01 -6.81314552e-02 2.18186903e-02 1.54376128e+01] [ 6.80733647e-02 9.97674542e-01 3.39502903e-03 1.20772139e+00] [-2.19992601e-02 -1.90105843e-03 9.99756180e-01 -7.04896705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66592 meters Centerline goodness [0,1] 0.9991105840498073 Centerline is valid? [True, True] Translation: X:15.47, Y:1.22, Z:-0.71 [[ 9.96901923e-01 -7.50777485e-02 2.34496858e-02 1.54663633e+01] [ 7.50125304e-02 9.97175912e-01 3.64979362e-03 1.21681660e+00] [-2.36574801e-02 -1.87946602e-03 9.99718356e-01 -7.06013710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695919999999997 meters Centerline goodness [0,1] 0.9996064154285152 Centerline is valid? [True, True] Translation: X:15.50, Y:1.23, Z:-0.71 [[ 9.95934115e-01 -8.70474001e-02 2.31945866e-02 1.54952137e+01] [ 8.69868137e-02 9.96202921e-01 3.61027625e-03 1.22974165e+00] [-2.34207801e-02 -1.57797410e-03 9.99724451e-01 -7.07831738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72592 meters Centerline goodness [0,1] 0.9997537309757178 Centerline is valid? [True, True] Translation: X:15.52, Y:1.24, Z:-0.71 [[ 9.95384036e-01 -9.33244286e-02 2.23868721e-02 1.55246263e+01] [ 9.32695561e-02 9.95634794e-01 3.48512616e-03 1.23993277e+00] [-2.26143962e-02 -1.38102531e-03 9.99743308e-01 -7.08368757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75592 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:15.55, Y:1.25, Z:-0.71 [[ 9.94792261e-01 -9.92933798e-02 2.30039489e-02 1.55540944e+01] [ 9.92370141e-02 9.95057378e-01 3.58183792e-03 1.24775004e+00] [-2.32459019e-02 -1.28034144e-03 9.99728958e-01 -7.09068077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:1.26, Z:-0.71 [[ 9.93629039e-01 -1.09946169e-01 2.47623429e-02 1.55832968e+01] [ 1.09884147e-01 9.93936923e-01 3.85578132e-03 1.25600247e+00] [-2.50361353e-02 -1.11022736e-03 9.99685930e-01 -7.10133703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81592 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:15.61, Y:1.26, Z:-0.71 [[ 9.93077484e-01 -1.14804197e-01 2.48416437e-02 1.56120456e+01] [ 1.14743068e-01 9.93387637e-01 3.87707726e-03 1.26050400e+00] [-2.51224864e-02 -9.99831717e-04 9.99683881e-01 -7.08590149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:1.26, Z:-0.71 [[ 9.92274961e-01 -1.21435666e-01 2.53728177e-02 1.56421180e+01] [ 1.21373959e-01 9.92598937e-01 3.96379312e-03 1.26410993e+00] [-2.56663777e-02 -8.53573320e-04 9.99670200e-01 -7.08491762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.67, Y:1.27, Z:-0.71 [[ 9.91974109e-01 -1.23951717e-01 2.49667434e-02 1.56710789e+01] [ 1.23892508e-01 9.92287939e-01 3.91053743e-03 1.26801398e+00] [-2.52589162e-02 -7.85959426e-04 9.99680634e-01 -7.08876740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.70, Y:1.27, Z:-0.71 [[ 9.91602546e-01 -1.26841942e-01 2.52093696e-02 1.57004581e+01] [ 1.26782238e-01 9.91922673e-01 3.95917500e-03 1.26871785e+00] [-2.55079347e-02 -7.29827719e-04 9.99674353e-01 -7.11323434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.73, Y:1.27, Z:-0.71 [[ 9.91544150e-01 -1.27297992e-01 2.52075529e-02 1.57278868e+01] [ 1.27238141e-01 9.91864249e-01 3.97072429e-03 1.27268491e+00] [-2.55079358e-02 -7.29786255e-04 9.99674353e-01 -7.11347209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:1.27, Z:-0.71 [[ 9.91553685e-01 -1.27347857e-01 2.45726121e-02 1.57558131e+01] [ 1.27290712e-01 9.91857854e-01 3.88227004e-03 1.27392982e+00] [-2.48669371e-02 -7.21613869e-04 9.99690509e-01 -7.11094452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:1.27, Z:-0.71 [[ 9.92030886e-01 -1.24251916e-01 2.08849679e-02 1.57856164e+01] [ 1.24209780e-01 9.92250467e-01 3.30777645e-03 1.27343780e+00] [-2.11341167e-02 -6.87299133e-04 9.99776413e-01 -7.07782690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.81, Y:1.27, Z:-0.71 [[ 9.92325741e-01 -1.21822165e-01 2.11892338e-02 1.58147218e+01] [ 1.21778047e-01 9.92551653e-01 3.36491251e-03 1.27444547e+00] [-2.14413299e-02 -7.58705786e-04 9.99769820e-01 -7.07818022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055919999999997 meters Centerline goodness [0,1] 0.9999017971128351 Centerline is valid? [True, True] Translation: X:15.84, Y:1.28, Z:-0.71 [[ 9.92611333e-01 -1.19446353e-01 2.13379938e-02 1.58434975e+01] [ 1.19400876e-01 9.92840314e-01 3.39728411e-03 1.27695303e+00] [-2.15910136e-02 -8.24407552e-04 9.99766547e-01 -7.07441140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.87, Y:1.28, Z:-0.71 [[ 9.93269376e-01 -1.13250433e-01 2.42957879e-02 1.58743372e+01] [ 1.13189611e-01 9.93565874e-01 3.86860059e-03 1.27797476e+00] [-2.45775864e-02 -1.09253171e-03 9.99697329e-01 -7.07714791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11592 meters Centerline goodness [0,1] 0.999656289894923 Centerline is valid? [True, True] Translation: X:15.90, Y:1.28, Z:-0.71 [[ 9.93980978e-01 -1.06841850e-01 2.42205432e-02 1.59041946e+01] [ 1.06779489e-01 9.94275245e-01 3.85728569e-03 1.28203031e+00] [-2.44940060e-02 -1.24781139e-03 9.99699198e-01 -7.08911382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14592 meters Centerline goodness [0,1] 0.9998527029017529 Centerline is valid? [True, True] Translation: X:15.93, Y:1.29, Z:-0.71 [[ 9.94266854e-01 -1.04485732e-01 2.27190511e-02 1.59321540e+01] [ 1.04430181e-01 9.94525628e-01 3.62125110e-03 1.28712755e+00] [-2.29730477e-02 -1.22793533e-03 9.99735331e-01 -7.09030505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175919999999998 meters Centerline goodness [0,1] 0.9999017247309715 Centerline is valid? [True, True] Translation: X:15.96, Y:1.29, Z:-0.71 [[ 9.94629257e-01 -1.01148447e-01 2.19461390e-02 1.59613355e+01] [ 1.01095773e-01 9.94870544e-01 3.49934699e-03 1.29246112e+00] [-2.21875208e-02 -1.26189102e-03 9.99753030e-01 -7.09792698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20592 meters Centerline goodness [0,1] 0.999950760746467 Centerline is valid? [True, True] Translation: X:15.99, Y:1.30, Z:-0.71 [[ 9.94685865e-01 -1.00666965e-01 2.15915013e-02 1.59891954e+01] [ 1.00615816e-01 9.94919388e-01 3.44514464e-03 1.29851962e+00] [-2.18286155e-02 -1.25439016e-03 9.99760940e-01 -7.08755827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23592 meters Centerline goodness [0,1] 0.9998525653626892 Centerline is valid? [True, True] Translation: X:16.02, Y:1.31, Z:-0.71 [[ 9.94705077e-01 -1.00544990e-01 2.12723945e-02 1.60171480e+01] [ 1.00495262e-01 9.94931739e-01 3.39660003e-03 1.30748227e+00] [-2.15060916e-02 -1.24084043e-03 9.99767947e-01 -7.08266570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265919999999998 meters Centerline goodness [0,1] 0.9998525073746313 Centerline is valid? [True, True] Translation: X:16.05, Y:1.31, Z:-0.71 [[ 9.94694826e-01 -1.00688370e-01 2.10726298e-02 1.60458963e+01] [ 1.00639555e-01 9.94917254e-01 3.36706051e-03 1.31287291e+00] [-2.13045469e-02 -1.22845758e-03 9.99772278e-01 -7.09611598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.29592 meters Centerline goodness [0,1] 0.9998030817702949 Centerline is valid? [True, True] Translation: X:16.07, Y:1.32, Z:-0.71 [[ 9.94624007e-01 -1.01451953e-01 2.07505744e-02 1.60743852e+01] [ 1.01404735e-01 9.94839721e-01 3.31792517e-03 1.31735932e+00] [-2.09801056e-02 -1.19588153e-03 9.99779178e-01 -7.09342750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32592 meters Centerline goodness [0,1] 0.9996064541519087 Centerline is valid? [True, True] Translation: X:16.10, Y:1.32, Z:-0.71 [[ 9.94455309e-01 -1.02957396e-01 2.14105915e-02 1.61029271e+01] [ 1.02907421e-01 9.94685039e-01 3.42585376e-03 1.32350677e+00] [-2.16495120e-02 -1.20354970e-03 9.99764897e-01 -7.11127537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355919999999998 meters Centerline goodness [0,1] 0.9997024547483263 Centerline is valid? [True, True] Translation: X:16.13, Y:1.33, Z:-0.71 [[ 9.94322248e-01 -1.04180761e-01 2.16710976e-02 1.61312011e+01] [ 1.04129681e-01 9.94557656e-01 3.47534792e-03 1.33233139e+00] [-2.19152205e-02 -1.19901127e-03 9.99759114e-01 -7.10163164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38592 meters Centerline goodness [0,1] 0.9996558674598103 Centerline is valid? [True, True] Translation: X:16.16, Y:1.34, Z:-0.71 [[ 9.94264476e-01 -1.04462957e-01 2.29268864e-02 1.61596868e+01] [ 1.04405645e-01 9.94527966e-01 3.68599619e-03 1.33632611e+00] [-2.31864798e-02 -1.27115872e-03 9.99730349e-01 -7.12079519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41592 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:16.19, Y:1.34, Z:-0.71 [[ 9.94285751e-01 -1.04469016e-01 2.19561086e-02 1.61886059e+01] [ 1.04416397e-01 9.94527394e-01 3.53262716e-03 1.33945645e+00] [-2.22050015e-02 -1.21986311e-03 9.99752694e-01 -7.10206130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445919999999997 meters Centerline goodness [0,1] 0.9997540459442176 Centerline is valid? [True, True] Translation: X:16.22, Y:1.34, Z:-0.71 [[ 9.94440448e-01 -1.03116662e-01 2.13342125e-02 1.62175165e+01] [ 1.03066507e-01 9.94668518e-01 3.44021800e-03 1.34183006e+00] [-2.15752133e-02 -1.22224918e-03 9.99766481e-01 -7.07962991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47592 meters Centerline goodness [0,1] 0.9996063766975005 Centerline is valid? [True, True] Translation: X:16.25, Y:1.34, Z:-0.71 [[ 9.94561897e-01 -1.02284085e-01 1.96111771e-02 1.62461548e+01] [ 1.02241495e-01 9.94754573e-01 3.16481135e-03 1.34481384e+00] [-1.98320180e-02 -1.14252471e-03 9.99802673e-01 -7.08339028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50592 meters Centerline goodness [0,1] 0.9994097393015249 Centerline is valid? [True, True] Translation: X:16.27, Y:1.35, Z:-0.71 [[ 9.94583443e-01 -1.02358355e-01 1.80704848e-02 1.62744127e+01] [ 1.02322171e-01 9.94747032e-01 2.91819719e-03 1.34912625e+00] [-1.82742630e-02 -1.05337938e-03 9.99832457e-01 -7.09046356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535919999999997 meters Centerline goodness [0,1] 0.9998031302293533 Centerline is valid? [True, True] Translation: X:16.30, Y:1.35, Z:-0.71 [[ 9.94475741e-01 -1.03279973e-01 1.87416045e-02 1.63036509e+01] [ 1.03241078e-01 9.94651736e-01 3.03371923e-03 1.35278785e+00] [-1.89546919e-02 -1.08205673e-03 9.99819758e-01 -7.09733174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56592 meters Centerline goodness [0,1] 0.9998031883487503 Centerline is valid? [True, True] Translation: X:16.33, Y:1.36, Z:-0.71 [[ 9.94491381e-01 -1.03126796e-01 1.87552097e-02 1.63323228e+01] [ 1.03087678e-01 9.94667617e-01 3.04327592e-03 1.35587128e+00] [-1.89690430e-02 -1.09308065e-03 9.99819474e-01 -7.09398182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59592 meters Centerline goodness [0,1] 0.9998525653626892 Centerline is valid? [True, True] Translation: X:16.36, Y:1.36, Z:-0.71 [[ 9.94595092e-01 -1.02186406e-01 1.83994908e-02 1.63606609e+01] [ 1.02148464e-01 9.94764663e-01 2.99273511e-03 1.36063770e+00] [-1.86089801e-02 -1.09707991e-03 9.99826236e-01 -7.08418071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625919999999997 meters Centerline goodness [0,1] 0.9997540459442176 Centerline is valid? [True, True] Translation: X:16.39, Y:1.37, Z:-0.71 [[ 9.94678317e-01 -1.01070367e-01 1.99956789e-02 1.63885739e+01] [ 1.01025241e-01 9.94878532e-01 3.25675211e-03 1.36535304e+00] [-2.02224328e-02 -1.21935242e-03 9.99794762e-01 -7.08560015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65592 meters Centerline goodness [0,1] 0.9994591405251254 Centerline is valid? [True, True] Translation: X:16.42, Y:1.37, Z:-0.71 [[ 9.94792372e-01 -9.99781463e-02 1.98117707e-02 1.64175694e+01] [ 9.99334796e-02 9.94988863e-01 3.23438554e-03 1.36939285e+00] [-2.00358590e-02 -1.23768288e-03 9.99798496e-01 -7.07744835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68592 meters Centerline goodness [0,1] 0.9996067829933645 Centerline is valid? [True, True] Translation: X:16.45, Y:1.37, Z:-0.71 [[ 9.94827185e-01 -9.96525010e-02 1.97040833e-02 1.64456997e+01] [ 9.96082067e-02 9.95021528e-01 3.21922835e-03 1.37462643e+00] [-1.99267912e-02 -1.23988748e-03 9.99800673e-01 -7.09201756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715919999999997 meters Centerline goodness [0,1] 0.9996069954804481 Centerline is valid? [True, True] Translation: X:16.47, Y:1.38, Z:-0.71 [[ 9.94732194e-01 -1.00880503e-01 1.81930423e-02 1.64736774e+01] [ 1.00842831e-01 9.94897910e-01 2.97867608e-03 1.38161246e+00] [-1.84007101e-02 -1.12834710e-03 9.99830056e-01 -7.09030250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745919999999998 meters Centerline goodness [0,1] 0.9999014535599902 Centerline is valid? [True, True] Translation: X:16.50, Y:1.38, Z:-0.71 [[ 9.94272732e-01 -1.05483154e-01 1.71766633e-02 1.65034720e+01] [ 1.05450245e-01 9.94420602e-01 2.81301493e-03 1.38395615e+00] [-1.73775536e-02 -9.85620677e-04 9.99848513e-01 -7.09173556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77592 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:16.53, Y:1.39, Z:-0.71 [[ 9.94054644e-01 -1.07548962e-01 1.69878084e-02 1.65325170e+01] [ 1.07517018e-01 9.94199343e-01 2.78532808e-03 1.38798233e+00] [-1.71888271e-02 -9.42289816e-04 9.99851817e-01 -7.08843140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.56, Y:1.39, Z:-0.71 [[ 9.93830072e-01 -1.09800090e-01 1.56757279e-02 1.65613891e+01] [ 1.09773080e-01 9.93953337e-01 2.57583076e-03 1.39327620e+00] [-1.58637685e-02 -8.39165133e-04 9.99873810e-01 -7.08176684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835919999999998 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:16.59, Y:1.40, Z:-0.71 [[ 9.93420315e-01 -1.13415542e-01 1.59057250e-02 1.65898204e+01] [ 1.13388163e-01 9.93547323e-01 2.61564209e-03 1.39921783e+00] [-1.60997449e-02 -7.94911052e-04 9.99870075e-01 -7.08574074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.62, Y:1.40, Z:-0.71 [[ 9.93221323e-01 -1.14982134e-01 1.70443992e-02 1.66188383e+01] [ 1.14950810e-01 9.93367212e-01 2.80951001e-03 1.40118647e+00] [-1.72543907e-02 -8.31197753e-04 9.99850786e-01 -7.08412314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.65, Y:1.40, Z:-0.71 [[ 9.93164534e-01 -1.15125863e-01 1.92417513e-02 1.66489343e+01] [ 1.15085816e-01 9.93350465e-01 3.17944082e-03 1.39923853e+00] [-1.94798385e-02 -9.43255209e-04 9.99809805e-01 -7.07790876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925919999999998 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:16.68, Y:1.40, Z:-0.71 [[ 9.93187173e-01 -1.14966629e-01 1.90240321e-02 1.66773430e+01] [ 1.14927309e-01 9.93368907e-01 3.15103685e-03 1.40245477e+00] [-1.92601461e-02 -9.43188562e-04 9.99814061e-01 -7.08296581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95592 meters Centerline goodness [0,1] 0.9998526088238184 Centerline is valid? [True, True] Translation: X:16.71, Y:1.40, Z:-0.71 [[ 9.93484600e-01 -1.12774543e-01 1.64393683e-02 1.67062586e+01] [ 1.12744775e-01 9.93620232e-01 2.72941597e-03 1.40418799e+00] [-1.66422976e-02 -8.58179854e-04 9.99861139e-01 -7.08746962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98592 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:16.73, Y:1.41, Z:-0.71 [[ 9.93485267e-01 -1.12970747e-01 1.49878179e-02 1.67340850e+01] [ 1.12945924e-01 9.93598003e-01 2.49515998e-03 1.40693384e+00] [-1.51737461e-02 -7.86091727e-04 9.99884563e-01 -7.08038708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015919999999998 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:16.76, Y:1.41, Z:-0.71 [[ 9.93521795e-01 -1.12399153e-01 1.67592576e-02 1.67630285e+01] [ 1.12367919e-01 9.93662734e-01 2.79685736e-03 1.41079771e+00] [-1.69674141e-02 -8.95535849e-04 9.99855642e-01 -7.06487418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04592 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:16.79, Y:1.42, Z:-0.71 [[ 9.93598641e-01 -1.11721352e-01 1.67355737e-02 1.67916283e+01] [ 1.11689997e-01 9.93739154e-01 2.79956297e-03 1.41704519e+00] [-1.69435658e-02 -9.12445784e-04 9.99856031e-01 -7.06566141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07592 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:16.82, Y:1.42, Z:-0.71 [[ 9.93571180e-01 -1.11587043e-01 1.90956219e-02 1.68199720e+01] [ 1.11546048e-01 9.93754108e-01 3.20198620e-03 1.42344630e+00] [-1.93336528e-02 -1.05136006e-03 9.99812535e-01 -7.08663699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.85, Y:1.43, Z:-0.71 [[ 9.93642944e-01 -1.10878715e-01 1.94836006e-02 1.68480559e+01] [ 1.10835749e-01 9.93833343e-01 3.27475474e-03 1.43096443e+00] [-1.97265525e-02 -1.09445746e-03 9.99804814e-01 -7.08811846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13592 meters Centerline goodness [0,1] 0.999901666748611 Centerline is valid? [True, True] Translation: X:16.88, Y:1.44, Z:-0.71 [[ 9.93827942e-01 -1.09371435e-01 1.85448483e-02 1.68762469e+01] [ 1.09332111e-01 9.94000366e-01 3.12429831e-03 1.43789699e+00] [-1.87752950e-02 -1.07746755e-03 9.99823148e-01 -7.07788300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16592 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:16.91, Y:1.44, Z:-0.71 [[ 9.93728655e-01 -1.09927048e-01 2.04793840e-02 1.69050029e+01] [ 1.09879039e-01 9.93938950e-01 3.45834660e-03 1.44434835e+00] [-2.07354232e-02 -1.18640308e-03 9.99784294e-01 -7.08873901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195919999999997 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:16.93, Y:1.45, Z:-0.71 [[ 9.93676768e-01 -1.10520376e-01 1.97920961e-02 1.69331633e+01] [ 1.10475497e-01 9.93873202e-01 3.35006239e-03 1.45184829e+00] [-2.00410841e-02 -1.14233752e-03 9.99798505e-01 -7.08180087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22592 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:16.96, Y:1.47, Z:-0.71 [[ 9.93154833e-01 -1.14851338e-01 2.12755405e-02 1.69600789e+01] [ 1.14800298e-01 9.93382034e-01 3.60909187e-03 1.46586538e+00] [-2.15492487e-02 -1.14194865e-03 9.99767136e-01 -7.08867203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:1.47, Z:-0.71 [[ 9.92844476e-01 -1.17526454e-01 2.11513257e-02 1.69880203e+01] [ 1.17476433e-01 9.93069159e-01 3.59638604e-03 1.47301015e+00] [-2.14273997e-02 -1.08586971e-03 9.99769817e-01 -7.09546825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:1.48, Z:-0.71 [[ 9.92106250e-01 -1.23850561e-01 1.96526821e-02 1.70169568e+01] [ 1.23808609e-01 9.92300489e-01 3.34188358e-03 1.48116561e+00] [-1.99152602e-02 -8.82332353e-04 9.99801282e-01 -7.09024218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:1.49, Z:-0.71 [[ 9.91659772e-01 -1.27311182e-01 2.00688791e-02 1.70451552e+01] [ 1.27268095e-01 9.91862475e-01 3.41494181e-03 1.48606471e+00] [-2.03403284e-02 -8.32332395e-04 9.99792768e-01 -7.08830839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.07, Y:1.49, Z:-0.71 [[ 9.91256692e-01 -1.30336847e-01 2.05542209e-02 1.70736964e+01] [ 1.30292125e-01 9.91469450e-01 3.50589033e-03 1.49074460e+00] [-2.08358288e-02 -7.97184120e-04 9.99782593e-01 -7.09067937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.10, Y:1.50, Z:-0.71 [[ 9.90539727e-01 -1.35364838e-01 2.25257466e-02 1.71018270e+01] [ 1.35312352e-01 9.90795530e-01 3.84518218e-03 1.49613505e+00] [-2.28389115e-02 -7.60793952e-04 9.99738869e-01 -7.10423485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.13, Y:1.50, Z:-0.71 [[ 9.90332753e-01 -1.36458303e-01 2.49032223e-02 1.71305989e+01] [ 1.36394241e-01 9.90645473e-01 4.26113316e-03 1.50139934e+00] [-2.52517314e-02 -8.23283617e-04 9.99680785e-01 -7.11349043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.16, Y:1.51, Z:-0.71 [[ 9.90354387e-01 -1.36420287e-01 2.42423878e-02 1.71582894e+01] [ 1.36359302e-01 9.90650718e-01 4.15892420e-03 1.50588776e+00] [-2.45831005e-02 -8.13133752e-04 9.99697459e-01 -7.09533122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.19, Y:1.51, Z:-0.71 [[ 9.90300455e-01 -1.36796759e-01 2.43239561e-02 1.71858106e+01] [ 1.36735185e-01 9.90598797e-01 4.18472274e-03 1.50949323e+00] [-2.46677381e-02 -8.18192189e-04 9.99695370e-01 -7.09588645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.21, Y:1.52, Z:-0.71 [[ 9.90493762e-01 -1.35614813e-01 2.30375836e-02 1.72136772e+01] [ 1.35559038e-01 9.90761305e-01 3.97298885e-03 1.51803401e+00] [-2.33635425e-02 -8.12268008e-04 9.99726705e-01 -7.11259157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.24, Y:1.52, Z:-0.71 [[ 9.90615120e-01 -1.34858971e-01 2.22427955e-02 1.72425555e+01] [ 1.34806579e-01 9.90864471e-01 3.84518274e-03 1.52363054e+00] [-2.25581532e-02 -8.10620986e-04 9.99745204e-01 -7.12989117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.27, Y:1.53, Z:-0.71 [[ 9.90831533e-01 -1.33386403e-01 2.14695372e-02 1.72714685e+01] [ 1.33337053e-01 9.91063767e-01 3.72032717e-03 1.52678320e+00] [-2.17739215e-02 -8.23532638e-04 9.99762581e-01 -7.11805933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.30, Y:1.53, Z:-0.71 [[ 9.90683469e-01 -1.34073894e-01 2.38842027e-02 1.72996629e+01] [ 1.34012778e-01 9.90970920e-01 4.14860397e-03 1.53221529e+00] [-2.42247698e-02 -9.09165013e-04 9.99706124e-01 -7.10952321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61592 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:17.33, Y:1.54, Z:-0.71 [[ 9.90682076e-01 -1.33763529e-01 2.56191729e-02 1.73276823e+01] [ 1.33692830e-01 9.91012780e-01 4.46057592e-03 1.53858668e+00] [-2.59855902e-02 -9.93912898e-04 9.99661823e-01 -7.10423761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64592 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:17.36, Y:1.54, Z:-0.71 [[ 9.90768088e-01 -1.32646900e-01 2.79892081e-02 1.73558272e+01] [ 1.32561942e-01 9.91162721e-01 4.87764803e-03 1.54296940e+00] [-2.83888646e-02 -1.12231424e-03 9.99596325e-01 -7.12275623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.39, Y:1.55, Z:-0.71 [[ 9.90859336e-01 -1.32350460e-01 2.60985228e-02 1.73852665e+01] [ 1.32276215e-01 9.91202412e-01 4.55859676e-03 1.54530481e+00] [-2.64722512e-02 -1.06471434e-03 9.99648982e-01 -7.11731250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.41, Y:1.55, Z:-0.71 [[ 9.90620157e-01 -1.34278488e-01 2.53178143e-02 1.74142835e+01] [ 1.34208982e-01 9.90943137e-01 4.43257999e-03 1.54826451e+00] [-2.56837144e-02 -9.93125006e-04 9.99669626e-01 -7.11702743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.44, Y:1.55, Z:-0.71 [[ 9.90497896e-01 -1.35165760e-01 2.53798188e-02 1.74432308e+01] [ 1.35095937e-01 9.90822513e-01 4.45377936e-03 1.55368289e+00] [-2.57488943e-02 -9.82748683e-04 9.99667959e-01 -7.11670483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.47, Y:1.55, Z:-0.71 [[ 9.90209115e-01 -1.37493031e-01 2.41158822e-02 1.74727017e+01] [ 1.37430438e-01 9.90502338e-01 4.24189470e-03 1.55466190e+00] [-2.44700687e-02 -8.86106555e-04 9.99700170e-01 -7.11909853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.50, Y:1.56, Z:-0.71 [[ 9.90061546e-01 -1.38676210e-01 2.33889515e-02 1.75020682e+01] [ 1.38617435e-01 9.90337418e-01 4.12364995e-03 1.55664923e+00] [-2.37348060e-02 -8.40550774e-04 9.99717936e-01 -7.11737875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.53, Y:1.56, Z:-0.71 [[ 9.89964891e-01 -1.39281479e-01 2.38785189e-02 1.75299288e+01] [ 1.39220122e-01 9.90252463e-01 4.22114900e-03 1.55979040e+00] [-2.42336900e-02 -8.54419005e-04 9.99705956e-01 -7.11259661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.56, Y:1.56, Z:-0.71 [[ 9.89900866e-01 -1.39736126e-01 2.38765786e-02 1.75572795e+01] [ 1.39674637e-01 9.90188409e-01 4.23210936e-03 1.56428924e+00] [-2.42336900e-02 -8.54416255e-04 9.99705956e-01 -7.11283423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.59, Y:1.57, Z:-0.71 [[ 9.90050659e-01 -1.38443435e-01 2.51616579e-02 1.75851733e+01] [ 1.38374628e-01 9.90369899e-01 4.46389643e-03 1.56979817e+00] [-2.55373457e-02 -9.37748563e-04 9.99673429e-01 -7.13654899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91592 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:17.61, Y:1.57, Z:-0.71 [[ 9.90510573e-01 -1.34960051e-01 2.59728452e-02 1.76145240e+01] [ 1.34885497e-01 9.90850471e-01 4.60939509e-03 1.57492085e+00] [-2.63572901e-02 -1.06229444e-03 9.99652022e-01 -7.13502201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945919999999997 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:17.64, Y:1.58, Z:-0.71 [[ 9.90750071e-01 -1.33268413e-01 2.55700359e-02 1.76431122e+01] [ 1.33195327e-01 9.91079371e-01 4.54810722e-03 1.57951331e+00] [-2.59480542e-02 -1.10022826e-03 9.99662687e-01 -7.13441235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97592 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:17.67, Y:1.58, Z:-0.71 [[ 9.90966531e-01 -1.31917921e-01 2.41453123e-02 1.76715841e+01] [ 1.31852112e-01 9.91260052e-01 4.30456207e-03 1.58420259e+00] [-2.45021325e-02 -1.08206651e-03 9.99699192e-01 -7.13674051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.70, Y:1.59, Z:-0.71 [[ 9.91288964e-01 -1.29433538e-01 2.43546421e-02 1.76993598e+01] [ 1.29365743e-01 9.91587424e-01 4.34561344e-03 1.59068502e+00] [-2.47122250e-02 -1.15710228e-03 9.99693937e-01 -7.13970400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035919999999997 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:17.73, Y:1.60, Z:-0.71 [[ 9.91352986e-01 -1.28827437e-01 2.49549163e-02 1.77277330e+01] [ 1.28755817e-01 9.91666287e-01 4.46257087e-03 1.59608078e+00] [-2.53218508e-02 -1.21089234e-03 9.99678617e-01 -7.13496054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.75, Y:1.61, Z:-0.71 [[ 9.91321280e-01 -1.28622078e-01 2.71750156e-02 1.77548881e+01] [ 1.28536952e-01 9.91692793e-01 4.86373729e-03 1.60570389e+00] [-2.75748511e-02 -1.32853259e-03 9.99618859e-01 -7.12784784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09592 meters Centerline goodness [0,1] 0.9999014195583596 Centerline is valid? [True, True] Translation: X:17.78, Y:1.61, Z:-0.71 [[ 9.91267485e-01 -1.28863079e-01 2.79835554e-02 1.77827231e+01] [ 1.28772594e-01 9.91661446e-01 5.01946096e-03 1.61286698e+00] [-2.83970362e-02 -1.37211343e-03 9.99595781e-01 -7.13967165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.81, Y:1.62, Z:-0.71 [[ 9.90968104e-01 -1.31780495e-01 2.48217052e-02 1.78114821e+01] [ 1.31710195e-01 9.91278262e-01 4.45330431e-03 1.62214028e+00] [-2.51920755e-02 -1.14381091e-03 9.99681975e-01 -7.14106600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15592 meters Centerline goodness [0,1] 0.99995070005916 Centerline is valid? [True, True] Translation: X:17.84, Y:1.63, Z:-0.71 [[ 9.90588678e-01 -1.34497635e-01 2.53861461e-02 1.78394610e+01] [ 1.34424750e-01 9.90913295e-01 4.56388257e-03 1.63026907e+00] [-2.57693011e-02 -1.10840407e-03 9.99667302e-01 -7.14550090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.87, Y:1.64, Z:-0.71 [[ 9.89595200e-01 -1.41509166e-01 2.60095343e-02 1.78673557e+01] [ 1.41435043e-01 9.89936490e-01 4.67703329e-03 1.64292316e+00] [-2.64096302e-02 -9.49710082e-04 9.99650754e-01 -7.14168114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.90, Y:1.65, Z:-0.71 [[ 9.88983634e-01 -1.45408382e-01 2.77087303e-02 1.78959141e+01] [ 1.45325483e-01 9.89371301e-01 4.99321011e-03 1.65058207e+00] [-2.81402771e-02 -9.11418465e-04 9.99603568e-01 -7.14681650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:1.66, Z:-0.72 [[ 9.88500403e-01 -1.48754923e-01 2.71831914e-02 1.79242639e+01] [ 1.48676084e-01 9.88873760e-01 4.91009008e-03 1.65608892e+00] [-2.76111448e-02 -8.12135591e-04 9.99618410e-01 -7.15093768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.95, Y:1.66, Z:-0.72 [[ 9.87595078e-01 -1.54561891e-01 2.76872533e-02 1.79528024e+01] [ 1.54482207e-01 9.87982882e-01 5.00719792e-03 1.66261070e+00] [-2.81284543e-02 -6.67896019e-04 9.99604094e-01 -7.16249705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.98, Y:1.67, Z:-0.72 [[ 9.86847554e-01 -1.59573160e-01 2.58517302e-02 1.79816944e+01] [ 1.59505141e-01 9.87185979e-01 4.68546998e-03 1.66918379e+00] [-2.62681408e-02 -5.00360715e-04 9.99654808e-01 -7.17509763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.01, Y:1.67, Z:-0.72 [[ 9.86619094e-01 -1.61198950e-01 2.44471360e-02 1.80105775e+01] [ 1.61138356e-01 9.86921832e-01 4.44156524e-03 1.67367188e+00] [-2.48433879e-02 -4.42761754e-04 9.99691257e-01 -7.17343514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.04, Y:1.68, Z:-0.72 [[ 9.86376043e-01 -1.62485955e-01 2.57024435e-02 1.80390144e+01] [ 1.62419122e-01 9.86710757e-01 4.68086568e-03 1.67736984e+00] [-2.61214524e-02 -4.42525480e-04 9.99658679e-01 -7.18146561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.07, Y:1.68, Z:-0.72 [[ 9.86258798e-01 -1.63203329e-01 2.56565189e-02 1.80672958e+01] [ 1.63136645e-01 9.86592360e-01 4.68519834e-03 1.67813485e+00] [-2.60771655e-02 -4.35299664e-04 9.99659838e-01 -7.17324476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:1.68, Z:-0.72 [[ 9.86053141e-01 -1.64439511e-01 2.56680684e-02 1.80955706e+01] [ 1.64372873e-01 9.86387082e-01 4.69926565e-03 1.67973947e+00] [-2.60913961e-02 -4.14591500e-04 9.99659476e-01 -7.16914737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:1.68, Z:-0.72 [[ 9.85831005e-01 -1.65751320e-01 2.57629402e-02 1.81239341e+01] [ 1.65684298e-01 9.86167503e-01 4.72956884e-03 1.68204972e+00] [-2.61905066e-02 -3.94040942e-04 9.99656892e-01 -7.17311754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:1.68, Z:-0.72 [[ 9.85650878e-01 -1.66738389e-01 2.62803555e-02 1.81518101e+01] [ 1.66668774e-01 9.86001097e-01 4.83294564e-03 1.68425888e+00] [-2.67182969e-02 -3.83482488e-04 9.99642929e-01 -7.16440758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.18, Y:1.68, Z:-0.72 [[ 9.85600984e-01 -1.67091925e-01 2.59034596e-02 1.81805503e+01] [ 1.67024071e-01 9.85941247e-01 4.77667626e-03 1.68261821e+00] [-2.63374333e-02 -3.81395539e-04 9.99653037e-01 -7.16165226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.21, Y:1.68, Z:-0.72 [[ 9.85706186e-01 -1.66744627e-01 2.40737106e-02 1.82096798e+01] [ 1.66685663e-01 9.86000046e-01 4.44967632e-03 1.68492799e+00] [-2.44786394e-02 -3.73331046e-04 9.99700284e-01 -7.15269955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.24, Y:1.68, Z:-0.72 [[ 9.86018695e-01 -1.64949946e-01 2.36357606e-02 1.82395696e+01] [ 1.64892347e-01 9.86301850e-01 4.37899108e-03 1.68322402e+00] [-2.40343088e-02 -4.20411037e-04 9.99711046e-01 -7.15281347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.27, Y:1.69, Z:-0.71 [[ 9.86258903e-01 -1.63289970e-01 2.50950500e-02 1.82689352e+01] [ 1.63224224e-01 9.86577993e-01 4.66016964e-03 1.68544388e+00] [-2.55191830e-02 -5.00013745e-04 9.99674208e-01 -7.14906892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.30, Y:1.69, Z:-0.72 [[ 9.87152378e-01 -1.57708378e-01 2.56563660e-02 1.82985507e+01] [ 1.57637702e-01 9.87485509e-01 4.76707990e-03 1.68557275e+00] [-2.60870981e-02 -6.61423695e-04 9.99659455e-01 -7.16169600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66592 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:18.33, Y:1.69, Z:-0.72 [[ 9.87473045e-01 -1.55605896e-01 2.61493753e-02 1.83277820e+01] [ 1.55531454e-01 9.87818939e-01 4.86939840e-03 1.68780495e+00] [-2.65885552e-02 -7.41349306e-04 9.99646187e-01 -7.16492288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.36, Y:1.69, Z:-0.72 [[ 9.87957909e-01 -1.52596467e-01 2.55634036e-02 1.83571845e+01] [ 1.52524041e-01 9.88288245e-01 4.77095957e-03 1.68860908e+00] [-2.59920428e-02 -8.14473630e-04 9.99661818e-01 -7.17180111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72592 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:18.39, Y:1.69, Z:-0.72 [[ 9.88705000e-01 -1.47996820e-01 2.36508744e-02 1.83870568e+01] [ 1.47933278e-01 9.88987450e-01 4.42377159e-03 1.68672840e+00] [-2.40451221e-02 -8.75053707e-04 9.99710491e-01 -7.16081551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.42, Y:1.69, Z:-0.71 [[ 9.89300842e-01 -1.44294149e-01 2.15184366e-02 1.84153703e+01] [ 1.44240569e-01 9.89534446e-01 4.02978864e-03 1.69011065e+00] [-2.18747092e-02 -8.82841755e-04 9.99760330e-01 -7.14831075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.45, Y:1.70, Z:-0.72 [[ 9.90224448e-01 -1.37911618e-01 2.08788882e-02 1.84451002e+01] [ 1.37859742e-01 9.90444040e-01 3.91078338e-03 1.69612530e+00] [-2.12187129e-02 -9.94195172e-04 9.99774363e-01 -7.15422841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.47, Y:1.70, Z:-0.72 [[ 9.90556440e-01 -1.35654707e-01 1.98932264e-02 1.84734003e+01] [ 1.35607004e-01 9.90755670e-01 3.73389468e-03 1.70101963e+00] [-2.02158472e-02 -1.00097259e-03 9.99795138e-01 -7.15201213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84592 meters Centerline goodness [0,1] 0.9999015020930805 Centerline is valid? [True, True] Translation: X:18.50, Y:1.71, Z:-0.71 [[ 9.91414090e-01 -1.29184314e-01 2.02364711e-02 1.85022558e+01] [ 1.29133587e-01 9.91619929e-01 3.79922244e-03 1.70824241e+00] [-2.05576880e-02 -1.15339456e-03 9.99788003e-01 -7.14351257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875919999999997 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:18.53, Y:1.71, Z:-0.71 [[ 9.91780267e-01 -1.26259657e-01 2.07460979e-02 1.85314697e+01] [ 1.26205680e-01 9.91996445e-01 3.89606268e-03 1.71443032e+00] [-2.10719709e-02 -1.24576269e-03 9.99777185e-01 -7.14529338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90592 meters Centerline goodness [0,1] 0.999754058042302 Centerline is valid? [True, True] Translation: X:18.56, Y:1.72, Z:-0.71 [[ 9.92131075e-01 -1.23305174e-01 2.17201426e-02 1.85604829e+01] [ 1.23245276e-01 9.92367852e-01 4.08021474e-03 1.72044453e+00] [-2.20574828e-02 -1.37120287e-03 9.99755764e-01 -7.13880976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93592 meters Centerline goodness [0,1] 0.999852224028373 Centerline is valid? [True, True] Translation: X:18.59, Y:1.73, Z:-0.71 [[ 9.92435097e-01 -1.20450186e-01 2.37556413e-02 1.85889123e+01] [ 1.20377686e-01 9.92718130e-01 4.46391639e-03 1.72993338e+00] [-2.41203353e-02 -1.57049817e-03 9.99707829e-01 -7.12993847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965919999999997 meters Centerline goodness [0,1] 0.9997532935313564 Centerline is valid? [True, True] Translation: X:18.62, Y:1.74, Z:-0.71 [[ 9.92532011e-01 -1.19911111e-01 2.23949072e-02 1.86168603e+01] [ 1.19846350e-01 9.92783497e-01 4.21672283e-03 1.73744149e+00] [-2.27389262e-02 -1.50128449e-03 9.99740310e-01 -7.11919520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995919999999998 meters Centerline goodness [0,1] 0.9997535002957997 Centerline is valid? [True, True] Translation: X:18.64, Y:1.75, Z:-0.71 [[ 9.92453513e-01 -1.20781480e-01 2.11626589e-02 1.86436358e+01] [ 1.20723670e-01 9.92678121e-01 3.99299300e-03 1.75006582e+00] [-2.14899880e-02 -1.40802609e-03 9.99768072e-01 -7.13765284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02592 meters Centerline goodness [0,1] 0.9996555457140045 Centerline is valid? [True, True] Translation: X:18.67, Y:1.76, Z:-0.71 [[ 9.92350447e-01 -1.21441839e-01 2.21916714e-02 1.86708496e+01] [ 1.21378211e-01 9.92597459e-01 4.19701323e-03 1.75925411e+00] [-2.25370897e-02 -1.47132256e-03 9.99744925e-01 -7.14312379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055919999999997 meters Centerline goodness [0,1] 0.9999014244171719 Centerline is valid? [True, True] Translation: X:18.70, Y:1.77, Z:-0.72 [[ 9.92049355e-01 -1.23623419e-01 2.35653809e-02 1.86980329e+01] [ 1.23552074e-01 9.92328043e-01 4.46542955e-03 1.77227432e+00] [-2.39366200e-02 -1.51837481e-03 9.99712325e-01 -7.15054939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085919999999998 meters Centerline goodness [0,1] 0.9999015457320075 Centerline is valid? [True, True] Translation: X:18.73, Y:1.78, Z:-0.71 [[ 9.91828604e-01 -1.25433976e-01 2.32881423e-02 1.87258628e+01] [ 1.25364581e-01 9.92100886e-01 4.42205725e-03 1.77918357e+00] [-2.36588628e-02 -1.46641468e-03 9.99719014e-01 -7.14505037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.11592 meters Centerline goodness [0,1] 0.9999012540732695 Centerline is valid? [True, True] Translation: X:18.75, Y:1.79, Z:-0.72 [[ 9.91278587e-01 -1.29884350e-01 2.22894051e-02 1.87548064e+01] [ 1.29821894e-01 9.91528295e-01 4.23273313e-03 1.78927927e+00] [-2.26503416e-02 -1.30216494e-03 9.99742600e-01 -7.15476500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.78, Y:1.80, Z:-0.72 [[ 9.90907842e-01 -1.32630528e-01 2.26007099e-02 1.87827258e+01] [ 1.32566968e-01 9.91164748e-01 4.29433865e-03 1.79675700e+00] [-2.29705873e-02 -1.25918625e-03 9.99735348e-01 -7.15849352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175919999999998 meters Centerline goodness [0,1] 0.9999014875381735 Centerline is valid? [True, True] Translation: X:18.81, Y:1.80, Z:-0.72 [[ 9.90421406e-01 -1.36298682e-01 2.20931873e-02 1.88116821e+01] [ 1.36238825e-01 9.90667123e-01 4.19922730e-03 1.80277400e+00] [-2.24593435e-02 -1.14905472e-03 9.99747097e-01 -7.16830724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20592 meters Centerline goodness [0,1] 0.999950731635217 Centerline is valid? [True, True] Translation: X:18.84, Y:1.81, Z:-0.72 [[ 9.89512372e-01 -1.42492924e-01 2.36861092e-02 1.88409574e+01] [ 1.42425852e-01 9.89795228e-01 4.50365844e-03 1.81146730e+00] [-2.40861373e-02 -1.08291147e-03 9.99709300e-01 -7.16178029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.87, Y:1.82, Z:-0.72 [[ 9.89068384e-01 -1.45340636e-01 2.48964155e-02 1.88690788e+01] [ 1.45267183e-01 9.89381091e-01 4.74362553e-03 1.81828132e+00] [-2.53214842e-02 -1.07513791e-03 9.99678782e-01 -7.15913117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.90, Y:1.83, Z:-0.72 [[ 9.88464454e-01 -1.49245464e-01 2.57646102e-02 1.88976065e+01] [ 1.49167862e-01 9.88799653e-01 4.91889150e-03 1.82566443e+00] [-2.62101598e-02 -1.01889758e-03 9.99655935e-01 -7.15265241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.93, Y:1.83, Z:-0.72 [[ 9.88118178e-01 -1.51375692e-01 2.66057522e-02 1.89263769e+01] [ 1.51293430e-01 9.88475792e-01 5.08982058e-03 1.83161554e+00] [-2.70696171e-02 -1.00406874e-03 9.99633047e-01 -7.16050720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.96, Y:1.84, Z:-0.72 [[ 9.87775606e-01 -1.53672212e-01 2.61572904e-02 1.89554508e+01] [ 1.53593209e-01 9.88121437e-01 5.01510661e-03 1.83560352e+00] [-2.66172619e-02 -9.36217802e-04 9.99645260e-01 -7.17238207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.98, Y:1.84, Z:-0.72 [[ 9.87470204e-01 -1.55867632e-01 2.46551816e-02 1.89840412e+01] [ 1.55797886e-01 9.87777598e-01 4.73671856e-03 1.84075100e+00] [-2.50921372e-02 -8.36143265e-04 9.99684793e-01 -7.17738498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:1.85, Z:-0.72 [[ 9.87423499e-01 -1.56150027e-01 2.47386698e-02 1.90121301e+01] [ 1.56079595e-01 9.87732989e-01 4.76472430e-03 1.84574463e+00] [-2.51792120e-02 -8.43599180e-04 9.99682597e-01 -7.18284686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:1.85, Z:-0.72 [[ 9.87667436e-01 -1.54320291e-01 2.64250570e-02 1.90397771e+01] [ 1.54239158e-01 9.88020412e-01 5.09379660e-03 1.85230159e+00] [-2.68945719e-02 -9.55198495e-04 9.99637819e-01 -7.18060196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:1.86, Z:-0.72 [[ 9.87628183e-01 -1.54513135e-01 2.67631048e-02 1.90687152e+01] [ 1.54429680e-01 9.87990255e-01 5.17009887e-03 1.85724818e+00] [-2.72405349e-02 -9.73117650e-04 9.99628434e-01 -7.17402101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47592 meters Centerline goodness [0,1] 0.9999507243520253 Centerline is valid? [True, True] Translation: X:19.10, Y:1.86, Z:-0.72 [[ 9.87842901e-01 -1.53134359e-01 2.67632291e-02 1.90972088e+01] [ 1.53050089e-01 9.88204849e-01 5.18143412e-03 1.86094745e+00] [-2.72410083e-02 -1.02232831e-03 9.99628372e-01 -7.17747707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50592 meters Centerline goodness [0,1] 0.9999507243520253 Centerline is valid? [True, True] Translation: X:19.12, Y:1.87, Z:-0.72 [[ 9.87705850e-01 -1.53963162e-01 2.70647092e-02 1.91249590e+01] [ 1.53876939e-01 9.88076058e-01 5.25265835e-03 1.86719400e+00] [-2.75507071e-02 -1.02344678e-03 9.99619883e-01 -7.18307689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.15, Y:1.87, Z:-0.72 [[ 9.87315835e-01 -1.56700556e-01 2.55416902e-02 1.91526490e+01] [ 1.56624593e-01 9.87645752e-01 4.96041426e-03 1.87479131e+00] [-2.60034415e-02 -8.97038706e-04 9.99661451e-01 -7.19515901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.18, Y:1.88, Z:-0.72 [[ 9.86876572e-01 -1.59543241e-01 2.49115543e-02 1.91807907e+01] [ 1.59471624e-01 9.87190607e-01 4.84834971e-03 1.88027017e+00] [-2.53659739e-02 -8.12036723e-04 9.99677902e-01 -7.19311404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59592 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:19.21, Y:1.88, Z:-0.72 [[ 9.86203840e-01 -1.63415203e-01 2.64094088e-02 1.92092173e+01] [ 1.63335794e-01 9.86557086e-01 5.15115581e-03 1.88441345e+00] [-2.68961666e-02 -7.66487895e-04 9.99637939e-01 -7.19939312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.24, Y:1.89, Z:-0.72 [[ 9.86031756e-01 -1.64483413e-01 2.62027322e-02 1.92378895e+01] [ 1.64405320e-01 9.86379570e-01 5.12203245e-03 1.88958646e+00] [-2.66883291e-02 -7.42618077e-04 9.99643527e-01 -7.19744243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:1.89, Z:-0.72 [[ 9.85715354e-01 -1.66356164e-01 2.62843432e-02 1.92668358e+01] [ 1.66278081e-01 9.86065483e-01 5.14427556e-03 1.89469109e+00] [-2.67738655e-02 -7.00281267e-04 9.99641271e-01 -7.19992785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:1.90, Z:-0.72 [[ 9.85632082e-01 -1.66927329e-01 2.57811283e-02 1.92953377e+01] [ 1.66852116e-01 9.85968966e-01 5.05670676e-03 1.89877088e+00] [-2.62634949e-02 -6.82416602e-04 9.99654822e-01 -7.19700095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.32, Y:1.90, Z:-0.72 [[ 9.85721330e-01 -1.66525027e-01 2.49574618e-02 1.93231214e+01] [ 1.66454107e-01 9.86036992e-01 4.90726515e-03 1.90240850e+00] [-2.54261630e-02 -6.82923903e-04 9.99676470e-01 -7.18816268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.35, Y:1.91, Z:-0.72 [[ 9.85642585e-01 -1.66990824e-01 2.49551411e-02 1.93503698e+01] [ 1.66919755e-01 9.85958213e-01 4.91905242e-03 1.90742990e+00] [-2.54261630e-02 -6.82921491e-04 9.99676470e-01 -7.18840025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.38, Y:1.91, Z:-0.72 [[ 9.85647604e-01 -1.66977651e-01 2.48448006e-02 1.93784262e+01] [ 1.66906896e-01 9.85960438e-01 4.90949004e-03 1.90963138e+00] [-2.53157655e-02 -6.92258551e-04 9.99679265e-01 -7.19367971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.41, Y:1.91, Z:-0.72 [[ 9.85540163e-01 -1.67557029e-01 2.52037333e-02 1.94065077e+01] [ 1.67484087e-01 9.85862137e-01 4.99278377e-03 1.91284572e+00] [-2.56839824e-02 -6.99364685e-04 9.99669867e-01 -7.20158144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.44, Y:1.92, Z:-0.72 [[ 9.85558856e-01 -1.67380071e-01 2.56447595e-02 1.94351773e+01] [ 1.67304206e-01 9.85892176e-01 5.09110566e-03 1.91525929e+00] [-2.61351174e-02 -7.27108134e-04 9.99658155e-01 -7.18679487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.46, Y:1.92, Z:-0.72 [[ 9.85580194e-01 -1.67267985e-01 2.55558728e-02 1.94637341e+01] [ 1.67192322e-01 9.85911191e-01 5.08443362e-03 1.91934600e+00] [-2.60462840e-02 -7.38371341e-04 9.99660465e-01 -7.19672174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.49, Y:1.92, Z:-0.72 [[ 9.85666289e-01 -1.66934977e-01 2.43860568e-02 1.94913151e+01] [ 1.66865690e-01 9.85967641e-01 4.86345343e-03 1.92290505e+00] [-2.48557434e-02 -7.24545900e-04 9.99690786e-01 -7.21220291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.52, Y:1.93, Z:-0.72 [[ 9.85624322e-01 -1.67130056e-01 2.47434979e-02 1.95204694e+01] [ 1.67058519e-01 9.85934580e-01 4.94522247e-03 1.92744037e+00] [-2.52219656e-02 -7.40519415e-04 9.99681601e-01 -7.22236876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.55, Y:1.93, Z:-0.72 [[ 9.85885909e-01 -1.65636225e-01 2.43642307e-02 1.95493788e+01] [ 1.65566155e-01 9.86186614e-01 4.87964504e-03 1.93056618e+00] [-2.48359241e-02 -7.76881288e-04 9.99691239e-01 -7.20539419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.58, Y:1.94, Z:-0.72 [[ 9.85873004e-01 -1.65581477e-01 2.52427264e-02 1.95781323e+01] [ 1.65505971e-01 9.86195775e-01 5.06620325e-03 1.93536938e+00] [-2.57331396e-02 -8.16811077e-04 9.99668514e-01 -7.19388824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015919999999998 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:19.61, Y:1.94, Z:-0.72 [[ 9.85821157e-01 -1.66015388e-01 2.44036301e-02 1.96062165e+01] [ 1.65944697e-01 9.86122847e-01 4.90803566e-03 1.94087967e+00] [-2.48797866e-02 -7.88792388e-04 9.99690139e-01 -7.18536050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.63, Y:1.95, Z:-0.72 [[ 9.85637125e-01 -1.66967646e-01 2.53231751e-02 1.96339537e+01] [ 1.66891543e-01 9.85962047e-01 5.10444200e-03 1.94720166e+00] [-2.58199663e-02 -8.04903754e-04 9.99666285e-01 -7.18882717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07592 meters Centerline goodness [0,1] 0.9999016377317661 Centerline is valid? [True, True] Translation: X:19.66, Y:1.95, Z:-0.72 [[ 9.85432071e-01 -1.67884657e-01 2.71730716e-02 1.96627724e+01] [ 1.67797050e-01 9.85806279e-01 5.48903957e-03 1.95162420e+00] [-2.77089101e-02 -8.49514368e-04 9.99615673e-01 -7.20988059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105919999999998 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:19.69, Y:1.96, Z:-0.72 [[ 9.84853103e-01 -1.71133926e-01 2.78844830e-02 1.96914586e+01] [ 1.71042638e-01 9.85247459e-01 5.64445738e-03 1.95662500e+00] [-2.84390742e-02 -7.89525837e-04 9.99595216e-01 -7.20189048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.13592 meters Centerline goodness [0,1] 0.9998524130466867 Centerline is valid? [True, True] Translation: X:19.72, Y:1.96, Z:-0.72 [[ 9.84231551e-01 -1.74498349e-01 2.89582315e-02 1.97199552e+01] [ 1.74400987e-01 9.84657195e-01 5.87401935e-03 1.96345024e+00] [-2.95389377e-02 -7.31051023e-04 9.99563363e-01 -7.20170838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:1.97, Z:-0.72 [[ 9.83473542e-01 -1.78768409e-01 2.86644179e-02 1.97480176e+01] [ 1.78674634e-01 9.83890996e-01 5.82091322e-03 1.97037360e+00] [-2.92432581e-02 -6.03109776e-04 9.99572143e-01 -7.20051180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195919999999997 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:19.78, Y:1.97, Z:-0.72 [[ 9.83175857e-01 -1.80249879e-01 2.95840342e-02 1.97757170e+01] [ 1.80150218e-01 9.83620675e-01 6.02225061e-03 1.97433973e+00] [-3.01849776e-02 -5.91361202e-04 9.99544155e-01 -7.20703824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22592 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:19.80, Y:1.98, Z:-0.72 [[ 9.82540291e-01 -1.83366132e-01 3.14870985e-02 1.98035644e+01] [ 1.83254328e-01 9.83044540e-01 6.42531143e-03 1.97879961e+00] [-3.21314047e-02 -5.42980303e-04 9.99483506e-01 -7.20876492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25592 meters Centerline goodness [0,1] 0.9999015893322836 Centerline is valid? [True, True] Translation: X:19.83, Y:1.98, Z:-0.72 [[ 9.82304804e-01 -1.84454527e-01 3.24622656e-02 1.98324442e+01] [ 1.84335808e-01 9.82840902e-01 6.63859601e-03 1.98363469e+00] [-3.31297615e-02 -5.37166810e-04 9.99450914e-01 -7.21772160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.86, Y:1.99, Z:-0.72 [[ 9.82051805e-01 -1.85689113e-01 3.30727325e-02 1.98604577e+01] [ 1.85566020e-01 9.82608407e-01 6.78018844e-03 1.98660739e+00] [-3.37565522e-02 -5.21320972e-04 9.99429949e-01 -7.22630517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.89, Y:1.99, Z:-0.72 [[ 9.81886201e-01 -1.86330922e-01 3.43551326e-02 1.98894251e+01] [ 1.86198288e-01 9.82486902e-01 7.04875064e-03 1.98665112e+00] [-3.50668680e-02 -5.24204129e-04 9.99384831e-01 -7.22767945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:1.99, Z:-0.72 [[ 9.82016255e-01 -1.85833965e-01 3.33138307e-02 1.99179353e+01] [ 1.85708486e-01 9.82581013e-01 6.84921097e-03 1.99081783e+00] [-3.40063535e-02 -5.39375429e-04 9.99421471e-01 -7.21602144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375919999999997 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:19.95, Y:1.99, Z:-0.72 [[ 9.82519800e-01 -1.83257005e-01 3.27370211e-02 1.99473291e+01] [ 1.83133928e-01 9.83064836e-01 6.74485352e-03 1.99400666e+00] [-3.34186559e-02 -6.31692853e-04 9.99441241e-01 -7.23231014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:2.00, Z:-0.72 [[ 9.82603599e-01 -1.82761904e-01 3.29886913e-02 1.99768011e+01] [ 1.82636171e-01 9.83156977e-01 6.81087952e-03 1.99665279e+00] [-3.36778313e-02 -6.67466448e-04 9.99432518e-01 -7.23313673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:1.99, Z:-0.72 [[ 9.83031166e-01 -1.80525191e-01 3.25635185e-02 2.00067767e+01] [ 1.80400993e-01 9.83570077e-01 6.73693788e-03 1.99340958e+00] [-3.32446893e-02 -7.48128847e-04 9.99446963e-01 -7.20973728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465919999999997 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:20.03, Y:2.00, Z:-0.72 [[ 9.82984822e-01 -1.80779470e-01 3.25518374e-02 2.00347733e+01] [ 1.80654978e-01 9.83523367e-01 6.75019082e-03 1.99536976e+00] [-3.32357887e-02 -7.54683635e-04 9.99447254e-01 -7.21158654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495919999999998 meters Centerline goodness [0,1] 0.9999019127023051 Centerline is valid? [True, True] Translation: X:20.06, Y:2.00, Z:-0.72 [[ 9.83160985e-01 -1.79644413e-01 3.35016853e-02 2.00641731e+01] [ 1.79511404e-01 9.83731262e-01 6.96133139e-03 1.99738592e+00] [-3.42072195e-02 -8.30174837e-04 9.99414417e-01 -7.21148782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52592 meters Centerline goodness [0,1] 0.9998530060267529 Centerline is valid? [True, True] Translation: X:20.09, Y:2.00, Z:-0.72 [[ 9.83182491e-01 -1.79145293e-01 3.54845496e-02 2.00941736e+01] [ 1.78995197e-01 9.83822205e-01 7.38838383e-03 1.99662053e+00] [-3.62340820e-02 -9.12565679e-04 9.99342913e-01 -7.22776181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555919999999997 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:20.12, Y:2.00, Z:-0.72 [[ 9.83059763e-01 -1.79738633e-01 3.58821110e-02 2.01220536e+01] [ 1.79584918e-01 9.83713974e-01 7.48833932e-03 1.99888381e+00] [-3.66436779e-02 -9.17599114e-04 9.99327974e-01 -7.22919935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585919999999998 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:20.15, Y:2.00, Z:-0.72 [[ 9.83222972e-01 -1.79196949e-01 3.40740414e-02 2.01521551e+01] [ 1.79057518e-01 9.83812805e-01 7.12529779e-03 1.99885234e+00] [-3.47993099e-02 -9.04543190e-04 9.99393911e-01 -7.23382782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.61592 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:20.18, Y:2.00, Z:-0.72 [[ 9.83190017e-01 -1.79373800e-01 3.40944257e-02 2.01806099e+01] [ 1.79233739e-01 9.83780566e-01 7.14591318e-03 2.00139370e+00] [-3.48232231e-02 -9.14919116e-04 9.99393069e-01 -7.23319420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.21, Y:2.00, Z:-0.72 [[ 9.83506780e-01 -1.77269309e-01 3.59166601e-02 2.02107324e+01] [ 1.77111915e-01 9.84161813e-01 7.54290221e-03 2.00075560e+00] [-3.66849304e-02 -1.05722700e-03 9.99326322e-01 -7.23189109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675919999999998 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:20.24, Y:2.00, Z:-0.72 [[ 9.83677212e-01 -1.76339047e-01 3.58285145e-02 2.02399147e+01] [ 1.76181259e-01 9.84328869e-01 7.53938881e-03 2.00240816e+00] [-3.65965298e-02 -1.10401218e-03 9.99329513e-01 -7.23369001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.27, Y:2.01, Z:-0.72 [[ 9.83715199e-01 -1.75923453e-01 3.68150207e-02 2.02693854e+01] [ 1.75755986e-01 9.84403159e-01 7.76227396e-03 2.00511133e+00] [-3.76063887e-02 -1.16540660e-03 9.99291950e-01 -7.24373351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.30, Y:2.01, Z:-0.72 [[ 9.84124994e-01 -1.73918199e-01 3.53617910e-02 2.02990782e+01] [ 1.73761880e-01 9.84759363e-01 7.47039097e-03 2.00649960e+00] [-3.61220917e-02 -1.20726720e-03 9.99346655e-01 -7.24819094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.33, Y:2.01, Z:-0.72 [[ 9.84214026e-01 -1.73520186e-01 3.48352662e-02 2.03269918e+01] [ 1.73367660e-01 9.84829558e-01 7.37544990e-03 2.01000487e+00] [-3.55865892e-02 -1.21971267e-03 9.99365852e-01 -7.24590287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:2.01, Z:-0.72 [[ 9.84480313e-01 -1.72126845e-01 3.42178730e-02 2.03556314e+01] [ 1.71978332e-01 9.85073986e-01 7.25920189e-03 2.01260732e+00] [-3.49566401e-02 -1.26180861e-03 9.99388033e-01 -7.21941951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.38, Y:2.02, Z:-0.72 [[ 9.84778906e-01 -1.70421048e-01 3.41639081e-02 2.03844687e+01] [ 1.70271471e-01 9.85370430e-01 7.26231967e-03 2.01513049e+00] [-3.49017570e-02 -1.33464034e-03 9.99389857e-01 -7.22524778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855919999999998 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:20.41, Y:2.02, Z:-0.72 [[ 9.85724832e-01 -1.64810307e-01 3.44110226e-02 2.04133877e+01] [ 1.64654979e-01 9.86324066e-01 7.31947075e-03 2.02047105e+00] [-3.51467439e-02 -1.54903788e-03 9.99380962e-01 -7.23543873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88592 meters Centerline goodness [0,1] 0.9999505635752423 Centerline is valid? [True, True] Translation: X:20.44, Y:2.03, Z:-0.72 [[ 9.86005654e-01 -1.63142546e-01 3.43126778e-02 2.04416558e+01] [ 1.62986654e-01 9.86601184e-01 7.31121522e-03 2.02806741e+00] [-3.50456988e-02 -1.61639101e-03 9.99384404e-01 -7.23013889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91592 meters Centerline goodness [0,1] 0.9998033238273183 Centerline is valid? [True, True] Translation: X:20.47, Y:2.03, Z:-0.72 [[ 9.86646040e-01 -1.59186393e-01 3.44859904e-02 2.04706531e+01] [ 1.59026394e-01 9.87246961e-01 7.35140251e-03 2.03284482e+00] [-3.52164324e-02 -1.76904947e-03 9.99378143e-01 -7.24859371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945919999999997 meters Centerline goodness [0,1] 0.9997043898113022 Centerline is valid? [True, True] Translation: X:20.50, Y:2.04, Z:-0.72 [[ 9.87378367e-01 -1.55000128e-01 3.25410557e-02 2.04996096e+01] [ 1.54855344e-01 9.87912788e-01 6.93867858e-03 2.03966162e+00] [-3.32232211e-02 -1.81194477e-03 9.99446314e-01 -7.23207125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97592 meters Centerline goodness [0,1] 0.9998518518518519 Centerline is valid? [True, True] Translation: X:20.53, Y:2.05, Z:-0.72 [[ 9.87593799e-01 -1.53370406e-01 3.37046861e-02 2.05271784e+01] [ 1.53214067e-01 9.88166875e-01 7.18869138e-03 2.05029566e+00] [-3.44083869e-02 -1.93547500e-03 9.99405982e-01 -7.23103249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00592 meters Centerline goodness [0,1] 0.9999011124845488 Centerline is valid? [True, True] Translation: X:20.55, Y:2.06, Z:-0.72 [[ 9.87818487e-01 -1.51549944e-01 3.53164397e-02 2.05545393e+01] [ 1.51377056e-01 9.88447378e-01 7.53445754e-03 2.06488991e+00] [-3.60502888e-02 -2.09657778e-03 9.99347778e-01 -7.24458287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035919999999997 meters Centerline goodness [0,1] 0.9995574350904799 Centerline is valid? [True, True] Translation: X:20.58, Y:2.07, Z:-0.72 [[ 9.87886797e-01 -1.51236954e-01 3.47427755e-02 2.05826915e+01] [ 1.51068974e-01 9.88495336e-01 7.42540861e-03 2.07322721e+00] [-3.54660677e-02 -2.08690770e-03 9.99368702e-01 -7.24518678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06592 meters Centerline goodness [0,1] 0.9997045208312814 Centerline is valid? [True, True] Translation: X:20.61, Y:2.09, Z:-0.72 [[ 9.87706146e-01 -1.52345738e-01 3.50334841e-02 2.06099345e+01] [ 1.52175138e-01 9.88325078e-01 7.50122595e-03 2.08505457e+00] [-3.57672507e-02 -2.07778170e-03 9.99357987e-01 -7.23606197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09592 meters Centerline goodness [0,1] 0.9998031205394498 Centerline is valid? [True, True] Translation: X:20.64, Y:2.10, Z:-0.73 [[ 9.87496308e-01 -1.53421835e-01 3.62323258e-02 2.06360828e+01] [ 1.53239470e-01 9.88158502e-01 7.77426972e-03 2.09960438e+00] [-3.69960235e-02 -2.12484024e-03 9.99313154e-01 -7.25950102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125919999999997 meters Centerline goodness [0,1] 0.9996065122227141 Centerline is valid? [True, True] Translation: X:20.66, Y:2.11, Z:-0.73 [[ 9.87385027e-01 -1.54238796e-01 3.57938877e-02 2.06636947e+01] [ 1.54060831e-01 9.88031404e-01 7.69450056e-03 2.10853744e+00] [-3.65522757e-02 -2.08299853e-03 9.99329571e-01 -7.27693858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15592 meters Centerline goodness [0,1] 0.9997045499310616 Centerline is valid? [True, True] Translation: X:20.69, Y:2.12, Z:-0.73 [[ 9.87154532e-01 -1.55894932e-01 3.49671337e-02 2.06912980e+01] [ 1.55725643e-01 9.87771642e-01 7.53045537e-03 2.11878436e+00] [-3.57135029e-02 -1.98844375e-03 9.99360091e-01 -7.27728835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18592 meters Centerline goodness [0,1] 0.9999013417521705 Centerline is valid? [True, True] Translation: X:20.72, Y:2.13, Z:-0.73 [[ 9.86686015e-01 -1.59573738e-01 3.14154378e-02 2.07192685e+01] [ 1.59438852e-01 9.87184599e-01 6.76899331e-03 2.13315152e+00] [-3.20929900e-02 -1.67002969e-03 9.99483492e-01 -7.27016586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215919999999997 meters Centerline goodness [0,1] 0.9999015748031496 Centerline is valid? [True, True] Translation: X:20.75, Y:2.14, Z:-0.73 [[ 9.86408934e-01 -1.61714329e-01 2.90842092e-02 2.07468092e+01] [ 1.61599555e-01 9.86836497e-01 6.26996573e-03 2.14232604e+00] [-2.97153024e-02 -1.48475493e-03 9.99557300e-01 -7.26537312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245919999999998 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:20.77, Y:2.15, Z:-0.73 [[ 9.85719015e-01 -1.65991331e-01 2.83707986e-02 2.07745805e+01] [ 1.65883838e-01 9.86126323e-01 6.11783481e-03 2.15375961e+00] [-2.89926989e-02 -1.32420915e-03 9.99578746e-01 -7.27857333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.27592 meters Centerline goodness [0,1] 0.9999015796466709 Centerline is valid? [True, True] Translation: X:20.80, Y:2.16, Z:-0.73 [[ 9.85243330e-01 -1.68657269e-01 2.91600040e-02 2.08027213e+01] [ 1.68544535e-01 9.85673910e-01 6.29943932e-03 2.16235211e+00] [-2.98047014e-02 -1.29172126e-03 9.99554907e-01 -7.28169894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305919999999997 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:20.83, Y:2.17, Z:-0.73 [[ 9.84388137e-01 -1.73580195e-01 2.91532479e-02 2.08305471e+01] [ 1.73469337e-01 9.84819062e-01 6.30900736e-03 2.17343967e+00] [-2.98057930e-02 -1.15331743e-03 9.99555043e-01 -7.28020357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335919999999998 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:20.86, Y:2.18, Z:-0.73 [[ 9.83948056e-01 -1.76322066e-01 2.75091191e-02 2.08587860e+01] [ 1.76224135e-01 9.84332001e-01 5.96372467e-03 2.18287097e+00] [-2.81296425e-02 -1.02022460e-03 9.99603763e-01 -7.28778819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36592 meters Centerline goodness [0,1] 0.999950760746467 Centerline is valid? [True, True] Translation: X:20.89, Y:2.19, Z:-0.73 [[ 9.83684215e-01 -1.77979812e-01 2.62402768e-02 2.08863297e+01] [ 1.77891004e-01 9.84033691e-01 5.69957548e-03 2.19115101e+00] [-2.68357258e-02 -9.38673233e-04 9.99639416e-01 -7.28716656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.91, Y:2.20, Z:-0.73 [[ 9.83174327e-01 -1.81044521e-01 2.43130428e-02 2.09141213e+01] [ 1.80969093e-01 9.83474578e-01 5.28595272e-03 2.20128878e+00] [-2.48682523e-02 -7.97103697e-04 9.99690419e-01 -7.28392389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.94, Y:2.21, Z:-0.73 [[ 9.82690920e-01 -1.83595360e-01 2.47244823e-02 2.09422124e+01] [ 1.83517923e-01 9.83001615e-01 5.38491235e-03 2.21006694e+00] [-2.52928510e-02 -7.54318841e-04 9.99679800e-01 -7.28445037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.97, Y:2.22, Z:-0.73 [[ 9.82072667e-01 -1.86791367e-01 2.53428928e-02 2.09701221e+01] [ 1.86710806e-01 9.82399357e-01 5.52972715e-03 2.21922195e+00] [-2.59297469e-02 -6.98801956e-04 9.99663523e-01 -7.29647637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.00, Y:2.22, Z:-0.73 [[ 9.81753606e-01 -1.88519116e-01 2.49078210e-02 2.09991070e+01] [ 1.88441577e-01 9.82069304e-01 5.44563851e-03 2.22419814e+00] [-2.54878134e-02 -6.52606170e-04 9.99674920e-01 -7.30348066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.03, Y:2.23, Z:-0.73 [[ 9.81516489e-01 -1.89967120e-01 2.31921348e-02 2.10271714e+01] [ 1.89900065e-01 9.81790280e-01 5.08044943e-03 2.23135082e+00] [-2.37349309e-02 -5.82356961e-04 9.99718117e-01 -7.29129350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.06, Y:2.24, Z:-0.73 [[ 9.81455436e-01 -1.90186844e-01 2.39622933e-02 2.10552971e+01] [ 1.90115073e-01 9.81747726e-01 5.25951003e-03 2.23892663e+00] [-2.45252165e-02 -6.06381588e-04 9.99699028e-01 -7.29732057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57592 meters Centerline goodness [0,1] 0.9997535124476213 Centerline is valid? [True, True] Translation: X:21.08, Y:2.25, Z:-0.73 [[ 9.81362891e-01 -1.90510678e-01 2.51506940e-02 2.10837112e+01] [ 1.90431436e-01 9.81684916e-01 5.53123126e-03 2.24525164e+00] [-2.57438156e-02 -6.38662316e-04 9.99668369e-01 -7.30804353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605919999999998 meters Centerline goodness [0,1] 0.9996061829280299 Centerline is valid? [True, True] Translation: X:21.11, Y:2.25, Z:-0.73 [[ 9.81238723e-01 -1.91187918e-01 2.48545462e-02 2.11116765e+01] [ 1.91110439e-01 9.81553253e-01 5.47828896e-03 2.24874792e+00] [-2.54434433e-02 -6.25546043e-04 9.99676067e-01 -7.30522382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.63592 meters Centerline goodness [0,1] 0.9997043752463539 Centerline is valid? [True, True] Translation: X:21.14, Y:2.25, Z:-0.73 [[ 9.80973326e-01 -1.92253736e-01 2.70154357e-02 2.11402204e+01] [ 1.92162298e-01 9.81345028e-01 5.96544030e-03 2.25384913e+00] [-2.76583417e-02 -6.60589596e-04 9.99617217e-01 -7.30536126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66592 meters Centerline goodness [0,1] 0.9997043752463539 Centerline is valid? [True, True] Translation: X:21.17, Y:2.26, Z:-0.73 [[ 9.80882156e-01 -1.92718746e-01 2.70126234e-02 2.11673511e+01] [ 1.92627135e-01 9.81253815e-01 5.97816171e-03 2.25950003e+00] [-2.76583436e-02 -6.60507906e-04 9.99617217e-01 -7.30559917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695919999999997 meters Centerline goodness [0,1] 0.9998520710059171 Centerline is valid? [True, True] Translation: X:21.20, Y:2.26, Z:-0.73 [[ 9.80677074e-01 -1.93817147e-01 2.65967942e-02 2.11955825e+01] [ 1.93728422e-01 9.81037469e-01 5.89773885e-03 2.26401554e+00] [-2.72355345e-02 -6.31222308e-04 9.99628845e-01 -7.31446033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72592 meters Centerline goodness [0,1] 0.9993577709712479 Centerline is valid? [True, True] Translation: X:21.22, Y:2.27, Z:-0.73 [[ 9.80708343e-01 -1.93788047e-01 2.56386093e-02 2.12232897e+01] [ 1.93705281e-01 9.81043224e-01 5.69706692e-03 2.26869039e+00] [-2.62566074e-02 -6.20827043e-04 9.99655043e-01 -7.30516771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75592 meters Centerline goodness [0,1] 0.9992608288572414 Centerline is valid? [True, True] Translation: X:21.25, Y:2.27, Z:-0.73 [[ 9.80735494e-01 -1.93711537e-01 2.51740068e-02 2.12520058e+01] [ 1.93631396e-01 9.81058332e-01 5.60636182e-03 2.27096485e+00] [-2.57831861e-02 -6.23879947e-04 9.99667364e-01 -7.29807557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785919999999997 meters Centerline goodness [0,1] 0.9989164696611506 Centerline is valid? [True, True] Translation: X:21.28, Y:2.28, Z:-0.73 [[ 9.80824530e-01 -1.93309206e-01 2.47949966e-02 2.12798235e+01] [ 1.93231023e-01 9.81137679e-01 5.53411932e-03 2.27696743e+00] [-2.53971017e-02 -6.36837409e-04 9.99677239e-01 -7.29092095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81592 meters Centerline goodness [0,1] 0.9984195969972343 Centerline is valid? [True, True] Translation: X:21.31, Y:2.28, Z:-0.73 [[ 9.81466673e-01 -1.89960745e-01 2.52603590e-02 2.13078271e+01] [ 1.89878382e-01 9.81791407e-01 5.64213215e-03 2.28241168e+00] [-2.58721870e-02 -7.41168562e-04 9.99664984e-01 -7.31020154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84592 meters Centerline goodness [0,1] 0.998425506790002 Centerline is valid? [True, True] Translation: X:21.34, Y:2.28, Z:-0.73 [[ 9.81861879e-01 -1.88374663e-01 2.14997118e-02 2.13373011e+01] [ 1.88314424e-01 9.82097007e-01 4.81113762e-03 2.28473508e+00] [-2.20210990e-02 -6.75166782e-04 9.99757278e-01 -7.30165185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875919999999997 meters Centerline goodness [0,1] 0.9984738085860575 Centerline is valid? [True, True] Translation: X:21.37, Y:2.29, Z:-0.73 [[ 9.81930116e-01 -1.87772531e-01 2.35525702e-02 2.13657855e+01] [ 1.87699932e-01 9.82212248e-01 5.27602091e-03 2.28747567e+00] [-2.41243148e-02 -7.59868006e-04 9.99708678e-01 -7.30015972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90592 meters Centerline goodness [0,1] 0.9982257269590932 Centerline is valid? [True, True] Translation: X:21.39, Y:2.29, Z:-0.73 [[ 9.83003467e-01 -1.82264354e-01 2.19974663e-02 2.13945668e+01] [ 1.82199616e-01 9.83249208e-01 4.92909865e-03 2.29415274e+00] [-2.25273903e-02 -8.37391165e-04 9.99745875e-01 -7.29615119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93592 meters Centerline goodness [0,1] 0.9978317646479081 Centerline is valid? [True, True] Translation: X:21.42, Y:2.30, Z:-0.73 [[ 9.83653342e-01 -1.78725451e-01 2.19844539e-02 2.14233205e+01] [ 1.78659877e-01 9.83898556e-01 4.92748906e-03 2.30268640e+00] [-2.25111401e-02 -9.19201258e-04 9.99746170e-01 -7.29893368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965919999999997 meters Centerline goodness [0,1] 0.9973350441691753 Centerline is valid? [True, True] Translation: X:21.45, Y:2.31, Z:-0.73 [[ 9.85145665e-01 -1.70351095e-01 2.16454090e-02 2.14531077e+01] [ 1.70285493e-01 9.85382823e-01 4.85216625e-03 2.30850899e+00] [-2.21555860e-02 -1.09419140e-03 9.99753936e-01 -7.28752982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995919999999998 meters Centerline goodness [0,1] 0.9974843387757115 Centerline is valid? [True, True] Translation: X:21.48, Y:2.31, Z:-0.73 [[ 9.85959767e-01 -1.65607515e-01 2.13890076e-02 2.14823718e+01] [ 1.65542319e-01 9.86191026e-01 4.79588800e-03 2.31441803e+00] [-2.18878824e-02 -1.18776671e-03 9.99759726e-01 -7.27495218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02592 meters Centerline goodness [0,1] 0.9968891961287774 Centerline is valid? [True, True] Translation: X:21.51, Y:2.32, Z:-0.73 [[ 9.87412188e-01 -1.56654003e-01 2.18333517e-02 2.15114640e+01] [ 1.56583884e-01 9.87652530e-01 4.89560145e-03 2.32376831e+00] [-2.23306806e-02 -1.41522553e-03 9.99749638e-01 -7.26656405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055919999999997 meters Centerline goodness [0,1] 0.9959522164083325 Centerline is valid? [True, True] Translation: X:21.54, Y:2.33, Z:-0.73 [[ 9.88071717e-01 -1.52478677e-01 2.15530881e-02 2.15401605e+01] [ 1.52409344e-01 9.88305636e-01 4.83334333e-03 2.33252903e+00] [-2.20380202e-02 -1.49079783e-03 9.99756022e-01 -7.27211693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085919999999998 meters Centerline goodness [0,1] 0.9953070197105172 Centerline is valid? [True, True] Translation: X:21.57, Y:2.34, Z:-0.73 [[ 9.88482220e-01 -1.49967265e-01 2.03155088e-02 2.15689426e+01] [ 1.49905116e-01 9.88689886e-01 4.55693393e-03 2.33976690e+00] [-2.07691290e-02 -1.45904946e-03 9.99783234e-01 -7.28584576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.11592 meters Centerline goodness [0,1] 0.9943628541759383 Centerline is valid? [True, True] Translation: X:21.60, Y:2.35, Z:-0.73 [[ 9.89076131e-01 -1.46221712e-01 1.86445110e-02 2.15976422e+01] [ 1.46168704e-01 9.89250837e-01 4.18215919e-03 2.35179458e+00] [-1.90556206e-02 -1.41122981e-03 9.99817429e-01 -7.28645507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145919999999997 meters Centerline goodness [0,1] 0.9948127655370023 Centerline is valid? [True, True] Translation: X:21.63, Y:2.36, Z:-0.73 [[ 9.89056663e-01 -1.46186483e-01 1.99105523e-02 2.16253078e+01] [ 1.46125873e-01 9.89255890e-01 4.47353960e-03 2.36267616e+00] [-2.03506022e-02 -1.51513730e-03 9.99791757e-01 -7.29908017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175919999999998 meters Centerline goodness [0,1] 0.9954545454545455 Centerline is valid? [True, True] Translation: X:21.65, Y:2.38, Z:-0.73 [[ 9.88712801e-01 -1.48067452e-01 2.28697658e-02 2.16514113e+01] [ 1.47987774e-01 9.88975795e-01 5.14736837e-03 2.37707525e+00] [-2.33798025e-02 -1.70482326e-03 9.99725201e-01 -7.30000341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20592 meters Centerline goodness [0,1] 0.9957482572798735 Centerline is valid? [True, True] Translation: X:21.68, Y:2.39, Z:-0.73 [[ 9.88439149e-01 -1.49887535e-01 2.28424106e-02 2.16789430e+01] [ 1.49808337e-01 9.88701646e-01 5.14955582e-03 2.38760335e+00] [-2.33561832e-02 -1.66803903e-03 9.99725816e-01 -7.28619122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23592 meters Centerline goodness [0,1] 0.995401503164557 Centerline is valid? [True, True] Translation: X:21.71, Y:2.40, Z:-0.73 [[ 9.87938225e-01 -1.53376261e-01 2.13022333e-02 2.17070160e+01] [ 1.53308172e-01 9.88166754e-01 4.80320769e-03 2.40144551e+00] [-2.17868568e-02 -1.47946604e-03 9.99761544e-01 -7.30742934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265919999999998 meters Centerline goodness [0,1] 0.996244131455399 Centerline is valid? [True, True] Translation: X:21.73, Y:2.41, Z:-0.73 [[ 9.87587035e-01 -1.55611273e-01 2.13771068e-02 2.17338341e+01] [ 1.55543061e-01 9.87817316e-01 4.82761121e-03 2.41293401e+00] [-2.18679070e-02 -1.44262562e-03 9.99759828e-01 -7.32215976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.29592 meters Centerline goodness [0,1] 0.9960927840150353 Centerline is valid? [True, True] Translation: X:21.76, Y:2.43, Z:-0.73 [[ 9.86415113e-01 -1.62558726e-01 2.36618882e-02 2.17612310e+01] [ 1.62477106e-01 9.86697837e-01 5.34487203e-03 2.42687632e+00] [-2.42159895e-02 -1.42774742e-03 9.99705730e-01 -7.33896999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32592 meters Centerline goodness [0,1] 0.9961860419040072 Centerline is valid? [True, True] Translation: X:21.79, Y:2.44, Z:-0.74 [[ 9.85778878e-01 -1.66108540e-01 2.54549801e-02 2.17884764e+01] [ 1.66015183e-01 9.86106416e-01 5.75276809e-03 2.43595411e+00] [-2.60569031e-02 -1.44504409e-03 9.99659417e-01 -7.35054841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355919999999998 meters Centerline goodness [0,1] 0.9967350976997279 Centerline is valid? [True, True] Translation: X:21.82, Y:2.45, Z:-0.73 [[ 9.85174318e-01 -1.69710103e-01 2.51006737e-02 2.18169076e+01] [ 1.69620489e-01 9.85493130e-01 5.67279098e-03 2.44618866e+00] [-2.56992714e-02 -1.33109944e-03 9.99668833e-01 -7.34217976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38592 meters Centerline goodness [0,1] 0.9967407407407407 Centerline is valid? [True, True] Translation: X:21.85, Y:2.46, Z:-0.74 [[ 9.83525484e-01 -1.78986880e-01 2.53242821e-02 2.18458036e+01] [ 1.78898715e-01 9.83850847e-01 5.72368532e-03 2.45689813e+00] [-2.59397810e-02 -1.09890883e-03 9.99662903e-01 -7.35947256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41592 meters Centerline goodness [0,1] 0.9973811641466548 Centerline is valid? [True, True] Translation: X:21.87, Y:2.46, Z:-0.74 [[ 9.82208500e-01 -1.86175158e-01 2.46023137e-02 2.18743712e+01] [ 1.86094179e-01 9.82516173e-01 5.56123331e-03 2.46419885e+00] [-2.52075346e-02 -8.83943260e-04 9.99681849e-01 -7.35064640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445919999999997 meters Centerline goodness [0,1] 0.9972104607721046 Centerline is valid? [True, True] Translation: X:21.90, Y:2.47, Z:-0.73 [[ 9.81466099e-01 -1.89909317e-01 2.56660776e-02 2.19016672e+01] [ 1.89822192e-01 9.81801283e-01 5.81174587e-03 2.47300037e+00] [-2.63026926e-02 -8.32040434e-04 9.99653678e-01 -7.33933729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47592 meters Centerline goodness [0,1] 0.9976190476190476 Centerline is valid? [True, True] Translation: X:21.93, Y:2.48, Z:-0.73 [[ 9.81255815e-01 -1.91128016e-01 2.46395321e-02 2.19294789e+01] [ 1.91047833e-01 9.81564810e-01 5.59013140e-03 2.47989006e+00] [-2.52537284e-02 -7.78019739e-04 9.99680771e-01 -7.34443751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50592 meters Centerline goodness [0,1] 0.9975263444318013 Centerline is valid? [True, True] Translation: X:21.96, Y:2.49, Z:-0.74 [[ 9.80971883e-01 -1.92502525e-01 2.52377175e-02 2.19567577e+01] [ 1.92418531e-01 9.81296174e-01 5.73835086e-03 2.48582082e+00] [-2.58703227e-02 -7.72956331e-04 9.99665008e-01 -7.35306929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535919999999997 meters Centerline goodness [0,1] 0.9965833127011636 Centerline is valid? [True, True] Translation: X:21.99, Y:2.49, Z:-0.73 [[ 9.80753260e-01 -1.93524607e-01 2.59088809e-02 2.19852445e+01] [ 1.93436099e-01 9.81095113e-01 5.90381689e-03 2.48672651e+00] [-2.65616103e-02 -7.78474799e-04 9.99646875e-01 -7.32397068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56592 meters Centerline goodness [0,1] 0.9968828855573697 Centerline is valid? [True, True] Translation: X:22.01, Y:2.49, Z:-0.73 [[ 9.80646488e-01 -1.94248802e-01 2.44922189e-02 2.20143116e+01] [ 1.94169669e-01 9.80952024e-01 5.59166696e-03 2.49093939e+00] [-2.51118663e-02 -7.27802543e-04 9.99684382e-01 -7.30441763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59592 meters Centerline goodness [0,1] 0.9969867615095831 Centerline is valid? [True, True] Translation: X:22.04, Y:2.50, Z:-0.73 [[ 9.80403937e-01 -1.95470714e-01 2.44810301e-02 2.20431412e+01] [ 1.95391766e-01 9.80709284e-01 5.59974671e-03 2.49661267e+00] [-2.51033600e-02 -7.06622024e-04 9.99684611e-01 -7.31371562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625919999999997 meters Centerline goodness [0,1] 0.997084115844618 Centerline is valid? [True, True] Translation: X:22.07, Y:2.50, Z:-0.73 [[ 9.80170226e-01 -1.96723908e-01 2.37914254e-02 2.20718207e+01] [ 1.96649463e-01 9.80458699e-01 5.45230824e-03 2.49926244e+00] [-2.43991094e-02 -6.65619186e-04 9.99702076e-01 -7.32603874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65592 meters Centerline goodness [0,1] 0.9972345679012345 Centerline is valid? [True, True] Translation: X:22.10, Y:2.50, Z:-0.73 [[ 9.80013196e-01 -1.97664574e-01 2.24243440e-02 2.21001796e+01] [ 1.97598463e-01 9.80269523e-01 5.14871089e-03 2.50323627e+00] [-2.29996187e-02 -6.14788712e-04 9.99735285e-01 -7.31749150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68592 meters Centerline goodness [0,1] 0.9970833951258095 Centerline is valid? [True, True] Translation: X:22.13, Y:2.51, Z:-0.73 [[ 9.79644115e-01 -1.99456759e-01 2.26806054e-02 2.21287406e+01] [ 1.99389378e-01 9.79906452e-01 5.21743564e-03 2.50636916e+00] [-2.32655244e-02 -5.88958316e-04 9.99729148e-01 -7.32049647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715919999999997 meters Centerline goodness [0,1] 0.9969352446861097 Centerline is valid? [True, True] Translation: X:22.16, Y:2.51, Z:-0.73 [[ 9.79991551e-01 -1.97901041e-01 2.12541340e-02 2.21576040e+01] [ 1.97841300e-01 9.80221823e-01 4.89863685e-03 2.51112128e+00] [-2.18032113e-02 -5.95677220e-04 9.99762104e-01 -7.30724189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745919999999998 meters Centerline goodness [0,1] 0.9968335642192757 Centerline is valid? [True, True] Translation: X:22.19, Y:2.51, Z:-0.73 [[ 9.80528131e-01 -1.95154196e-01 2.18957666e-02 2.21870196e+01] [ 1.95089892e-01 9.80772333e-01 5.05620709e-03 2.51223176e+00] [-2.24615021e-02 -6.86110547e-04 9.99747473e-01 -7.30907374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.77592 meters Centerline goodness [0,1] 0.9967886962106616 Centerline is valid? [True, True] Translation: X:22.22, Y:2.52, Z:-0.73 [[ 9.81044269e-01 -1.92591978e-01 2.14586000e-02 2.22164083e+01] [ 1.92529397e-01 9.81278647e-01 4.96466819e-03 2.51517165e+00] [-2.20130212e-02 -7.39147966e-04 9.99757411e-01 -7.31159941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805919999999997 meters Centerline goodness [0,1] 0.9970277901619854 Centerline is valid? [True, True] Translation: X:22.25, Y:2.52, Z:-0.73 [[ 9.81775313e-01 -1.88754647e-01 2.21115114e-02 2.22459155e+01] [ 1.88687187e-01 9.82023909e-01 5.11741163e-03 2.52016439e+00] [-2.26799681e-02 -8.51989507e-04 9.99742413e-01 -7.31577513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835919999999998 meters Centerline goodness [0,1] 0.9964428634948866 Centerline is valid? [True, True] Translation: X:22.28, Y:2.53, Z:-0.73 [[ 9.83418131e-01 -1.80490993e-01 1.76573322e-02 2.22750728e+01] [ 1.80446636e-01 9.83576284e-01 4.08709969e-03 2.52706479e+00] [-1.81050179e-02 -8.33121745e-04 9.99835744e-01 -7.30393402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86592 meters Centerline goodness [0,1] 0.9958481613285883 Centerline is valid? [True, True] Translation: X:22.30, Y:2.53, Z:-0.73 [[ 9.83827365e-01 -1.78416443e-01 1.58520781e-02 2.23032686e+01] [ 1.78380323e-01 9.83954751e-01 3.67547699e-03 2.53499038e+00] [-1.62534931e-02 -7.88336025e-04 9.99867592e-01 -7.29671974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895919999999997 meters Centerline goodness [0,1] 0.9962433888586822 Centerline is valid? [True, True] Translation: X:22.33, Y:2.55, Z:-0.73 [[ 9.84379714e-01 -1.75306172e-01 1.62580536e-02 2.23313928e+01] [ 1.75267733e-01 9.84513587e-01 3.77087388e-03 2.54551466e+00] [-1.66673322e-02 -8.62459554e-04 9.99860718e-01 -7.30656944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925919999999998 meters Centerline goodness [0,1] 0.9966921747716613 Centerline is valid? [True, True] Translation: X:22.36, Y:2.55, Z:-0.73 [[ 9.84405142e-01 -1.74971687e-01 1.82051155e-02 2.23593228e+01] [ 1.74923295e-01 9.84572978e-01 4.22978907e-03 2.55234398e+00] [-1.86643581e-02 -9.79327323e-04 9.99825326e-01 -7.31302943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.95592 meters Centerline goodness [0,1] 0.9975776151868697 Centerline is valid? [True, True] Translation: X:22.39, Y:2.56, Z:-0.73 [[ 9.84291412e-01 -1.75455175e-01 1.96442798e-02 2.23866720e+01] [ 1.75398761e-01 9.84486856e-01 4.57227750e-03 2.56357824e+00] [-2.01417650e-02 -1.05487114e-03 9.99796578e-01 -7.29302689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98592 meters Centerline goodness [0,1] 0.9979253112033195 Centerline is valid? [True, True] Translation: X:22.41, Y:2.57, Z:-0.73 [[ 9.84208604e-01 -1.75980792e-01 1.90836285e-02 2.24136950e+01] [ 1.75927476e-01 9.84393069e-01 4.45075427e-03 2.57301282e+00] [-1.95690389e-02 -1.02313606e-03 9.99807985e-01 -7.28437419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015919999999998 meters Centerline goodness [0,1] 0.9986117997025286 Centerline is valid? [True, True] Translation: X:22.44, Y:2.59, Z:-0.73 [[ 9.84307356e-01 -1.75701872e-01 1.63670900e-02 2.24407633e+01] [ 1.75662553e-01 9.84443024e-01 3.82104704e-03 2.58590549e+00] [-1.67838327e-02 -8.85999889e-04 9.99858749e-01 -7.28433191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04592 meters Centerline goodness [0,1] 0.9990575396825396 Centerline is valid? [True, True] Translation: X:22.47, Y:2.59, Z:-0.73 [[ 9.84305264e-01 -1.75579719e-01 1.77457071e-02 2.24682520e+01] [ 1.75533344e-01 9.84464738e-01 4.15016704e-03 2.59372642e+00] [-1.81987080e-02 -9.70067952e-04 9.99833919e-01 -7.29947074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07592 meters Centerline goodness [0,1] 0.999653516804435 Centerline is valid? [True, True] Translation: X:22.50, Y:2.60, Z:-0.73 [[ 9.84118443e-01 -1.76607612e-01 1.79064618e-02 2.24962363e+01] [ 1.76560423e-01 9.84280862e-01 4.19533965e-03 2.60220546e+00] [-1.83659166e-02 -9.67138658e-04 9.99830865e-01 -7.29836210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105919999999998 meters Centerline goodness [0,1] 0.9995541464381255 Centerline is valid? [True, True] Translation: X:22.52, Y:2.61, Z:-0.73 [[ 9.83857796e-01 -1.77948002e-01 1.89300468e-02 2.25241587e+01] [ 1.77895423e-01 9.84039383e-01 4.43965760e-03 2.61175263e+00] [-1.94179398e-02 -1.00042305e-03 9.99810954e-01 -7.29013009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.13592 meters Centerline goodness [0,1] 0.9999504778883772 Centerline is valid? [True, True] Translation: X:22.55, Y:2.62, Z:-0.73 [[ 9.83475866e-01 -1.80029994e-01 1.90898406e-02 2.25521328e+01] [ 1.79976772e-01 9.83660638e-01 4.48446600e-03 2.62132367e+00] [-1.95852632e-02 -9.74636194e-04 9.99807715e-01 -7.28597493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16592 meters Centerline goodness [0,1] 0.9999504803406952 Centerline is valid? [True, True] Translation: X:22.58, Y:2.63, Z:-0.73 [[ 9.82707706e-01 -1.84066035e-01 2.01310630e-02 2.25800214e+01] [ 1.84007605e-01 9.82913423e-01 4.73325141e-03 2.63060251e+00] [-2.06583228e-02 -9.47133940e-04 9.99786145e-01 -7.29677823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195919999999997 meters Centerline goodness [0,1] 0.9999504558065795 Centerline is valid? [True, True] Translation: X:22.61, Y:2.64, Z:-0.73 [[ 9.82308015e-01 -1.86284364e-01 1.92119679e-02 2.26075577e+01] [ 1.86231418e-01 9.82495488e-01 4.52495743e-03 2.63854348e+00] [-1.97186006e-02 -8.67029929e-04 9.99805194e-01 -7.29277930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22592 meters Centerline goodness [0,1] 0.9999010194991587 Centerline is valid? [True, True] Translation: X:22.64, Y:2.65, Z:-0.73 [[ 9.81865962e-01 -1.88459064e-01 2.05527031e-02 2.26351338e+01] [ 1.88398761e-01 9.82080643e-01 4.84938283e-03 2.64881374e+00] [-2.10983220e-02 -8.89340136e-04 9.99777010e-01 -7.31186222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.66, Y:2.66, Z:-0.73 [[ 9.81728177e-01 -1.89293881e-01 1.94322457e-02 2.26633001e+01] [ 1.89240109e-01 9.81920132e-01 4.58646608e-03 2.65736984e+00] [-1.99491032e-02 -8.25302689e-04 9.99800656e-01 -7.30382712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.69, Y:2.66, Z:-0.73 [[ 9.81873284e-01 -1.88494994e-01 1.98618097e-02 2.26912510e+01] [ 1.88438488e-01 9.82073767e-01 4.69605517e-03 2.66375630e+00] [-2.03909451e-02 -8.68201732e-04 9.99791706e-01 -7.29928554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.72, Y:2.67, Z:-0.73 [[ 9.81983085e-01 -1.87903029e-01 2.00417743e-02 2.27192291e+01] [ 1.87845195e-01 9.82187175e-01 4.74714033e-03 2.67083855e+00] [-2.05767757e-02 -8.96860506e-04 9.99787873e-01 -7.29731799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.75, Y:2.68, Z:-0.73 [[ 9.82276490e-01 -1.86442392e-01 1.92907371e-02 2.27471876e+01] [ 1.86388369e-01 9.82465482e-01 4.57741412e-03 2.67765856e+00] [-1.98059073e-02 -9.00717258e-04 9.99803438e-01 -7.29036397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:2.69, Z:-0.73 [[ 9.82692246e-01 -1.84125197e-01 2.03435756e-02 2.27753226e+01] [ 1.84064564e-01 9.82902288e-01 4.82991078e-03 2.68519261e+00] [-2.08850553e-02 -1.00178450e-03 9.99781382e-01 -7.28402957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:2.69, Z:-0.73 [[ 9.82646399e-01 -1.84187905e-01 2.19287331e-02 2.28029509e+01] [ 1.84117395e-01 9.82890454e-01 5.20955336e-03 2.69185600e+00] [-2.25130792e-02 -1.08168763e-03 9.99745963e-01 -7.27821548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:2.70, Z:-0.73 [[ 9.82425434e-01 -1.85437223e-01 2.12908978e-02 2.28303667e+01] [ 1.85370856e-01 9.82655572e-01 5.06679226e-03 2.70087171e+00] [-2.18611913e-02 -1.03103364e-03 9.99760484e-01 -7.27763322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.86, Y:2.71, Z:-0.73 [[ 9.82204809e-01 -1.86721690e-01 2.02169242e-02 2.28584194e+01] [ 1.86661944e-01 9.82412382e-01 4.81977688e-03 2.70861674e+00] [-2.07613135e-02 -9.60277654e-04 9.99784000e-01 -7.28828060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.89, Y:2.72, Z:-0.73 [[ 9.81751214e-01 -1.89217688e-01 1.90057712e-02 2.28863791e+01] [ 1.89165272e-01 9.81934790e-01 4.53520145e-03 2.71548786e+00] [-1.95205683e-02 -8.57207645e-04 9.99809088e-01 -7.28782381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:2.72, Z:-0.73 [[ 9.81396607e-01 -1.90797528e-01 2.13776092e-02 2.29142310e+01] [ 1.90731359e-01 9.81628963e-01 5.11147480e-03 2.72123648e+00] [-2.19601371e-02 -9.39003584e-04 9.99758406e-01 -7.29002964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:2.73, Z:-0.73 [[ 9.81307092e-01 -1.91257658e-01 2.13752114e-02 2.29412346e+01] [ 1.91191380e-01 9.81539417e-01 5.12149229e-03 2.72736636e+00] [-2.19601371e-02 -9.39000555e-04 9.99758406e-01 -7.29026732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585919999999998 meters Centerline goodness [0,1] 0.9999504975001238 Centerline is valid? [True, True] Translation: X:22.97, Y:2.74, Z:-0.73 [[ 9.80554737e-01 -1.95041565e-01 2.17070422e-02 2.29691025e+01] [ 1.94974071e-01 9.80794591e-01 5.20400579e-03 2.73542440e+00] [-2.23051470e-02 -8.70502144e-04 9.99750830e-01 -7.30112002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.00, Y:2.74, Z:-0.73 [[ 9.80237366e-01 -1.96813685e-01 1.99769831e-02 2.29967400e+01] [ 1.96756731e-01 9.80440604e-01 4.79694601e-03 2.74403130e+00] [-2.05303500e-02 -7.71539827e-04 9.99788932e-01 -7.29719357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.02, Y:2.75, Z:-0.73 [[ 9.80214881e-01 -1.96878116e-01 2.04399985e-02 2.30248634e+01] [ 1.96818319e-01 9.80427648e-01 4.91697333e-03 2.75058182e+00] [-2.10079841e-02 -7.96724275e-04 9.99778990e-01 -7.29890870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:2.76, Z:-0.73 [[ 9.80132366e-01 -1.97416950e-01 1.91596904e-02 2.30526688e+01] [ 1.97364351e-01 9.80319333e-01 4.61722350e-03 2.75796800e+00] [-1.96941331e-02 -7.44050316e-04 9.99805775e-01 -7.29966029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.08, Y:2.77, Z:-0.73 [[ 9.80163114e-01 -1.97377322e-01 1.79572314e-02 2.30791756e+01] [ 1.97330949e-01 9.80327340e-01 4.33625515e-03 2.76779348e+00] [-1.84598433e-02 -7.06719845e-04 9.99829353e-01 -7.29596981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.11, Y:2.78, Z:-0.73 [[ 9.79868805e-01 -1.98753340e-01 1.88211101e-02 2.31073214e+01] [ 1.98702492e-01 9.80049279e-01 4.55307548e-03 2.77538641e+00] [-1.93505543e-02 -7.21615162e-04 9.99812500e-01 -7.29822666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.14, Y:2.78, Z:-0.73 [[ 9.79472065e-01 -2.00708237e-01 1.87263893e-02 2.31356651e+01] [ 2.00658099e-01 9.79650821e-01 4.53830782e-03 2.78070356e+00] [-1.92561984e-02 -6.87544038e-04 9.99814346e-01 -7.29692501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:2.79, Z:-0.73 [[ 9.78368187e-01 -2.05936526e-01 1.96427475e-02 2.31640762e+01] [ 2.05882357e-01 9.78565158e-01 4.76309163e-03 2.78590566e+00] [-2.02026029e-02 -6.15962154e-04 9.99795717e-01 -7.29032010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:2.79, Z:-0.73 [[ 9.77771238e-01 -2.08701423e-01 2.01772758e-02 2.31921091e+01] [ 2.08644676e-01 9.77979231e-01 4.90128660e-03 2.79282337e+00] [-2.07558622e-02 -5.82455892e-04 9.99784404e-01 -7.30047269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.22, Y:2.80, Z:-0.73 [[ 9.76659912e-01 -2.13733150e-01 2.12968537e-02 2.32197983e+01] [ 2.13670917e-01 9.76891949e-01 5.18265910e-03 2.80133339e+00] [-2.19124310e-02 -5.11177120e-04 9.99759763e-01 -7.31180306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.25, Y:2.81, Z:-0.73 [[ 9.76366313e-01 -2.15031849e-01 2.16824261e-02 2.32477247e+01] [ 2.14967417e-01 9.76606908e-01 5.28744056e-03 2.80725047e+00] [-2.23121752e-02 -5.01463697e-04 9.99750927e-01 -7.30680940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.28, Y:2.81, Z:-0.73 [[ 9.76128654e-01 -2.16082447e-01 2.19368670e-02 2.32758143e+01] [ 2.16016508e-01 9.76374996e-01 5.36063804e-03 2.81059047e+00] [-2.25769482e-02 -4.93946997e-04 9.99744986e-01 -7.29412133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.30, Y:2.82, Z:-0.73 [[ 9.76088660e-01 -2.16276494e-01 2.18038143e-02 2.33037708e+01] [ 2.16211151e-01 9.76332029e-01 5.33921778e-03 2.81501908e+00] [-2.24425095e-02 -4.97322136e-04 9.99748011e-01 -7.28684947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.33, Y:2.82, Z:-0.73 [[ 9.75932792e-01 -2.16794808e-01 2.35626074e-02 2.33323512e+01] [ 2.16718390e-01 9.76217048e-01 5.78050329e-03 2.82044207e+00] [-2.42554022e-02 -5.34932375e-04 9.99705651e-01 -7.29632389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.36, Y:2.83, Z:-0.73 [[ 9.75967709e-01 -2.16780510e-01 2.22090406e-02 2.33609587e+01] [ 2.16712391e-01 9.76220234e-01 5.45832167e-03 2.82704575e+00] [-2.28641726e-02 -5.14171387e-04 9.99738448e-01 -7.29827321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.39, Y:2.83, Z:-0.73 [[ 9.75628003e-01 -2.18254848e-01 2.26896780e-02 2.33883783e+01] [ 2.18183878e-01 9.75891679e-01 5.58796740e-03 2.83387883e+00] [-2.33622690e-02 -5.01255533e-04 9.99726939e-01 -7.30925182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.42, Y:2.84, Z:-0.73 [[ 9.74975583e-01 -2.21172660e-01 2.24781653e-02 2.34166624e+01] [ 2.21103547e-01 9.75234568e-01 5.54599490e-03 2.84036058e+00] [-2.31481063e-02 -4.37207530e-04 9.99731951e-01 -7.31058200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.45, Y:2.84, Z:-0.73 [[ 9.74679443e-01 -2.22467934e-01 2.25388995e-02 2.34451694e+01] [ 2.22398524e-01 9.74939918e-01 5.57260250e-03 2.84422101e+00] [-2.32137982e-02 -4.18883140e-04 9.99730436e-01 -7.30606187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.47, Y:2.85, Z:-0.73 [[ 9.74413757e-01 -2.23673259e-01 2.20930738e-02 2.34741926e+01] [ 2.23606666e-01 9.74664106e-01 5.47165172e-03 2.84962081e+00] [-2.27571882e-02 -3.91494156e-04 9.99740945e-01 -7.29718413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.50, Y:2.86, Z:-0.73 [[ 9.74521873e-01 -2.23230476e-01 2.18007833e-02 2.35019819e+01] [ 2.23165360e-01 9.74765609e-01 5.40651348e-03 2.85537074e+00] [-2.24575524e-02 -4.03585985e-04 9.99747716e-01 -7.29633754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.53, Y:2.86, Z:-0.73 [[ 9.74477745e-01 -2.23537722e-01 2.05915590e-02 2.35308292e+01] [ 2.23479496e-01 9.74695203e-01 5.11616493e-03 2.85937092e+00] [-2.12141497e-02 -3.83797627e-04 9.99774881e-01 -7.31576532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.56, Y:2.86, Z:-0.73 [[ 9.74522147e-01 -2.23430959e-01 1.96262992e-02 2.35592490e+01] [ 2.23377836e-01 9.74719685e-01 4.88658666e-03 2.86330967e+00] [-2.02219549e-02 -3.78006679e-04 9.99795444e-01 -7.31273417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.59, Y:2.86, Z:-0.73 [[ 9.74437777e-01 -2.23569683e-01 2.20820345e-02 2.35891242e+01] [ 2.23502255e-01 9.74687853e-01 5.50736877e-03 2.86473710e+00] [-2.27543715e-02 -4.31203677e-04 9.99740993e-01 -7.29873976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.62, Y:2.87, Z:-0.73 [[ 9.74270779e-01 -2.24344966e-01 2.15820777e-02 2.36168898e+01] [ 2.24280499e-01 9.74509705e-01 5.39383283e-03 2.86882626e+00] [-2.22420235e-02 -4.14614545e-04 9.99752530e-01 -7.30015434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.64, Y:2.87, Z:-0.73 [[ 9.74071526e-01 -2.25226191e-01 2.13968421e-02 2.36448239e+01] [ 2.25162798e-01 9.74306421e-01 5.35841821e-03 2.87331597e+00] [-2.20539368e-02 -4.01709766e-04 9.99756702e-01 -7.30533034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.67, Y:2.87, Z:-0.73 [[ 9.73397259e-01 -2.28121633e-01 2.14078403e-02 2.36741974e+01] [ 2.28058661e-01 9.73632580e-01 5.37086060e-03 2.87451636e+00] [-2.20685802e-02 -3.45737597e-04 9.99756399e-01 -7.31007579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.70, Y:2.88, Z:-0.73 [[ 9.73003596e-01 -2.29548042e-01 2.39102149e-02 2.37037293e+01] [ 2.29469648e-01 9.73297265e-01 6.00954459e-03 2.87600406e+00] [-2.46512260e-02 -3.60639905e-04 9.99696047e-01 -7.30528191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.73, Y:2.88, Z:-0.73 [[ 9.72919190e-01 -2.29972976e-01 2.32525435e-02 2.37313499e+01] [ 2.29898670e-01 9.73196951e-01 5.85622067e-03 2.88003906e+00] [-2.39760769e-02 -3.51900646e-04 9.99712471e-01 -7.31401540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.76, Y:2.88, Z:-0.73 [[ 9.72970750e-01 -2.29882823e-01 2.19501233e-02 2.37603024e+01] [ 2.29816359e-01 9.73218254e-01 5.53818730e-03 2.88336800e+00] [-2.26353948e-02 -3.43996813e-04 9.99743727e-01 -7.30952677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.79, Y:2.88, Z:-0.73 [[ 9.73663991e-01 -2.27102937e-01 2.00671181e-02 2.37902747e+01] [ 2.27046611e-01 9.73870684e-01 5.07213753e-03 2.88246519e+00] [-2.06946754e-02 -3.82386511e-04 9.99785769e-01 -7.30421739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.82, Y:2.89, Z:-0.73 [[ 9.73895380e-01 -2.26054260e-01 2.06702532e-02 2.38190855e+01] [ 2.25994063e-01 9.74114619e-01 5.23385724e-03 2.88720315e+00] [-2.13183315e-02 -4.25874891e-04 9.99772648e-01 -7.29718353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.85, Y:2.89, Z:-0.73 [[ 9.74201917e-01 -2.24646581e-01 2.15531556e-02 2.38483393e+01] [ 2.24580571e-01 9.74440187e-01 5.46713491e-03 2.89008602e+00] [-2.22304341e-02 -4.85673325e-04 9.99752755e-01 -7.29330083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.88, Y:2.89, Z:-0.73 [[ 9.74133014e-01 -2.25120551e-01 1.96369267e-02 2.38771873e+01] [ 2.25065690e-01 9.74330818e-01 4.98916588e-03 2.89460383e+00] [-2.02560266e-02 -4.40512736e-04 9.99794729e-01 -7.27832395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.91, Y:2.90, Z:-0.73 [[ 9.73953817e-01 -2.26019387e-01 1.81438672e-02 2.39072873e+01] [ 2.25972567e-01 9.74122723e-01 4.61738414e-03 2.89581853e+00] [-1.87179717e-02 -3.97102660e-04 9.99824725e-01 -7.30173638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:2.90, Z:-0.73 [[ 9.73476583e-01 -2.28105648e-01 1.76396049e-02 2.39354092e+01] [ 2.28061594e-01 9.73636322e-01 4.49689285e-03 2.90115473e+00] [-1.82003267e-02 -3.54703479e-04 9.99834297e-01 -7.29647776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:2.91, Z:-0.73 [[ 9.72908617e-01 -2.30396213e-01 1.91418112e-02 2.39635586e+01] [ 2.30344582e-01 9.73096842e-01 4.88973696e-03 2.90552856e+00] [-1.97534129e-02 -3.48054731e-04 9.99804822e-01 -7.29589777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.99, Y:2.91, Z:-0.73 [[ 9.72528697e-01 -2.31819898e-01 2.11534388e-02 2.39919604e+01] [ 2.31756969e-01 9.72758656e-01 5.41331608e-03 2.91036886e+00] [-2.18321051e-02 -3.62148378e-04 9.99761586e-01 -7.30104177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.02, Y:2.91, Z:-0.73 [[ 9.72108824e-01 -2.33472306e-01 2.22512062e-02 2.40195911e+01] [ 2.33402846e-01 9.72363388e-01 5.70558011e-03 2.91448103e+00] [-2.29683531e-02 -3.52949917e-04 9.99736130e-01 -7.29338528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.05, Y:2.92, Z:-0.73 [[ 9.72136965e-01 -2.33393534e-01 2.18444600e-02 2.40477844e+01] [ 2.33326334e-01 9.72382296e-01 5.61177837e-03 2.91703339e+00] [-2.25509189e-02 -3.58529419e-04 9.99745631e-01 -7.28585321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.08, Y:2.92, Z:-0.73 [[ 9.72160371e-01 -2.33365492e-01 2.10893465e-02 2.40754792e+01] [ 2.33302615e-01 9.72389027e-01 5.42869237e-03 2.92148508e+00] [-2.17739186e-02 -3.57359909e-04 9.99762856e-01 -7.29582158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.10, Y:2.92, Z:-0.73 [[ 9.72492385e-01 -2.31978694e-01 2.10819002e-02 2.41046729e+01] [ 2.31915326e-01 9.72720786e-01 5.43635261e-03 2.92349480e+00] [-2.17679205e-02 -3.97595763e-04 9.99762972e-01 -7.30712352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.13, Y:2.93, Z:-0.73 [[ 9.72626222e-01 -2.31462335e-01 2.05771762e-02 2.41331592e+01] [ 2.31401626e-01 9.72843780e-01 5.31671186e-03 2.92721430e+00] [-2.12489964e-02 -4.09581339e-04 9.99774131e-01 -7.32609400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:2.93, Z:-0.73 [[ 9.72612920e-01 -2.31303819e-01 2.28615746e-02 2.41628927e+01] [ 2.31228614e-01 9.72881454e-01 5.91639916e-03 2.92956406e+00] [-2.36100876e-02 -4.68116057e-04 9.99721133e-01 -7.32663816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:2.93, Z:-0.73 [[ 9.72645278e-01 -2.31302059e-01 2.14597460e-02 2.41919935e+01] [ 2.31235584e-01 9.72881882e-01 5.56312190e-03 2.93397214e+00] [-2.21645596e-02 -4.48687338e-04 9.99754235e-01 -7.31832536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90592 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:24.22, Y:2.94, Z:-0.73 [[ 9.72751779e-01 -2.30806900e-01 2.19579396e-02 2.42202585e+01] [ 2.30736972e-01 9.72999458e-01 5.70127941e-03 2.93881556e+00] [-2.26809580e-02 -4.79421192e-04 9.99742639e-01 -7.30549615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:2.95, Z:-0.73 [[ 9.72835825e-01 -2.30465272e-01 2.18223752e-02 2.42486117e+01] [ 2.30395901e-01 9.73080425e-01 5.67578166e-03 2.94525751e+00] [-2.25429967e-02 -4.93817941e-04 9.99745752e-01 -7.31753515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.28, Y:2.95, Z:-0.73 [[ 9.73304142e-01 -2.28455294e-01 2.20732044e-02 2.42772416e+01] [ 2.28383581e-01 9.73554246e-01 5.75067857e-03 2.94927796e+00] [-2.28032349e-02 -5.56001788e-04 9.99739818e-01 -7.34630782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.31, Y:2.95, Z:-0.73 [[ 9.73449104e-01 -2.27980295e-01 2.05384506e-02 2.43057347e+01] [ 2.27917890e-01 9.73665598e-01 5.36090609e-03 2.95321458e+00] [-2.12197638e-02 -5.37488899e-04 9.99774691e-01 -7.33615297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.33, Y:2.96, Z:-0.73 [[ 9.73769929e-01 -2.26693890e-01 1.95449656e-02 2.43345164e+01] [ 2.26636946e-01 9.73965904e-01 5.11008943e-03 2.95670166e+00] [-2.01945561e-02 -5.46440104e-04 9.99795920e-01 -7.32705227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:2.96, Z:-0.73 [[ 9.73715522e-01 -2.26750072e-01 2.15055214e-02 2.43624242e+01] [ 2.26680935e-01 9.73952788e-01 5.63203406e-03 2.96339032e+00] [-2.22224267e-02 -6.09107278e-04 9.99752866e-01 -7.33760709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085919999999998 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:24.39, Y:2.97, Z:-0.73 [[ 9.73981151e-01 -2.25579473e-01 2.17857447e-02 2.43905042e+01] [ 2.25508113e-01 9.74224553e-01 5.71059385e-03 2.96834962e+00] [-2.25124001e-02 -6.49148601e-04 9.99746353e-01 -7.32996022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.11592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:2.97, Z:-0.73 [[ 9.74070381e-01 -2.25362504e-01 1.99658595e-02 2.44196982e+01] [ 2.25302349e-01 9.74274793e-01 5.24203889e-03 2.97272094e+00] [-2.06335927e-02 -6.07759771e-04 9.99786920e-01 -7.31843867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145919999999997 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:24.45, Y:2.98, Z:-0.73 [[ 9.74208930e-01 -2.24917782e-01 1.81370579e-02 2.44476594e+01] [ 2.24867901e-01 9.74377579e-01 4.77072414e-03 2.97823732e+00] [-1.87453633e-02 -5.69239915e-04 9.99824128e-01 -7.31066103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.48, Y:2.98, Z:-0.73 [[ 9.74528534e-01 -2.23595789e-01 1.72933445e-02 2.44755977e+01] [ 2.23550181e-01 9.74681793e-01 4.55170391e-03 2.98380865e+00] [-1.78732498e-02 -5.69835049e-04 9.99840098e-01 -7.32648348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.50, Y:2.99, Z:-0.73 [[ 9.74599718e-01 -2.23174053e-01 1.86743524e-02 2.45043287e+01] [ 2.23120737e-01 9.74778410e-01 4.91805841e-03 2.98619946e+00] [-1.93009386e-02 -6.26503057e-04 9.99813523e-01 -7.32631587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.53, Y:2.99, Z:-0.73 [[ 9.74360280e-01 -2.24296756e-01 1.76920784e-02 2.45331258e+01] [ 2.24248952e-01 9.74520718e-01 4.66674335e-03 2.99167227e+00] [-1.82880324e-02 -5.79659316e-04 9.99832592e-01 -7.30678641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.56, Y:3.00, Z:-0.73 [[ 9.74651033e-01 -2.23010492e-01 1.79355685e-02 2.45619528e+01] [ 2.22961002e-01 9.74815848e-01 4.73868487e-03 2.99654547e+00] [-1.85406529e-02 -6.19631780e-04 9.99827915e-01 -7.30885058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:3.00, Z:-0.73 [[ 9.74564649e-01 -2.23516095e-01 1.62573036e-02 2.45903863e+01] [ 2.23475388e-01 9.74700078e-01 4.30217767e-03 3.00269974e+00] [-1.68076010e-02 -5.59643034e-04 9.99858586e-01 -7.29998903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:3.01, Z:-0.73 [[ 9.75089185e-01 -2.21226036e-01 1.61283255e-02 2.46191730e+01] [ 2.21185545e-01 9.75222375e-01 4.27491850e-03 3.00692062e+00] [-1.66744272e-02 -6.01074333e-04 9.99860791e-01 -7.31608536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.65, Y:3.01, Z:-0.73 [[ 9.76338859e-01 -2.15703508e-01 1.53111014e-02 2.46488776e+01] [ 2.15666312e-01 9.76458682e-01 4.05995862e-03 3.00877833e+00] [-1.58264052e-02 -6.61806605e-04 9.99874536e-01 -7.31063879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.68, Y:3.02, Z:-0.73 [[ 9.76667426e-01 -2.14143207e-01 1.62304164e-02 2.46772562e+01] [ 2.14101085e-01 9.76802000e-01 4.31024922e-03 3.01554313e+00] [-1.67769137e-02 -7.34730258e-04 9.99858988e-01 -7.30989266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.71, Y:3.02, Z:-0.73 [[ 9.78217969e-01 -2.07073800e-01 1.44929669e-02 2.47069993e+01] [ 2.07039428e-01 9.78325026e-01 3.84955989e-03 3.02078378e+00] [-1.49759752e-02 -7.65093071e-04 9.99887561e-01 -7.28928477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445919999999997 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:24.74, Y:3.03, Z:-0.73 [[ 9.78352883e-01 -2.06369760e-01 1.53999685e-02 2.47358845e+01] [ 2.06330768e-01 9.78473726e-01 4.09652848e-03 3.02632164e+00] [-1.59138642e-02 -8.30363121e-04 9.99873022e-01 -7.28784530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47592 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:24.76, Y:3.03, Z:-0.73 [[ 9.78262103e-01 -2.06799792e-01 1.53981782e-02 2.47627816e+01] [ 2.06760748e-01 9.78382929e-01 4.10325237e-03 3.03313575e+00] [-1.59138665e-02 -8.30317445e-04 9.99873022e-01 -7.28808327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:3.04, Z:-0.73 [[ 9.78255208e-01 -2.06725003e-01 1.67785668e-02 2.47911285e+01] [ 2.06678511e-01 9.78398661e-01 4.47808640e-03 3.03963946e+00] [-1.73418597e-02 -9.12942143e-04 9.99849202e-01 -7.30361383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535919999999997 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:24.82, Y:3.05, Z:-0.73 [[ 9.77939782e-01 -2.08128984e-01 1.77794270e-02 2.48193328e+01] [ 2.08076886e-01 9.78100929e-01 4.75202500e-03 3.04829855e+00] [-1.83791082e-02 -9.47706502e-04 9.99830641e-01 -7.30911723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:3.05, Z:-0.73 [[ 9.77518429e-01 -2.09981035e-01 1.91228973e-02 2.48475961e+01] [ 2.09920962e-01 9.77704958e-01 5.11901515e-03 3.05438702e+00] [-1.97714476e-02 -9.89634643e-04 9.99804036e-01 -7.29248567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.59592 meters Centerline goodness [0,1] 0.9999015844897156 Centerline is valid? [True, True] Translation: X:24.88, Y:3.06, Z:-0.73 [[ 9.77470015e-01 -2.10115275e-01 2.00982612e-02 2.48760767e+01] [ 2.10048770e-01 9.77676060e-01 5.38851144e-03 3.06031925e+00] [-2.07817973e-02 -1.04549332e-03 9.99783488e-01 -7.30254962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.90, Y:3.07, Z:-0.73 [[ 9.77335493e-01 -2.10869014e-01 1.86974088e-02 2.49042574e+01] [ 2.10811447e-01 9.77513850e-01 5.02062126e-03 3.06839523e+00] [-1.93356696e-02 -9.65203544e-04 9.99812583e-01 -7.29598116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.93, Y:3.07, Z:-0.73 [[ 9.77183146e-01 -2.11573659e-01 1.86998956e-02 2.49314829e+01] [ 2.11516035e-01 9.77361584e-01 5.03011244e-03 3.07488747e+00] [-1.93407988e-02 -9.60013337e-04 9.99812488e-01 -7.30128221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:3.08, Z:-0.73 [[ 9.77164178e-01 -2.11727138e-01 1.79384689e-02 2.49586729e+01] [ 2.11674058e-01 9.77328383e-01 4.82954458e-03 3.08384999e+00] [-1.85543204e-02 -9.22149454e-04 9.99827429e-01 -7.30615511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715919999999997 meters Centerline goodness [0,1] 0.9999505489071309 Centerline is valid? [True, True] Translation: X:24.99, Y:3.09, Z:-0.73 [[ 9.77333634e-01 -2.11009347e-01 1.71470924e-02 2.49870884e+01] [ 2.10960614e-01 9.77483628e-01 4.62343024e-03 3.08848724e+00] [-1.77365890e-02 -9.01272754e-04 9.99842288e-01 -7.31784165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745919999999998 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:25.02, Y:3.09, Z:-0.73 [[ 9.77210292e-01 -2.11611096e-01 1.67567891e-02 2.50156683e+01] [ 2.11564508e-01 9.77353556e-01 4.52609098e-03 3.09262768e+00] [-1.73350785e-02 -8.77800834e-04 9.99849351e-01 -7.30798125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.04, Y:3.10, Z:-0.73 [[ 9.76843128e-01 -2.12976072e-01 2.04620453e-02 2.50427594e+01] [ 2.12906730e-01 9.77056851e-01 5.53483660e-03 3.10197171e+00] [-2.11713693e-02 -1.05015997e-03 9.99775310e-01 -7.32471463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.07, Y:3.11, Z:-0.73 [[ 9.76878188e-01 -2.13051735e-01 1.78315428e-02 2.50704092e+01] [ 2.12998963e-01 9.77040486e-01 4.83020004e-03 3.11065816e+00] [-1.84512217e-02 -9.20416949e-04 9.99829338e-01 -7.31342354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835919999999998 meters Centerline goodness [0,1] 0.9999506343486202 Centerline is valid? [True, True] Translation: X:25.10, Y:3.11, Z:-0.73 [[ 9.77143470e-01 -2.11793992e-01 1.82741409e-02 2.50988592e+01] [ 2.11738291e-01 9.77313851e-01 4.95306365e-03 3.11428424e+00] [-1.89086001e-02 -9.70518436e-04 9.99820745e-01 -7.33960167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.13, Y:3.12, Z:-0.73 [[ 9.77288306e-01 -2.11173798e-01 1.76972603e-02 2.51265880e+01] [ 2.11121338e-01 9.77448060e-01 4.80325884e-03 3.12350695e+00] [-1.83124752e-02 -9.57899417e-04 9.99831854e-01 -7.33708798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895919999999997 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:25.15, Y:3.13, Z:-0.73 [[ 9.77679249e-01 -2.09396623e-01 1.72145450e-02 2.51549289e+01] [ 2.09346584e-01 9.77830308e-01 4.67935745e-03 3.12945475e+00] [-1.78127455e-02 -9.71104484e-04 9.99840869e-01 -7.32505946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.18, Y:3.14, Z:-0.73 [[ 9.77893034e-01 -2.08514200e-01 1.57175607e-02 2.51833424e+01] [ 2.08472268e-01 9.78018918e-01 4.27887389e-03 3.13528643e+00] [-1.62642777e-02 -9.07605440e-04 9.99867316e-01 -7.32279744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.95592 meters Centerline goodness [0,1] 0.9999013806706114 Centerline is valid? [True, True] Translation: X:25.21, Y:3.14, Z:-0.73 [[ 9.78280306e-01 -2.06776141e-01 1.45351741e-02 2.52112099e+01] [ 2.06740001e-01 9.78387892e-01 3.96286997e-03 3.14409064e+00] [-1.50404653e-02 -8.71795736e-04 9.99886506e-01 -7.33006834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985919999999997 meters Centerline goodness [0,1] 0.9998522604156407 Centerline is valid? [True, True] Translation: X:25.24, Y:3.15, Z:-0.73 [[ 9.78265385e-01 -2.06838144e-01 1.46567136e-02 2.52389371e+01] [ 2.06801314e-01 9.78374775e-01 4.00199610e-03 3.15272361e+00] [-1.51675243e-02 -8.83986623e-04 9.99884576e-01 -7.33243809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015919999999998 meters Centerline goodness [0,1] 0.9999505635752423 Centerline is valid? [True, True] Translation: X:25.27, Y:3.16, Z:-0.73 [[ 9.78456620e-01 -2.05814182e-01 1.62223502e-02 2.52666329e+01] [ 2.05768811e-01 9.78590577e-01 4.43612254e-03 3.16131744e+00] [-1.67880560e-02 -1.00249975e-03 9.99858568e-01 -7.33117159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04592 meters Centerline goodness [0,1] 0.999802965371164 Centerline is valid? [True, True] Translation: X:25.29, Y:3.17, Z:-0.73 [[ 9.78619091e-01 -2.04935196e-01 1.74997243e-02 2.52945777e+01] [ 2.04882127e-01 9.78774921e-01 4.79258450e-03 3.16849053e+00] [-1.81104605e-02 -1.10473396e-03 9.99835382e-01 -7.32919962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07592 meters Centerline goodness [0,1] 0.9998031496062992 Centerline is valid? [True, True] Translation: X:25.32, Y:3.18, Z:-0.73 [[ 9.78357641e-01 -2.06189829e-01 1.73804932e-02 2.53215198e+01] [ 2.06137551e-01 9.78511413e-01 4.76697099e-03 3.17827158e+00] [-1.79899119e-02 -1.08103017e-03 9.99837584e-01 -7.33909118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105919999999998 meters Centerline goodness [0,1] 0.9998029847805743 Centerline is valid? [True, True] Translation: X:25.35, Y:3.19, Z:-0.73 [[ 9.78085589e-01 -2.07693095e-01 1.45656518e-02 2.53489829e+01] [ 2.07656519e-01 9.78193639e-01 3.99680750e-03 3.18817317e+00] [-1.50781373e-02 -8.84567281e-04 9.99885927e-01 -7.33277814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.13592 meters Centerline goodness [0,1] 0.999901482685582 Centerline is valid? [True, True] Translation: X:25.38, Y:3.20, Z:-0.73 [[ 9.77670411e-01 -2.09499119e-01 1.64525466e-02 2.53758581e+01] [ 2.09452595e-01 9.77808351e-01 4.52105576e-03 3.19937689e+00] [-1.70345946e-02 -9.74073872e-04 9.99854426e-01 -7.33622632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.40, Y:3.21, Z:-0.73 [[ 9.77687896e-01 -2.09319385e-01 1.76571046e-02 2.54026170e+01] [ 2.09265718e-01 9.77846762e-01 4.85490120e-03 3.20913885e+00] [-1.82821675e-02 -1.05155147e-03 9.99832314e-01 -7.32867366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:3.22, Z:-0.73 [[ 9.78193020e-01 -2.07249346e-01 1.36427657e-02 2.54285004e+01] [ 2.07217064e-01 9.78287787e-01 3.75422945e-03 3.22471734e+00] [-1.41246126e-02 -8.45347190e-04 9.99899885e-01 -7.31754462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22592 meters Centerline goodness [0,1] 0.9998520710059171 Centerline is valid? [True, True] Translation: X:25.46, Y:3.24, Z:-0.73 [[ 9.78694907e-01 -2.04919275e-01 1.28206615e-02 2.54556074e+01] [ 2.04890551e-01 9.78778528e-01 3.52924860e-03 3.23609429e+00] [-1.32717993e-02 -8.27225226e-04 9.99911584e-01 -7.32724828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.25592 meters Centerline goodness [0,1] 0.9997535853333991 Centerline is valid? [True, True] Translation: X:25.48, Y:3.25, Z:-0.73 [[ 9.78634579e-01 -2.05252823e-01 1.20681235e-02 2.54816502e+01] [ 2.05227332e-01 9.78708675e-01 3.32738806e-03 3.24667075e+00] [-1.24941330e-02 -7.79588215e-04 9.99921641e-01 -7.32568997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285919999999997 meters Centerline goodness [0,1] 0.9998519103564024 Centerline is valid? [True, True] Translation: X:25.51, Y:3.26, Z:-0.73 [[ 9.78457925e-01 -2.05987022e-01 1.37635590e-02 2.55082400e+01] [ 2.05953889e-01 9.78554326e-01 3.79820249e-03 3.26025014e+00] [-1.42507706e-02 -8.81722828e-04 9.99898064e-01 -7.32607810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31592 meters Centerline goodness [0,1] 0.9998024203507039 Centerline is valid? [True, True] Translation: X:25.54, Y:3.27, Z:-0.73 [[ 9.78094647e-01 -2.07578791e-01 1.55533608e-02 2.55352607e+01] [ 2.07536579e-01 9.78217814e-01 4.29842405e-03 3.27233921e+00] [-1.61068363e-02 -9.76374272e-04 9.99869800e-01 -7.33632950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34592 meters Centerline goodness [0,1] 0.9998521220486025 Centerline is valid? [True, True] Translation: X:25.56, Y:3.29, Z:-0.73 [[ 9.77510984e-01 -2.10418861e-01 1.40063672e-02 2.55621108e+01] [ 2.10384909e-01 9.77610966e-01 3.87158143e-03 3.28872338e+00] [-1.45074319e-02 -8.37785086e-04 9.99894411e-01 -7.33122344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375919999999997 meters Centerline goodness [0,1] 0.9998519688147637 Centerline is valid? [True, True] Translation: X:25.59, Y:3.30, Z:-0.73 [[ 9.76828586e-01 -2.13475566e-01 1.53002061e-02 2.55892761e+01] [ 2.13435377e-01 9.76948017e-01 4.23220500e-03 3.30053417e+00] [-1.58509784e-02 -8.68533559e-04 9.99873988e-01 -7.32926863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40592 meters Centerline goodness [0,1] 0.9998521293375394 Centerline is valid? [True, True] Translation: X:25.62, Y:3.32, Z:-0.73 [[ 9.75139719e-01 -2.21039554e-01 1.56219193e-02 2.56161317e+01] [ 2.20998615e-01 9.75264546e-01 4.32168112e-03 3.31662727e+00] [-1.61907665e-02 -7.61820382e-04 9.99868631e-01 -7.32892369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.43592 meters Centerline goodness [0,1] 0.9999506221607742 Centerline is valid? [True, True] Translation: X:25.64, Y:3.33, Z:-0.73 [[ 9.74337491e-01 -2.24524204e-01 1.59792377e-02 2.56427954e+01] [ 2.24481807e-01 9.74468245e-01 4.42236593e-03 3.32924941e+00] [-1.65641879e-02 -7.21828760e-04 9.99862544e-01 -7.33692959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.67, Y:3.35, Z:-0.74 [[ 9.72449329e-01 -2.32429704e-01 1.78531826e-02 2.56691384e+01] [ 2.32378081e-01 9.72612976e-01 4.94237533e-03 3.34533327e+00] [-1.85129919e-02 -6.57521265e-04 9.99828404e-01 -7.35119807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495919999999998 meters Centerline goodness [0,1] 0.9999506733093276 Centerline is valid? [True, True] Translation: X:25.70, Y:3.35, Z:-0.74 [[ 9.71576679e-01 -2.35765576e-01 2.12920039e-02 2.56972305e+01] [ 2.35692746e-01 9.71809693e-01 5.90347741e-03 3.35290597e+00] [-2.20836125e-02 -7.17310116e-04 9.99755870e-01 -7.36428194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:3.36, Z:-0.73 [[ 9.70864223e-01 -2.38674236e-01 2.13838634e-02 2.57251756e+01] [ 2.38601285e-01 9.71099465e-01 5.93772679e-03 3.36162173e+00] [-2.21830407e-02 -6.62509222e-04 9.99753707e-01 -7.34384221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:3.37, Z:-0.73 [[ 9.69981078e-01 -2.42363478e-01 1.99161323e-02 2.57529140e+01] [ 2.42300794e-01 9.70185366e-01 5.53893546e-03 3.37059513e+00] [-2.06647758e-02 -5.46967905e-04 9.99786311e-01 -7.33624546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.78, Y:3.38, Z:-0.74 [[ 9.69556132e-01 -2.44040228e-01 2.01314013e-02 2.57808223e+01] [ 2.43976353e-01 9.69764967e-01 5.60788237e-03 3.37844119e+00] [-2.08912766e-02 -5.25570857e-04 9.99781615e-01 -7.35801233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:3.39, Z:-0.74 [[ 9.68993504e-01 -2.46335613e-01 1.92446188e-02 2.58093748e+01] [ 2.46277601e-01 9.69184479e-01 5.36551783e-03 3.38526695e+00] [-1.99733040e-02 -4.59633369e-04 9.99800408e-01 -7.37050389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.84, Y:3.39, Z:-0.74 [[ 9.68321354e-01 -2.48882740e-01 2.02765149e-02 2.58371730e+01] [ 2.48818712e-01 9.68533526e-01 5.66202558e-03 3.39197163e+00] [-2.10476649e-02 -4.37483965e-04 9.99778378e-01 -7.36751368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.86, Y:3.40, Z:-0.74 [[ 9.68034360e-01 -2.49969904e-01 2.06040182e-02 2.58641993e+01] [ 2.49903825e-01 9.68253511e-01 5.76335621e-03 3.39996839e+00] [-2.13905785e-02 -4.30103900e-04 9.99771103e-01 -7.35489809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.89, Y:3.41, Z:-0.74 [[ 9.68087110e-01 -2.49653775e-01 2.19166772e-02 2.58920427e+01] [ 2.49578698e-01 9.68335049e-01 6.14053974e-03 3.40666954e+00] [-2.27556956e-02 -4.74641610e-04 9.99740943e-01 -7.35840216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.92, Y:3.41, Z:-0.73 [[ 9.68566869e-01 -2.47742135e-01 2.24065790e-02 2.59199869e+01] [ 2.47663063e-01 9.68825861e-01 6.28162761e-03 3.41234071e+00] [-2.32642970e-02 -5.34894413e-04 9.99729207e-01 -7.34481771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.95, Y:3.42, Z:-0.74 [[ 9.69496902e-01 -2.44068916e-01 2.24971204e-02 2.59483058e+01] [ 2.43988091e-01 9.69757684e-01 6.31230356e-03 3.41707694e+00] [-2.33573925e-02 -6.30729293e-04 9.99726980e-01 -7.35372716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.98, Y:3.42, Z:-0.73 [[ 9.69370207e-01 -2.44726754e-01 2.07416823e-02 2.59765258e+01] [ 2.44658009e-01 9.69591917e-01 5.82872590e-03 3.42451287e+00] [-2.15374126e-02 -5.75574548e-04 9.99767877e-01 -7.34906240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.01, Y:3.43, Z:-0.74 [[ 9.69524186e-01 -2.43878031e-01 2.33743253e-02 2.60050786e+01] [ 2.43790227e-01 9.69805673e-01 6.57884227e-03 3.43143596e+00] [-2.42729884e-02 -6.79914612e-04 9.99705136e-01 -7.36104783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.03, Y:3.44, Z:-0.73 [[ 9.69994927e-01 -2.41882648e-01 2.45484373e-02 2.60331781e+01] [ 2.41784887e-01 9.70305200e-01 6.92008650e-03 3.43839806e+00] [-2.54933252e-02 -7.77007656e-04 9.99674690e-01 -7.34173497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.06, Y:3.45, Z:-0.73 [[ 9.70204851e-01 -2.41023208e-01 2.47054911e-02 2.60611064e+01] [ 2.40923634e-01 9.70519010e-01 6.97524441e-03 3.44522467e+00] [-2.56583446e-02 -8.15279257e-04 9.99670438e-01 -7.34653582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91592 meters Centerline goodness [0,1] 0.9999506976285559 Centerline is valid? [True, True] Translation: X:26.09, Y:3.45, Z:-0.74 [[ 9.70323210e-01 -2.40647736e-01 2.36967296e-02 2.60883972e+01] [ 2.40555729e-01 9.70612190e-01 6.70211852e-03 3.45324460e+00] [-2.46131843e-02 -8.02837087e-04 9.99696727e-01 -7.36834672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.12, Y:3.46, Z:-0.74 [[ 9.70543583e-01 -2.39945132e-01 2.17137727e-02 2.61161826e+01] [ 2.39867464e-01 9.70786152e-01 6.15199649e-03 3.46013864e+00] [-2.25555715e-02 -7.62353112e-04 9.99745300e-01 -7.37192113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:3.47, Z:-0.74 [[ 9.70548533e-01 -2.39844851e-01 2.25830215e-02 2.61443008e+01] [ 2.39760598e-01 9.70810899e-01 6.40741204e-03 3.46822551e+00] [-2.34606282e-02 -8.04185608e-04 9.99724438e-01 -7.36994958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:3.48, Z:-0.74 [[ 9.70583093e-01 -2.39751052e-01 2.20882812e-02 2.61709665e+01] [ 2.39670175e-01 9.70834071e-01 6.27799827e-03 3.47584330e+00] [-2.29492127e-02 -7.99416760e-04 9.99736313e-01 -7.35779638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:3.48, Z:-0.74 [[ 9.70536947e-01 -2.39736993e-01 2.41704026e-02 2.61984871e+01] [ 2.39639876e-01 9.70837468e-01 6.88039944e-03 3.48414113e+00] [-2.51150187e-02 -8.85489603e-04 9.99684176e-01 -7.37740611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.23, Y:3.49, Z:-0.74 [[ 9.70772213e-01 -2.38774048e-01 2.42541498e-02 2.62262276e+01] [ 2.38675691e-01 9.71074714e-01 6.91478175e-03 3.49179580e+00] [-2.52036621e-02 -9.23802021e-04 9.99681910e-01 -7.37798490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.09592 meters Centerline goodness [0,1] 0.99995068547194 Centerline is valid? [True, True] Translation: X:26.25, Y:3.50, Z:-0.74 [[ 9.71259887e-01 -2.36943480e-01 2.26278605e-02 2.62533648e+01] [ 2.36857147e-01 9.71523005e-01 6.46088858e-03 3.50266049e+00] [-2.35143524e-02 -9.15631439e-04 9.99723080e-01 -7.37605667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125919999999997 meters Centerline goodness [0,1] 0.9999013660797949 Centerline is valid? [True, True] Translation: X:26.28, Y:3.51, Z:-0.74 [[ 9.71278394e-01 -2.36906267e-01 2.22194206e-02 2.62801739e+01] [ 2.36822762e-01 9.71532085e-01 6.35514605e-03 3.51209836e+00] [-2.30924540e-02 -9.10551497e-04 9.99732919e-01 -7.37330568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15592 meters Centerline goodness [0,1] 0.9999506879037428 Centerline is valid? [True, True] Translation: X:26.31, Y:3.52, Z:-0.74 [[ 9.71335584e-01 -2.36502538e-01 2.39527094e-02 2.63081102e+01] [ 2.36405114e-01 9.71630354e-01 6.86125242e-03 3.52109677e+00] [-2.48958832e-02 -1.00203563e-03 9.99689547e-01 -7.37643725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.33, Y:3.53, Z:-0.74 [[ 9.71223698e-01 -2.36984594e-01 2.37240438e-02 2.63344418e+01] [ 2.36888880e-01 9.71512902e-01 6.80730290e-03 3.52995536e+00] [-2.46614405e-02 -9.91451742e-04 9.99695369e-01 -7.36220239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.36, Y:3.55, Z:-0.74 [[ 9.70581397e-01 -2.39514978e-01 2.45830549e-02 2.63599761e+01] [ 2.39412760e-01 9.70892184e-01 7.06378330e-03 3.54535174e+00] [-2.55593778e-02 -9.70479647e-04 9.99672835e-01 -7.37072444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.39, Y:3.56, Z:-0.74 [[ 9.70256681e-01 -2.40843297e-01 2.44229255e-02 2.63870760e+01] [ 2.40742554e-01 9.70563559e-01 7.02849310e-03 3.55608821e+00] [-2.53967669e-02 -9.39804930e-04 9.99677008e-01 -7.36374716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.27592 meters Centerline goodness [0,1] 0.9999504999505 Centerline is valid? [True, True] Translation: X:26.41, Y:3.57, Z:-0.74 [[ 9.69590053e-01 -2.43424369e-01 2.52923822e-02 2.64135388e+01] [ 2.43316908e-01 9.69919451e-01 7.28980949e-03 3.56969653e+00] [-2.63060908e-02 -9.14062525e-04 9.99653517e-01 -7.36476365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305919999999997 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:26.44, Y:3.58, Z:-0.74 [[ 9.68951371e-01 -2.46112184e-01 2.37072380e-02 2.64398584e+01] [ 2.46018319e-01 9.69241020e-01 6.84333082e-03 3.58240804e+00] [-2.46622547e-02 -7.98439933e-04 9.99695521e-01 -7.36963766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:3.59, Z:-0.74 [[ 9.68402486e-01 -2.48329913e-01 2.29973878e-02 2.64667923e+01] [ 2.48241968e-01 9.68675241e-01 6.64858058e-03 3.59338602e+00] [-2.39280416e-02 -7.29585160e-04 9.99713417e-01 -7.37138324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:3.60, Z:-0.74 [[ 9.68286320e-01 -2.48782766e-01 2.29942911e-02 2.64934864e+01] [ 2.48694694e-01 9.68559034e-01 6.65928237e-03 3.60076048e+00] [-2.39280431e-02 -7.29533844e-04 9.99713417e-01 -7.37162101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.52, Y:3.61, Z:-0.74 [[ 9.67863017e-01 -2.50378138e-01 2.34940262e-02 2.65204882e+01] [ 2.50286426e-01 9.68147859e-01 6.81376733e-03 3.61156607e+00] [-2.44517095e-02 -7.14557561e-04 9.99700757e-01 -7.37806455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:3.62, Z:-0.74 [[ 9.66380748e-01 -2.55982244e-01 2.41110265e-02 2.65476739e+01] [ 2.55887307e-01 9.66681303e-01 6.99605511e-03 3.62164066e+00] [-2.50985444e-02 -5.91147342e-04 9.99684807e-01 -7.39270953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.45592 meters Centerline goodness [0,1] 0.9999010684606252 Centerline is valid? [True, True] Translation: X:26.58, Y:3.63, Z:-0.74 [[ 9.64178421e-01 -2.63897302e-01 2.67990000e-02 2.65762803e+01] [ 2.63782725e-01 9.64550683e-01 7.78802298e-03 3.62772203e+00] [-2.79042321e-02 -4.39930443e-04 9.99610504e-01 -7.39418019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:3.64, Z:-0.74 [[ 9.63189686e-01 -2.67479711e-01 2.68371773e-02 2.66047172e+01] [ 2.67365850e-01 9.63563430e-01 7.81148109e-03 3.63514937e+00] [-2.79487353e-02 -3.48593301e-04 9.99609297e-01 -7.39797637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515919999999998 meters Centerline goodness [0,1] 0.9999012686972405 Centerline is valid? [True, True] Translation: X:26.63, Y:3.64, Z:-0.74 [[ 9.62464149e-01 -2.70192353e-01 2.56681698e-02 2.66325514e+01] [ 2.70088846e-01 9.62806325e-01 7.48301362e-03 3.64337214e+00] [-2.67353293e-02 -2.69445996e-04 9.99642511e-01 -7.40495675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54592 meters Centerline goodness [0,1] 0.9999506660088802 Centerline is valid? [True, True] Translation: X:26.66, Y:3.65, Z:-0.74 [[ 9.61266885e-01 -2.74434672e-01 2.55262031e-02 2.66598886e+01] [ 2.74333487e-01 9.61605732e-01 7.45342987e-03 3.65191114e+00] [-2.65916228e-02 -1.62043021e-04 9.99646367e-01 -7.42677510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575919999999996 meters Centerline goodness [0,1] 0.99995068547194 Centerline is valid? [True, True] Translation: X:26.69, Y:3.66, Z:-0.74 [[ 9.60566112e-01 -2.76859402e-01 2.57219111e-02 2.66870711e+01] [ 2.76757158e-01 9.60910433e-01 7.52434607e-03 3.65867248e+00] [-2.67996387e-02 -1.08908835e-04 9.99640819e-01 -7.42862160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605919999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:3.66, Z:-0.74 [[ 9.59733100e-01 -2.79795743e-01 2.50343459e-02 2.67166975e+01] [ 2.79699582e-01 9.60059551e-01 7.33506398e-03 3.66174671e+00] [-2.60867825e-02 -3.76076189e-05 9.99659681e-01 -7.41206343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.74, Y:3.67, Z:-0.74 [[ 9.59356961e-01 -2.81095794e-01 2.48872804e-02 2.67448724e+01] [ 2.81000847e-01 9.59679714e-01 7.30546041e-03 3.66644892e+00] [-2.59373524e-02 -1.51974090e-05 9.99663570e-01 -7.39783061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:3.67, Z:-0.74 [[ 9.59020951e-01 -2.82132270e-01 2.60806000e-02 2.67745787e+01] [ 2.82028040e-01 9.59375517e-01 7.66829041e-03 3.66872933e+00] [-2.71845613e-02 1.40932574e-06 9.99630432e-01 -7.40391922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.80, Y:3.67, Z:-0.74 [[ 9.59210591e-01 -2.81620099e-01 2.46000238e-02 2.68036728e+01] [ 2.81526902e-01 9.59525987e-01 7.24461837e-03 3.67395759e+00] [-2.56445922e-02 -2.35462010e-05 9.99671123e-01 -7.39760652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.83, Y:3.68, Z:-0.74 [[ 9.60027868e-01 -2.78991565e-01 2.25876138e-02 2.68335586e+01] [ 2.78912012e-01 9.60293548e-01 6.66272344e-03 3.67633296e+00] [-2.35495834e-02 -9.64433621e-05 9.99722665e-01 -7.38627157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.86, Y:3.68, Z:-0.74 [[ 9.60430914e-01 -2.77406144e-01 2.48654558e-02 2.68618575e+01] [ 2.77308896e-01 9.60752729e-01 7.34648732e-03 3.68206665e+00] [-2.59275152e-02 -1.60381426e-04 9.99663813e-01 -7.39880410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.89, Y:3.68, Z:-0.74 [[ 9.62469523e-01 -2.70378188e-01 2.34105074e-02 2.68909415e+01] [ 2.70289640e-01 9.62754133e-01 6.92753187e-03 3.68457239e+00] [-2.44116163e-02 -3.39920669e-04 9.99701934e-01 -7.38133379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81592 meters Centerline goodness [0,1] 0.9999506684426027 Centerline is valid? [True, True] Translation: X:26.92, Y:3.69, Z:-0.74 [[ 9.63475580e-01 -2.66817631e-01 2.28726414e-02 2.69200868e+01] [ 2.66731851e-01 9.63746941e-01 6.77888537e-03 3.68890418e+00] [-2.38521644e-02 -4.30428523e-04 9.99715404e-01 -7.37620050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.95, Y:3.69, Z:-0.74 [[ 9.65073793e-01 -2.61236521e-01 1.96991091e-02 2.69501253e+01] [ 2.61171549e-01 9.65274693e-01 5.84722633e-03 3.68971214e+00] [-2.05425605e-02 -4.98158055e-04 9.99788855e-01 -7.37082675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875919999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.98, Y:3.70, Z:-0.74 [[ 9.65513295e-01 -2.59535019e-01 2.06313251e-02 2.69787552e+01] [ 2.59463166e-01 9.65733530e-01 6.13313467e-03 3.69544689e+00] [-2.15161256e-02 -5.68554139e-04 9.99768340e-01 -7.38182459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.01, Y:3.70, Z:-0.74 [[ 9.66459143e-01 -2.55955662e-01 2.10576491e-02 2.70066672e+01] [ 2.55879880e-01 9.66688293e-01 6.26343265e-03 3.70093302e+00] [-2.19593439e-02 -6.65123036e-04 9.99758643e-01 -7.41015387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.93592 meters Centerline goodness [0,1] 0.9999014681249384 Centerline is valid? [True, True] Translation: X:27.03, Y:3.71, Z:-0.74 [[ 9.66694882e-01 -2.55035074e-01 2.14036543e-02 2.70344222e+01] [ 2.54956350e-01 9.66931545e-01 6.37550204e-03 3.70807554e+00] [-2.23218452e-02 -7.06167614e-04 9.99750587e-01 -7.39862720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965919999999997 meters Centerline goodness [0,1] 0.9997538764459759 Centerline is valid? [True, True] Translation: X:27.06, Y:3.72, Z:-0.74 [[ 9.67037145e-01 -2.53604246e-01 2.28920661e-02 2.70622523e+01] [ 2.53513551e-01 9.67307731e-01 6.82887586e-03 3.71556814e+00] [-2.38755044e-02 -8.00327646e-04 9.99714619e-01 -7.39553765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995919999999998 meters Centerline goodness [0,1] 0.9993596689981282 Centerline is valid? [True, True] Translation: X:27.09, Y:3.72, Z:-0.74 [[ 9.67661511e-01 -2.51230096e-01 2.26856683e-02 2.70901642e+01] [ 2.51140289e-01 9.67927016e-01 6.77107229e-03 3.72164223e+00] [-2.36591684e-02 -8.54820763e-04 9.99719717e-01 -7.38997826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02592 meters Centerline goodness [0,1] 0.9996058724997536 Centerline is valid? [True, True] Translation: X:27.12, Y:3.73, Z:-0.74 [[ 9.68196248e-01 -2.49464311e-01 1.90678582e-02 2.71174445e+01] [ 2.49400344e-01 9.68383692e-01 5.70032854e-03 3.72806932e+00] [-1.98870314e-02 -7.63506302e-04 9.99801942e-01 -7.39410052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055919999999997 meters Centerline goodness [0,1] 0.9995557310692073 Centerline is valid? [True, True] Translation: X:27.14, Y:3.74, Z:-0.74 [[ 9.68163406e-01 -2.49607637e-01 1.88585808e-02 2.71448057e+01] [ 2.49544911e-01 9.68346760e-01 5.64707752e-03 3.73660359e+00] [-1.96711993e-02 -7.61230929e-04 9.99806213e-01 -7.39503474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085919999999998 meters Centerline goodness [0,1] 0.9993586897538356 Centerline is valid? [True, True] Translation: X:27.17, Y:3.75, Z:-0.74 [[ 9.68561654e-01 -2.47980509e-01 1.98491884e-02 2.71726098e+01] [ 2.47910499e-01 9.68764654e-01 5.95238127e-03 3.74554373e+00] [-2.07052666e-02 -8.44426057e-04 9.99785266e-01 -7.40817078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.11592 meters Centerline goodness [0,1] 0.9990604756959898 Centerline is valid? [True, True] Translation: X:27.20, Y:3.75, Z:-0.74 [[ 9.68473944e-01 -2.48317197e-01 1.99195921e-02 2.71995320e+01] [ 2.48246557e-01 9.68678403e-01 5.98323735e-03 3.75398545e+00] [-2.07814194e-02 -8.49639323e-04 9.99783682e-01 -7.40670986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145919999999997 meters Centerline goodness [0,1] 0.9993593218668375 Centerline is valid? [True, True] Translation: X:27.23, Y:3.76, Z:-0.74 [[ 9.68390153e-01 -2.48544628e-01 2.11205907e-02 2.72269262e+01] [ 2.48465063e-01 9.68620023e-01 6.35317799e-03 3.76255162e+00] [-2.20368753e-02 -9.04626112e-04 9.99756749e-01 -7.40805579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175919999999998 meters Centerline goodness [0,1] 0.9996548663839858 Centerline is valid? [True, True] Translation: X:27.25, Y:3.77, Z:-0.74 [[ 9.68265389e-01 -2.49004886e-01 2.14173791e-02 2.72538035e+01] [ 2.48922947e-01 9.68501795e-01 6.45294875e-03 3.77120424e+00] [-2.23495859e-02 -9.16889803e-04 9.99749796e-01 -7.41340098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20592 meters Centerline goodness [0,1] 0.9997536945812808 Centerline is valid? [True, True] Translation: X:27.28, Y:3.78, Z:-0.74 [[ 9.68527173e-01 -2.47844561e-01 2.29823498e-02 2.72805089e+01] [ 2.47749790e-01 9.68799278e-01 6.92828961e-03 3.78076885e+00] [-2.39824227e-02 -1.01636444e-03 9.99711864e-01 -7.43080140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235919999999997 meters Centerline goodness [0,1] 0.9995064165844028 Centerline is valid? [True, True] Translation: X:27.31, Y:3.79, Z:-0.74 [[ 9.68646660e-01 -2.47390637e-01 2.28368219e-02 2.73082227e+01] [ 2.47296710e-01 9.68915276e-01 6.89392912e-03 3.78888542e+00] [-2.38324391e-02 -1.03031051e-03 9.99715436e-01 -7.43460063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265919999999998 meters Centerline goodness [0,1] 0.9993096306523991 Centerline is valid? [True, True] Translation: X:27.34, Y:3.80, Z:-0.74 [[ 9.69077945e-01 -2.45854343e-01 2.10613065e-02 2.73357292e+01] [ 2.45773895e-01 9.69306275e-01 6.36692013e-03 3.79930235e+00] [-2.19801915e-02 -9.93722529e-04 9.99757913e-01 -7.42445521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.29592 meters Centerline goodness [0,1] 0.9994575669411707 Centerline is valid? [True, True] Translation: X:27.36, Y:3.81, Z:-0.74 [[ 9.69107209e-01 -2.45638220e-01 2.22054771e-02 2.73625177e+01] [ 2.45548516e-01 9.69360994e-01 6.72232008e-03 3.81039337e+00] [-2.31763821e-02 -1.06212689e-03 9.99730827e-01 -7.43533146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325919999999996 meters Centerline goodness [0,1] 0.9997042149371457 Centerline is valid? [True, True] Translation: X:27.39, Y:3.82, Z:-0.74 [[ 9.69001966e-01 -2.45933189e-01 2.34958728e-02 2.73896228e+01] [ 2.45832594e-01 9.69286128e-01 7.12302895e-03 3.82213271e+00] [-2.45260128e-02 -1.12617769e-03 9.99698558e-01 -7.42745574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355919999999998 meters Centerline goodness [0,1] 0.9997532813579394 Centerline is valid? [True, True] Translation: X:27.42, Y:3.83, Z:-0.74 [[ 9.68804172e-01 -2.46628545e-01 2.43482472e-02 2.74168671e+01] [ 2.46520434e-01 9.69109392e-01 7.39334718e-03 3.82980185e+00] [-2.54195255e-02 -1.16036512e-03 9.99676198e-01 -7.42849930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38592 meters Centerline goodness [0,1] 0.9996540818343547 Centerline is valid? [True, True] Translation: X:27.44, Y:3.84, Z:-0.74 [[ 9.68560696e-01 -2.47501609e-01 2.51621054e-02 2.74427468e+01] [ 2.47386237e-01 9.68886760e-01 7.64825581e-03 3.84090336e+00] [-2.62721864e-02 -1.18304141e-03 9.99654127e-01 -7.43742939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.41592 meters Centerline goodness [0,1] 0.999703893796575 Centerline is valid? [True, True] Translation: X:27.47, Y:3.86, Z:-0.75 [[ 9.67898862e-01 -2.50188123e-01 2.40353104e-02 2.74692645e+01] [ 2.50083441e-01 9.68196653e-01 7.31529130e-03 3.85538444e+00] [-2.51011061e-02 -1.06962900e-03 9.99684345e-01 -7.47741492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445919999999997 meters Centerline goodness [0,1] 0.9995067087608525 Centerline is valid? [True, True] Translation: X:27.50, Y:3.87, Z:-0.75 [[ 9.67168357e-01 -2.53214382e-01 2.16297431e-02 2.74966518e+01] [ 2.53130300e-01 9.67409777e-01 6.58596516e-03 3.86541020e+00] [-2.25924860e-02 -8.94593752e-04 9.99744357e-01 -7.45630656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47592 meters Centerline goodness [0,1] 0.9996050552922591 Centerline is valid? [True, True] Translation: X:27.52, Y:3.87, Z:-0.75 [[ 9.66655213e-01 -2.55047588e-01 2.29875292e-02 2.75239655e+01] [ 2.54952900e-01 9.66928069e-01 7.00910474e-03 3.87431296e+00] [-2.40149425e-02 -9.14650401e-04 9.99711181e-01 -7.45123115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50592 meters Centerline goodness [0,1] 0.9995551381543176 Centerline is valid? [True, True] Translation: X:27.55, Y:3.89, Z:-0.74 [[ 9.65692468e-01 -2.58742507e-01 2.21443673e-02 2.75507018e+01] [ 2.58655538e-01 9.65946004e-01 6.75502357e-03 3.88508402e+00] [-2.31380749e-02 -7.95512130e-04 9.99731962e-01 -7.44565967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535919999999997 meters Centerline goodness [0,1] 0.9997038645673955 Centerline is valid? [True, True] Translation: X:27.58, Y:3.89, Z:-0.74 [[ 9.65281033e-01 -2.60322760e-01 2.15543119e-02 2.75780411e+01] [ 2.60240566e-01 9.65521364e-01 6.58357143e-03 3.89452090e+00] [-2.25250021e-02 -7.45690292e-04 9.99746002e-01 -7.44389127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56592 meters Centerline goodness [0,1] 0.9995554238292828 Centerline is valid? [True, True] Translation: X:27.61, Y:3.90, Z:-0.75 [[ 9.64661160e-01 -2.62507928e-01 2.27691396e-02 2.76058339e+01] [ 2.62416573e-01 9.64929549e-01 6.96475832e-03 3.90188650e+00] [-2.37989199e-02 -7.43632270e-04 9.99716489e-01 -7.45554901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.59592 meters Centerline goodness [0,1] 0.9995068547194004 Centerline is valid? [True, True] Translation: X:27.63, Y:3.91, Z:-0.75 [[ 9.64441368e-01 -2.63297855e-01 2.29583814e-02 2.76328448e+01] [ 2.63204917e-01 9.64714305e-01 7.03433769e-03 3.90963062e+00] [-2.40004050e-02 -7.41447395e-04 9.99711674e-01 -7.46593173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625919999999997 meters Centerline goodness [0,1] 0.9993542618716471 Centerline is valid? [True, True] Translation: X:27.66, Y:3.92, Z:-0.74 [[ 9.64284454e-01 -2.64020099e-01 2.11867470e-02 2.76605537e+01] [ 2.63940932e-01 9.64516941e-01 6.50033398e-03 3.91754432e+00] [-2.21511952e-02 -6.76121252e-04 9.99754404e-01 -7.44072210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65592 meters Centerline goodness [0,1] 0.9994559034475936 Centerline is valid? [True, True] Translation: X:27.69, Y:3.92, Z:-0.74 [[ 9.64332108e-01 -2.63844892e-01 2.12004160e-02 2.76889424e+01] [ 2.63765369e-01 9.64564874e-01 6.51407769e-03 3.92324065e+00] [-2.21678827e-02 -6.89798717e-04 9.99754024e-01 -7.42826515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68592 meters Centerline goodness [0,1] 0.9992116673236106 Centerline is valid? [True, True] Translation: X:27.72, Y:3.93, Z:-0.74 [[ 9.64035237e-01 -2.64964523e-01 2.07331251e-02 2.77174235e+01] [ 2.64888522e-01 9.64257936e-01 6.37989842e-03 3.93041191e+00] [-2.16825272e-02 -6.58480019e-04 9.99764690e-01 -7.42636953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715919999999997 meters Centerline goodness [0,1] 0.9989092711948439 Centerline is valid? [True, True] Translation: X:27.74, Y:3.94, Z:-0.74 [[ 9.63821353e-01 -2.65673519e-01 2.15865860e-02 2.77435300e+01] [ 2.65591073e-01 9.64062820e-01 6.65295486e-03 3.94167494e+00] [-2.25783389e-02 -6.79055416e-04 9.99744846e-01 -7.42515757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745919999999998 meters Centerline goodness [0,1] 0.9988149903717968 Centerline is valid? [True, True] Translation: X:27.77, Y:3.95, Z:-0.74 [[ 9.63945252e-01 -2.65152542e-01 2.24428517e-02 2.77706854e+01] [ 2.65063150e-01 9.64206205e-01 6.92253590e-03 3.95012293e+00] [-2.34750649e-02 -7.24172642e-04 9.99724160e-01 -7.44566244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.77592 meters Centerline goodness [0,1] 0.9992100325861558 Centerline is valid? [True, True] Translation: X:27.80, Y:3.95, Z:-0.74 [[ 9.64082578e-01 -2.64655942e-01 2.24056896e-02 2.77999913e+01] [ 2.64566480e-01 9.64342614e-01 6.92095202e-03 3.95459451e+00] [-2.34384323e-02 -7.44574850e-04 9.99725005e-01 -7.44080387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805919999999997 meters Centerline goodness [0,1] 0.9989149198520345 Centerline is valid? [True, True] Translation: X:27.83, Y:3.96, Z:-0.74 [[ 9.64794150e-01 -2.62001461e-01 2.29669923e-02 2.78273981e+01] [ 2.61906464e-01 9.65067112e-01 7.10451110e-03 3.96366068e+00] [-2.40260812e-02 -8.39187003e-04 9.99710980e-01 -7.43046701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835919999999998 meters Centerline goodness [0,1] 0.9990101949915866 Centerline is valid? [True, True] Translation: X:27.85, Y:3.97, Z:-0.74 [[ 9.65207925e-01 -2.60432703e-01 2.34194065e-02 2.78543625e+01] [ 2.60333213e-01 9.65491578e-01 7.25474045e-03 3.97472254e+00] [-2.45006114e-02 -9.05483642e-04 9.99699405e-01 -7.43432514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86592 meters Centerline goodness [0,1] 0.9987183279108744 Centerline is valid? [True, True] Translation: X:27.88, Y:3.98, Z:-0.74 [[ 9.66925308e-01 -2.54172815e-01 2.12515633e-02 2.78831528e+01] [ 2.54089346e-01 9.67158335e-01 6.58481241e-03 3.98157872e+00] [-2.22273069e-02 -9.67225957e-04 9.99752475e-01 -7.43442914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895919999999997 meters Centerline goodness [0,1] 0.9984693625635709 Centerline is valid? [True, True] Translation: X:27.91, Y:3.99, Z:-0.74 [[ 9.67562644e-01 -2.51713954e-01 2.15084869e-02 2.79108809e+01] [ 2.51627647e-01 9.67801113e-01 6.67334121e-03 3.99009148e+00] [-2.24957106e-02 -1.04474573e-03 9.99746394e-01 -7.43140339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925919999999998 meters Centerline goodness [0,1] 0.9982724580454096 Centerline is valid? [True, True] Translation: X:27.94, Y:4.00, Z:-0.74 [[ 9.68329457e-01 -2.48680033e-01 2.22778817e-02 2.79392054e+01] [ 2.48586599e-01 9.68585000e-01 6.91375062e-03 3.99962452e+00] [-2.32973337e-02 -1.15680555e-03 9.99727911e-01 -7.44584333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.95592 meters Centerline goodness [0,1] 0.9984665611396913 Centerline is valid? [True, True] Translation: X:27.97, Y:4.01, Z:-0.74 [[ 9.69049551e-01 -2.45771939e-01 2.32189825e-02 2.79651863e+01] [ 2.45669559e-01 9.69326836e-01 7.20789726e-03 4.01496290e+00] [-2.42782818e-02 -1.28061241e-03 9.99704419e-01 -7.44626721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985919999999997 meters Centerline goodness [0,1] 0.9980715027443999 Centerline is valid? [True, True] Translation: X:27.99, Y:4.02, Z:-0.74 [[ 9.69042113e-01 -2.45802465e-01 2.32062985e-02 2.79928747e+01] [ 2.45699972e-01 9.69319085e-01 7.21358854e-03 4.02320529e+00] [-2.42674259e-02 -1.28848418e-03 9.99704672e-01 -7.44481933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015919999999998 meters Centerline goodness [0,1] 0.9980725511515272 Centerline is valid? [True, True] Translation: X:28.02, Y:4.03, Z:-0.74 [[ 9.68470563e-01 -2.48099542e-01 2.26138616e-02 2.80195800e+01] [ 2.48002769e-01 9.68733798e-01 7.03241224e-03 4.03389063e+00] [-2.36515503e-02 -1.20238395e-03 9.99719540e-01 -7.43489450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04592 meters Centerline goodness [0,1] 0.9985659892201948 Centerline is valid? [True, True] Translation: X:28.05, Y:4.05, Z:-0.74 [[ 9.68219886e-01 -2.48982709e-01 2.36191228e-02 2.80460637e+01] [ 2.48877122e-01 9.68507131e-01 7.35635947e-03 4.04516202e+00] [-2.47068951e-02 -1.24431423e-03 9.99693964e-01 -7.44236223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075919999999996 meters Centerline goodness [0,1] 0.998560722616507 Centerline is valid? [True, True] Translation: X:28.07, Y:4.06, Z:-0.74 [[ 9.67991746e-01 -2.49798471e-01 2.43455178e-02 2.80704029e+01] [ 2.49686256e-01 9.68297013e-01 7.59395454e-03 4.06059607e+00] [-2.54706504e-02 -1.27214412e-03 9.99674761e-01 -7.44399963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105919999999998 meters Centerline goodness [0,1] 0.9980223474735489 Centerline is valid? [True, True] Translation: X:28.10, Y:4.07, Z:-0.74 [[ 9.67981560e-01 -2.49927922e-01 2.34037188e-02 2.80968281e+01] [ 2.49823974e-01 9.68263662e-01 7.31190117e-03 4.06955171e+00] [-2.44884187e-02 -1.23097547e-03 9.99699356e-01 -7.43944578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.13592 meters Centerline goodness [0,1] 0.9984102538625863 Centerline is valid? [True, True] Translation: X:28.12, Y:4.08, Z:-0.75 [[ 9.68018551e-01 -2.49718657e-01 2.40972415e-02 2.81238254e+01] [ 2.49608123e-01 9.68317585e-01 7.53918532e-03 4.08176339e+00] [-2.52164579e-02 -1.28320404e-03 9.99681191e-01 -7.45097746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16592 meters Centerline goodness [0,1] 0.9981702190791751 Centerline is valid? [True, True] Translation: X:28.15, Y:4.09, Z:-0.75 [[ 9.68022805e-01 -2.49816095e-01 2.28859575e-02 2.81503708e+01] [ 2.49716152e-01 9.68292524e-01 7.17153759e-03 4.09262307e+00] [-2.39518671e-02 -1.22721870e-03 9.99712360e-01 -7.45191953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195919999999997 meters Centerline goodness [0,1] 0.9983181638306292 Centerline is valid? [True, True] Translation: X:28.18, Y:4.11, Z:-0.75 [[ 9.68159449e-01 -2.49107462e-01 2.47538702e-02 2.81765728e+01] [ 2.48990027e-01 9.68474900e-01 7.76758190e-03 4.10643196e+00] [-2.59084646e-02 -1.35679100e-03 9.99663399e-01 -7.46707721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22592 meters Centerline goodness [0,1] 0.9982674125043315 Centerline is valid? [True, True] Translation: X:28.20, Y:4.12, Z:-0.74 [[ 9.68355432e-01 -2.48491051e-01 2.32369164e-02 2.82034997e+01] [ 2.48387151e-01 9.68633321e-01 7.30154891e-03 4.11666205e+00] [-2.43224210e-02 -1.29874309e-03 9.99703323e-01 -7.44780408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.25592 meters Centerline goodness [0,1] 0.9983687592684133 Centerline is valid? [True, True] Translation: X:28.23, Y:4.13, Z:-0.74 [[ 9.68481266e-01 -2.48240378e-01 2.05122665e-02 2.82283462e+01] [ 2.48159174e-01 9.68697769e-01 6.45417267e-03 4.13273288e+00] [-2.14723731e-02 -1.16043820e-03 9.99768769e-01 -7.43478360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285919999999997 meters Centerline goodness [0,1] 0.9983687592684133 Centerline is valid? [True, True] Translation: X:28.25, Y:4.14, Z:-0.74 [[ 9.68369147e-01 -2.48677624e-01 2.05093667e-02 2.82548655e+01] [ 2.48596323e-01 9.68585615e-01 6.46338137e-03 4.14074266e+00] [-2.14723758e-02 -1.16038595e-03 9.99768769e-01 -7.43502159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31592 meters Centerline goodness [0,1] 0.9984639778020018 Centerline is valid? [True, True] Translation: X:28.28, Y:4.15, Z:-0.74 [[ 9.68490600e-01 -2.48264465e-01 1.97664410e-02 2.82813938e+01] [ 2.48188684e-01 9.68691626e-01 6.23786018e-03 4.15417992e+00] [-2.06962249e-02 -1.13550195e-03 9.99785165e-01 -7.43860959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34592 meters Centerline goodness [0,1] 0.998615026957511 Centerline is valid? [True, True] Translation: X:28.31, Y:4.17, Z:-0.75 [[ 9.68496580e-01 -2.48112341e-01 2.13222854e-02 2.83076344e+01] [ 2.48023916e-01 9.68730476e-01 6.73810962e-03 4.16737023e+00] [-2.23273558e-02 -1.23739941e-03 9.99749948e-01 -7.45098558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375919999999997 meters Centerline goodness [0,1] 0.9994059994059994 Centerline is valid? [True, True] Translation: X:28.33, Y:4.19, Z:-0.74 [[ 9.68364301e-01 -2.48504670e-01 2.27158500e-02 2.83323404e+01] [ 2.48404181e-01 9.68629801e-01 7.18827171e-03 4.18677640e+00] [-2.37895683e-02 -1.31815359e-03 9.99716119e-01 -7.42866399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40592 meters Centerline goodness [0,1] 0.9993059342620594 Centerline is valid? [True, True] Translation: X:28.36, Y:4.20, Z:-0.74 [[ 9.67394068e-01 -2.52038602e-01 2.50052123e-02 2.83571850e+01] [ 2.51917920e-01 9.67716228e-01 7.91609536e-03 4.20478710e+00] [-2.61931113e-02 -1.35872263e-03 9.99655978e-01 -7.42920016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.43592 meters Centerline goodness [0,1] 0.9995043861822868 Centerline is valid? [True, True] Translation: X:28.38, Y:4.22, Z:-0.74 [[ 9.66674485e-01 -2.54943497e-01 2.33292520e-02 2.83841795e+01] [ 2.54839071e-01 9.66955204e-01 7.39472041e-03 4.21709449e+00] [-2.44435775e-02 -1.20308264e-03 9.99700487e-01 -7.42923112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465919999999997 meters Centerline goodness [0,1] 0.9995546318289786 Centerline is valid? [True, True] Translation: X:28.41, Y:4.23, Z:-0.74 [[ 9.65371023e-01 -2.59721331e-01 2.45686296e-02 2.84108748e+01] [ 2.59607007e-01 9.65682933e-01 7.78940173e-03 4.23119433e+00] [-2.57485801e-02 -1.14147434e-03 9.99667799e-01 -7.44083439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495919999999998 meters Centerline goodness [0,1] 0.9995544995544996 Centerline is valid? [True, True] Translation: X:28.44, Y:4.25, Z:-0.74 [[ 9.62522873e-01 -2.69943524e-01 2.60808962e-02 2.84362649e+01] [ 2.69818401e-01 9.62875715e-01 8.26968494e-03 4.25130099e+00] [-2.73450094e-02 -9.22655201e-04 9.99625630e-01 -7.43706893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52592 meters Centerline goodness [0,1] 0.9997525120031678 Centerline is valid? [True, True] Translation: X:28.46, Y:4.26, Z:-0.74 [[ 9.61180586e-01 -2.74641765e-01 2.65289046e-02 2.84623099e+01] [ 2.74513778e-01 9.61546275e-01 8.42296196e-03 4.26416709e+00] [-2.78220666e-02 -8.13437667e-04 9.99612560e-01 -7.41236084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555919999999997 meters Centerline goodness [0,1] 0.9995528394693695 Centerline is valid? [True, True] Translation: X:28.49, Y:4.28, Z:-0.74 [[ 9.58134578e-01 -2.84838583e-01 2.90708126e-02 2.84883366e+01] [ 2.84689353e-01 9.58575324e-01 9.23688492e-03 4.27918570e+00] [-3.04975848e-02 -5.74028001e-04 9.99534676e-01 -7.39740647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585919999999998 meters Centerline goodness [0,1] 0.999405734660526 Centerline is valid? [True, True] Translation: X:28.52, Y:4.29, Z:-0.74 [[ 9.56429307e-01 -2.90361619e-01 3.05468518e-02 2.85150430e+01] [ 2.90199203e-01 9.56916895e-01 9.72002787e-03 4.29090247e+00] [-3.20531216e-02 -4.31847469e-04 9.99486073e-01 -7.41179347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.61592 meters Centerline goodness [0,1] 0.9992563212692117 Centerline is valid? [True, True] Translation: X:28.54, Y:4.30, Z:-0.75 [[ 9.53599125e-01 -2.99657927e-01 2.92204559e-02 2.85416059e+01] [ 2.99513267e-01 9.54046702e-01 9.31089073e-03 4.30280984e+00] [-3.06677618e-02 -1.26943061e-04 9.99529626e-01 -7.45575196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645919999999997 meters Centerline goodness [0,1] 0.99980195078477 Centerline is valid? [True, True] Translation: X:28.57, Y:4.31, Z:-0.75 [[ 9.52497466e-01 -3.03258956e-01 2.79746825e-02 2.85696946e+01] [ 3.03127525e-01 9.52908183e-01 8.92741014e-03 4.31017786e+00] [-2.93646209e-02 -2.34392697e-05 9.99568766e-01 -7.45683161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675919999999998 meters Centerline goodness [0,1] 0.999801921362781 Centerline is valid? [True, True] Translation: X:28.60, Y:4.32, Z:-0.74 [[ 9.50328420e-01 -3.10074462e-01 2.70133665e-02 2.85971031e+01] [ 3.09954233e-01 9.50712260e-01 8.63554688e-03 4.31653152e+00] [-2.83596012e-02 1.66301671e-04 9.99597772e-01 -7.42939429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70592 meters Centerline goodness [0,1] 0.9997023514237524 Centerline is valid? [True, True] Translation: X:28.62, Y:4.33, Z:-0.74 [[ 9.49286125e-01 -3.13094728e-01 2.87670606e-02 2.86239282e+01] [ 3.12959602e-01 9.49721864e-01 9.20151752e-03 4.32579184e+00] [-3.02016531e-02 2.68054932e-04 9.99543790e-01 -7.42033234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735919999999997 meters Centerline goodness [0,1] 0.9998515439429929 Centerline is valid? [True, True] Translation: X:28.65, Y:4.33, Z:-0.74 [[ 9.48499700e-01 -3.15397176e-01 2.95455808e-02 2.86519476e+01] [ 3.15255312e-01 9.48959698e-01 9.46469962e-03 4.33257706e+00] [-3.10227049e-02 3.37136522e-04 9.99518623e-01 -7.42940353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765919999999998 meters Centerline goodness [0,1] 0.9998022543009689 Centerline is valid? [True, True] Translation: X:28.68, Y:4.34, Z:-0.74 [[ 9.48261211e-01 -3.16099860e-01 2.96909741e-02 2.86801545e+01] [ 3.15956425e-01 9.48725861e-01 9.52779254e-03 4.33781010e+00] [-3.11803288e-02 3.46217931e-04 9.99513715e-01 -7.44657388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.79592 meters Centerline goodness [0,1] 0.9996044499381953 Centerline is valid? [True, True] Translation: X:28.71, Y:4.34, Z:-0.75 [[ 9.49154704e-01 -3.13418858e-01 2.95629358e-02 2.87097414e+01] [ 3.13274906e-01 9.49614954e-01 9.50120568e-03 4.34122354e+00] [-3.10512629e-02 2.43211853e-04 9.99517764e-01 -7.47523505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825919999999996 meters Centerline goodness [0,1] 0.9997019077901431 Centerline is valid? [True, True] Translation: X:28.74, Y:4.35, Z:-0.75 [[ 9.49522415e-01 -3.12227773e-01 3.03480115e-02 2.87381673e+01] [ 3.12074993e-01 9.50007252e-01 9.76826589e-03 4.34845484e+00] [-3.18807550e-02 1.95668085e-04 9.99491660e-01 -7.47622012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855919999999998 meters Centerline goodness [0,1] 0.9999009999009999 Centerline is valid? [True, True] Translation: X:28.77, Y:4.35, Z:-0.74 [[ 9.50600105e-01 -3.09007204e-01 2.95633000e-02 2.87669588e+01] [ 3.08860216e-01 9.51059695e-01 9.53015573e-03 4.35494458e+00] [-3.10613499e-02 7.15602115e-05 9.99517477e-01 -7.44795924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88592 meters Centerline goodness [0,1] 0.9999010782471065 Centerline is valid? [True, True] Translation: X:28.80, Y:4.36, Z:-0.75 [[ 9.51713798e-01 -3.05503017e-01 3.01455242e-02 2.87954145e+01] [ 3.05347956e-01 9.52191107e-01 9.73255491e-03 4.36174035e+00] [-3.16776249e-02 -5.77326133e-05 9.99498136e-01 -7.45278788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.91592 meters Centerline goodness [0,1] 0.9999010292953285 Centerline is valid? [True, True] Translation: X:28.82, Y:4.37, Z:-0.75 [[ 9.52449917e-01 -3.02989740e-01 3.21927513e-02 2.88235536e+01] [ 3.02810935e-01 9.52993804e-01 1.04090140e-02 4.36933700e+00] [-3.38333169e-02 -1.65747433e-04 9.99427476e-01 -7.46631598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945919999999997 meters Centerline goodness [0,1] 0.9999505219929741 Centerline is valid? [True, True] Translation: X:28.85, Y:4.38, Z:-0.75 [[ 9.52792031e-01 -3.01688659e-01 3.42242483e-02 2.88515684e+01] [ 3.01485141e-01 9.53406469e-01 1.10821950e-02 4.37732446e+00] [-3.59729923e-02 -2.40924722e-04 9.99352733e-01 -7.48205148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97592 meters Centerline goodness [0,1] 0.9999504435304029 Centerline is valid? [True, True] Translation: X:28.88, Y:4.38, Z:-0.75 [[ 9.53546564e-01 -2.99183730e-01 3.51858875e-02 2.88804023e+01] [ 2.98966283e-01 9.54195455e-01 1.14103582e-02 4.38348678e+00] [-3.69880075e-02 -3.60913901e-04 9.99315644e-01 -7.47149945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.91, Y:4.39, Z:-0.75 [[ 9.53645000e-01 -2.98947447e-01 3.45200973e-02 2.89075952e+01] [ 2.98737309e-01 9.54269500e-01 1.12134384e-02 4.38996081e+00] [-3.62937048e-02 -3.81198531e-04 9.99341094e-01 -7.47112914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.03592 meters Centerline goodness [0,1] 0.9999505073001732 Centerline is valid? [True, True] Translation: X:28.94, Y:4.40, Z:-0.75 [[ 9.53482121e-01 -2.99600607e-01 3.33364727e-02 2.89352118e+01] [ 2.99404481e-01 9.54064645e-01 1.08447991e-02 4.39960968e+00] [-3.50542584e-02 -3.59232792e-04 9.99385346e-01 -7.47683184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06592 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:28.96, Y:4.41, Z:-0.75 [[ 9.53605156e-01 -2.99298650e-01 3.25196104e-02 2.89628939e+01] [ 2.99111319e-01 9.54159409e-01 1.05944221e-02 4.40886149e+00] [-3.41997885e-02 -3.75911995e-04 9.99414945e-01 -7.48430921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09592 meters Centerline goodness [0,1] 0.9999010684606252 Centerline is valid? [True, True] Translation: X:28.99, Y:4.42, Z:-0.75 [[ 9.53536478e-01 -2.99442277e-01 3.32040190e-02 2.89906108e+01] [ 2.99246507e-01 9.54114337e-01 1.08333133e-02 4.41587491e+00] [-3.49243826e-02 -3.93772735e-04 9.99389880e-01 -7.48290704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:29.02, Y:4.42, Z:-0.75 [[ 9.53580605e-01 -2.99238369e-01 3.37702298e-02 2.90188123e+01] [ 2.99035163e-01 9.54178295e-01 1.10341315e-02 4.42261756e+00] [-3.55246558e-02 -4.23447650e-04 9.99368710e-01 -7.47654720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.05, Y:4.43, Z:-0.75 [[ 9.53637250e-01 -2.99125574e-01 3.31645386e-02 2.90460834e+01] [ 2.98928904e-01 9.54213655e-01 1.08540503e-02 4.42953013e+00] [-3.48927797e-02 -4.36987481e-04 9.99390966e-01 -7.48341852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.07, Y:4.44, Z:-0.75 [[ 9.53446811e-01 -2.99805073e-01 3.24976505e-02 2.90737000e+01] [ 2.99616107e-01 9.54000389e-01 1.06510795e-02 4.43882680e+00] [-3.41960189e-02 -4.18418286e-04 9.99415058e-01 -7.49958393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.21592 meters Centerline goodness [0,1] 0.999950495049505 Centerline is valid? [True, True] Translation: X:29.10, Y:4.45, Z:-0.75 [[ 9.53528571e-01 -2.99961229e-01 2.83993961e-02 2.91011163e+01] [ 2.99816599e-01 9.53951320e-01 9.32122202e-03 4.44701383e+00] [-2.98876467e-02 -3.73441130e-04 9.99553195e-01 -7.49644699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.13, Y:4.46, Z:-0.75 [[ 9.53383099e-01 -3.00243386e-01 3.02419401e-02 2.91291374e+01] [ 3.00079061e-01 9.53862541e-01 9.94031415e-03 4.45550659e+00] [-3.18311675e-02 -4.01954518e-04 9.99493179e-01 -7.49457260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.16, Y:4.46, Z:-0.75 [[ 9.53308705e-01 -3.00490208e-01 3.01354978e-02 2.91557233e+01] [ 3.00326644e-01 9.53784812e-01 9.92161967e-03 4.46367387e+00] [-3.17241297e-02 -4.07873476e-04 9.99496580e-01 -7.47308919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.18, Y:4.47, Z:-0.75 [[ 9.53013809e-01 -3.01337019e-01 3.09948330e-02 2.91837933e+01] [ 3.01163956e-01 9.53517612e-01 1.02193086e-02 4.46996713e+00] [-3.26335752e-02 -4.04615693e-04 9.99467301e-01 -7.48125576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.21, Y:4.47, Z:-0.75 [[ 9.51984145e-01 -3.04626760e-01 3.04749827e-02 2.92139212e+01] [ 3.04460673e-01 9.52471756e-01 1.00623907e-02 4.47217478e+00] [-3.20918337e-02 -3.00802642e-04 9.99484879e-01 -7.48301588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.24, Y:4.48, Z:-0.75 [[ 9.50991235e-01 -3.07691621e-01 3.06844631e-02 2.92411868e+01] [ 3.07524298e-01 9.51486111e-01 1.01481996e-02 4.47939148e+00] [-3.23183565e-02 -2.14630910e-04 9.99477602e-01 -7.49515776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.27, Y:4.49, Z:-0.75 [[ 9.50247209e-01 -3.09840171e-01 3.20828785e-02 2.92695522e+01] [ 3.09657944e-01 9.50788642e-01 1.06261685e-02 4.48632142e+00] [-3.37964504e-02 -1.62768774e-04 9.99428724e-01 -7.49062936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.30, Y:4.49, Z:-0.75 [[ 9.49918051e-01 -3.10741879e-01 3.30935110e-02 2.92981398e+01] [ 3.10547980e-01 9.50494325e-01 1.09768096e-02 4.49292208e+00] [-3.48661489e-02 -1.49946586e-04 9.99391980e-01 -7.47908671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:4.49, Z:-0.75 [[ 9.50653242e-01 -3.08431968e-01 3.35877255e-02 2.93273816e+01] [ 3.08230578e-01 9.51246373e-01 1.11467107e-02 4.49499379e+00] [-3.53882040e-02 -2.43892615e-04 9.99373612e-01 -7.47744640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.36, Y:4.50, Z:-0.75 [[ 9.51855778e-01 -3.05089182e-01 2.98524608e-02 2.93557367e+01] [ 3.04928016e-01 9.52323724e-01 9.92119192e-03 4.50052619e+00] [-3.14560550e-02 -3.40692207e-04 9.99505078e-01 -7.47851468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.38, Y:4.51, Z:-0.75 [[ 9.52273163e-01 -3.03773728e-01 2.99557053e-02 2.93840992e+01] [ 3.03610347e-01 9.52744122e-01 9.96967811e-03 4.50724293e+00] [-3.15686484e-02 -3.98994844e-04 9.99501506e-01 -7.49277999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:4.51, Z:-0.75 [[ 9.52619084e-01 -3.02822476e-01 2.85557253e-02 2.94140203e+01] [ 3.02673181e-01 9.53046887e-01 9.51716861e-03 4.51050073e+00] [-3.00969576e-02 -4.23184228e-04 9.99546894e-01 -7.48112485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:4.52, Z:-0.75 [[ 9.52866067e-01 -3.02027008e-01 2.87392460e-02 2.94417789e+01] [ 3.01875016e-01 9.53299256e-01 9.59185541e-03 4.51751023e+00] [-3.02941013e-02 -4.64093185e-04 9.99540921e-01 -7.48470224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:4.53, Z:-0.75 [[ 9.53339530e-01 -3.00751630e-01 2.63096412e-02 2.94700484e+01] [ 3.00623426e-01 9.53702382e-01 8.79334805e-03 4.52554451e+00] [-2.77361812e-02 -4.73751838e-04 9.99615166e-01 -7.48342974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:4.53, Z:-0.75 [[ 9.54130195e-01 -2.98253796e-01 2.60815051e-02 2.94983419e+01] [ 2.98126537e-01 9.54486441e-01 8.72934127e-03 4.53321825e+00] [-2.74980021e-02 -5.53339305e-04 9.99621705e-01 -7.48483000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66592 meters Centerline goodness [0,1] 0.9999506343486202 Centerline is valid? [True, True] Translation: X:29.53, Y:4.54, Z:-0.75 [[ 9.54784552e-01 -2.95930375e-01 2.84898731e-02 2.95265612e+01] [ 2.95777087e-01 9.55209263e-01 9.54872312e-03 4.54118474e+00] [-3.00395479e-02 -6.90321646e-04 9.99548473e-01 -7.48615121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69592 meters Centerline goodness [0,1] 0.9999504852446028 Centerline is valid? [True, True] Translation: X:29.55, Y:4.55, Z:-0.75 [[ 9.56470076e-01 -2.90423727e-01 2.86190939e-02 2.95541486e+01] [ 2.90266484e-01 9.56897749e-01 9.59515488e-03 4.55060947e+00] [-3.01722072e-02 -8.70314761e-04 9.99544336e-01 -7.47228806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725919999999995 meters Centerline goodness [0,1] 0.9999505537974683 Centerline is valid? [True, True] Translation: X:29.58, Y:4.56, Z:-0.75 [[ 9.57588425e-01 -2.86722987e-01 2.85365875e-02 2.95817767e+01] [ 2.86564623e-01 9.58013014e-01 9.58024724e-03 4.55886383e+00] [-3.00852993e-02 -9.96357435e-04 9.99546838e-01 -7.48724895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755919999999996 meters Centerline goodness [0,1] 0.9999505293361037 Centerline is valid? [True, True] Translation: X:29.61, Y:4.57, Z:-0.75 [[ 9.58469958e-01 -2.83846047e-01 2.76904385e-02 2.96096211e+01] [ 2.83695373e-01 9.58869274e-01 9.30866580e-03 4.56599252e+00] [-2.91937387e-02 -1.06642724e-03 9.99573203e-01 -7.49468833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:4.57, Z:-0.75 [[ 9.59697517e-01 -2.79671272e-01 2.76524215e-02 2.96377911e+01] [ 2.79519219e-01 9.60095076e-01 9.29796008e-03 4.57459678e+00] [-2.91493261e-02 -1.19384594e-03 9.99574355e-01 -7.48413049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81592 meters Centerline goodness [0,1] 0.9999009361533508 Centerline is valid? [True, True] Translation: X:29.66, Y:4.59, Z:-0.75 [[ 9.59591380e-01 -2.79763563e-01 3.02775750e-02 2.96645162e+01] [ 2.79580881e-01 9.60068026e-01 1.01939640e-02 4.58715268e+00] [-3.19204314e-02 -1.31700893e-03 9.99489545e-01 -7.46988363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84592 meters Centerline goodness [0,1] 0.9998021467082159 Centerline is valid? [True, True] Translation: X:29.69, Y:4.60, Z:-0.75 [[ 9.59178459e-01 -2.81196984e-01 3.00822028e-02 2.96911718e+01] [ 2.81016931e-01 9.59649224e-01 1.01415641e-02 4.59834324e+00] [-3.17201399e-02 -1.27396154e-03 9.99495978e-01 -7.46191136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87592 meters Centerline goodness [0,1] 0.9999010978142617 Centerline is valid? [True, True] Translation: X:29.72, Y:4.61, Z:-0.75 [[ 9.58457425e-01 -2.83706110e-01 2.94992760e-02 2.97174063e+01] [ 2.83533745e-01 9.58910553e-01 9.95819867e-03 4.60999895e+00] [-3.11123689e-02 -1.18046924e-03 9.99515196e-01 -7.48324146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905919999999995 meters Centerline goodness [0,1] 0.9998020683853729 Centerline is valid? [True, True] Translation: X:29.74, Y:4.62, Z:-0.75 [[ 9.57970376e-01 -2.85413490e-01 2.88426601e-02 2.97447304e+01] [ 2.85249096e-01 9.58403831e-01 9.74939470e-03 4.62068005e+00] [-3.04255247e-02 -1.11228857e-03 9.99536418e-01 -7.50700877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:4.63, Z:-0.75 [[ 9.57284433e-01 -2.87739918e-01 2.85000687e-02 2.97712179e+01] [ 2.87580051e-01 9.57708025e-01 9.64638019e-03 4.63180880e+00] [-3.00703931e-02 -1.03827840e-03 9.99547244e-01 -7.50785508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:4.64, Z:-0.75 [[ 9.55801035e-01 -2.92423183e-01 3.05460915e-02 2.97986356e+01] [ 2.92241498e-01 9.56288527e-01 1.03518482e-02 4.64242020e+00] [-3.22379972e-02 -9.67471739e-04 9.99479752e-01 -7.50324969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99592 meters Centerline goodness [0,1] 0.9997530132384904 Centerline is valid? [True, True] Translation: X:29.83, Y:4.65, Z:-0.75 [[ 9.54887098e-01 -2.95269559e-01 3.17256536e-02 2.98266152e+01] [ 2.95074649e-01 9.55413546e-01 1.07660789e-02 4.65020722e+00] [-3.34900146e-02 -9.18953730e-04 9.99438630e-01 -7.50750353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02592 meters Centerline goodness [0,1] 0.9999009312462849 Centerline is valid? [True, True] Translation: X:29.85, Y:4.66, Z:-0.75 [[ 9.52781638e-01 -3.01899753e-01 3.26142648e-02 2.98549669e+01] [ 3.01697157e-01 9.53339406e-01 1.10816309e-02 4.65782112e+00] [-3.44380054e-02 -7.18743493e-04 9.99406578e-01 -7.50372953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.88, Y:4.67, Z:-0.75 [[ 9.51925445e-01 -3.04606622e-01 3.24461672e-02 2.98824388e+01] [ 3.04407161e-01 9.52478035e-01 1.10396695e-02 4.66664992e+00] [-3.42670180e-02 -6.32096654e-04 9.99412513e-01 -7.51147903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08592 meters Centerline goodness [0,1] 0.9999011564693091 Centerline is valid? [True, True] Translation: X:29.91, Y:4.67, Z:-0.75 [[ 9.50814176e-01 -3.08193363e-01 3.11328217e-02 2.99101083e+01] [ 3.08011170e-01 9.51323607e-01 1.06073072e-02 4.67498112e+00] [-3.28864899e-02 -4.96321249e-04 9.99458970e-01 -7.51417558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115919999999996 meters Centerline goodness [0,1] 0.9999505562422744 Centerline is valid? [True, True] Translation: X:29.94, Y:4.68, Z:-0.75 [[ 9.50084411e-01 -3.10155519e-01 3.38107247e-02 2.99383592e+01] [ 3.09941294e-01 9.50685712e-01 1.15356381e-02 4.68275340e+00] [-3.57212147e-02 -4.80490123e-04 9.99361678e-01 -7.52669244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.97, Y:4.69, Z:-0.75 [[ 9.49787564e-01 -3.11212314e-01 3.24110869e-02 2.99674480e+01] [ 3.11015555e-01 9.50340310e-01 1.10734081e-02 4.68809294e+00] [-3.42477434e-02 -4.37033101e-04 9.99413278e-01 -7.51567369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.99, Y:4.70, Z:-0.75 [[ 9.49636944e-01 -3.11672173e-01 3.24057413e-02 2.99937525e+01] [ 3.11475147e-01 9.50189595e-01 1.10890418e-02 4.69672633e+00] [-3.42477439e-02 -4.36980762e-04 9.99413278e-01 -7.51591143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20592 meters Centerline goodness [0,1] 0.9999010292953285 Centerline is valid? [True, True] Translation: X:30.02, Y:4.70, Z:-0.75 [[ 9.49612027e-01 -3.11936806e-01 3.05356553e-02 3.00224280e+01] [ 3.11761574e-01 9.50102761e-01 1.04625503e-02 4.70385977e+00] [-3.22756649e-02 -4.15519673e-04 9.99478919e-01 -7.50117468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23592 meters Centerline goodness [0,1] 0.9999506416584403 Centerline is valid? [True, True] Translation: X:30.05, Y:4.71, Z:-0.75 [[ 9.49303447e-01 -3.13116013e-01 2.79522345e-02 3.00523520e+01] [ 3.12969300e-01 9.49714818e-01 9.59070326e-03 4.70709701e+00] [-2.95496540e-02 -3.56296402e-04 9.99563250e-01 -7.48714578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26592 meters Centerline goodness [0,1] 0.999851529248738 Centerline is valid? [True, True] Translation: X:30.08, Y:4.71, Z:-0.75 [[ 9.49368257e-01 -3.12908098e-01 2.80790744e-02 3.00806104e+01] [ 3.12759507e-01 9.49783333e-01 9.64945528e-03 4.71263154e+00] [-2.96884295e-02 -3.78889095e-04 9.99559130e-01 -7.48507969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295919999999995 meters Centerline goodness [0,1] 0.9998025861218044 Centerline is valid? [True, True] Translation: X:30.11, Y:4.72, Z:-0.75 [[ 9.49685223e-01 -3.12031913e-01 2.70935902e-02 3.01085680e+01] [ 3.11892795e-01 9.50071534e-01 9.32546702e-03 4.71671287e+00] [-2.86506921e-02 -4.05962663e-04 9.99589402e-01 -7.46457915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325919999999996 meters Centerline goodness [0,1] 0.9996538594669436 Centerline is valid? [True, True] Translation: X:30.14, Y:4.72, Z:-0.75 [[ 9.51756864e-01 -3.05554115e-01 2.82055823e-02 3.01373125e+01] [ 3.05400395e-01 9.52174505e-01 9.71139916e-03 4.72275865e+00] [-2.98239944e-02 -6.28894826e-04 9.99554968e-01 -7.46145268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.35592 meters Centerline goodness [0,1] 0.9989126136812969 Centerline is valid? [True, True] Translation: X:30.17, Y:4.73, Z:-0.74 [[ 9.53035644e-01 -3.01556604e-01 2.80477398e-02 3.01653183e+01] [ 3.01402733e-01 9.53447978e-01 9.66162288e-03 4.72897181e+00] [-2.96555869e-02 -7.54205573e-04 9.99559892e-01 -7.44855938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38592 meters Centerline goodness [0,1] 0.9989128286222574 Centerline is valid? [True, True] Translation: X:30.19, Y:4.73, Z:-0.75 [[ 9.54090746e-01 -2.98229784e-01 2.77460668e-02 3.01942781e+01] [ 2.98077430e-01 9.54493717e-01 9.57028641e-03 4.73476574e+00] [-2.93375908e-02 -8.60445430e-04 9.99569190e-01 -7.45493179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41592 meters Centerline goodness [0,1] 0.9987656759158685 Centerline is valid? [True, True] Translation: X:30.22, Y:4.74, Z:-0.74 [[ 9.55877313e-01 -2.92710050e-01 2.48875413e-02 3.02221852e+01] [ 2.92585494e-01 9.56200798e-01 8.58853298e-03 4.74104255e+00] [-2.63114367e-02 -9.27850268e-04 9.99653364e-01 -7.44935136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44592 meters Centerline goodness [0,1] 0.9992582336069628 Centerline is valid? [True, True] Translation: X:30.25, Y:4.75, Z:-0.75 [[ 9.56472573e-01 -2.90741137e-01 2.50959805e-02 3.02495247e+01] [ 2.90613514e-01 9.56801228e-01 8.67156451e-03 4.74954620e+00] [-2.65330455e-02 -1.00088254e-03 9.99647436e-01 -7.46275540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475919999999995 meters Centerline goodness [0,1] 0.9985661310259579 Centerline is valid? [True, True] Translation: X:30.28, Y:4.76, Z:-0.75 [[ 9.57181179e-01 -2.88312952e-01 2.60735930e-02 3.02778017e+01] [ 2.88173966e-01 9.57535579e-01 9.02111991e-03 4.75742306e+00] [-2.75672987e-02 -1.12111549e-03 9.99619321e-01 -7.46152664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505919999999996 meters Centerline goodness [0,1] 0.9984207669150669 Centerline is valid? [True, True] Translation: X:30.31, Y:4.77, Z:-0.75 [[ 9.57154596e-01 -2.88209501e-01 2.81133946e-02 3.03055110e+01] [ 2.88047488e-01 9.57566596e-01 9.73958918e-03 4.76642791e+00] [-2.97274897e-02 -1.22429983e-03 9.99557291e-01 -7.45732078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.53592 meters Centerline goodness [0,1] 0.9986654144629529 Centerline is valid? [True, True] Translation: X:30.33, Y:4.78, Z:-0.74 [[ 9.57493204e-01 -2.87060379e-01 2.83390839e-02 3.03328235e+01] [ 2.86894873e-01 9.57911632e-01 9.83043811e-03 4.77609421e+00] [-2.99682674e-02 -1.28223981e-03 9.99550028e-01 -7.44488008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56592 meters Centerline goodness [0,1] 0.998271178068659 Centerline is valid? [True, True] Translation: X:30.36, Y:4.79, Z:-0.74 [[ 9.57467250e-01 -2.87241937e-01 2.73593603e-02 3.03596970e+01] [ 2.87087428e-01 9.57857257e-01 9.50182167e-03 4.78642294e+00] [-2.89356834e-02 -1.24315469e-03 9.99580502e-01 -7.43357092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59592 meters Centerline goodness [0,1] 0.998912989772222 Centerline is valid? [True, True] Translation: X:30.39, Y:4.80, Z:-0.74 [[ 9.56823918e-01 -2.89606267e-01 2.48233799e-02 3.03878577e+01] [ 2.89479603e-01 9.57145265e-01 8.63138128e-03 4.79550385e+00] [-2.62592827e-02 -1.07284989e-03 9.99654590e-01 -7.44923952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62592 meters Centerline goodness [0,1] 0.9990116623838703 Centerline is valid? [True, True] Translation: X:30.42, Y:4.80, Z:-0.75 [[ 9.55612351e-01 -2.93362122e-01 2.72708548e-02 3.04168536e+01] [ 2.93210440e-01 9.56000788e-01 9.49374567e-03 4.80157544e+00] [-2.88560640e-02 -1.07624130e-03 9.99582998e-01 -7.49566320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655919999999995 meters Centerline goodness [0,1] 0.9988155751863002 Centerline is valid? [True, True] Translation: X:30.44, Y:4.81, Z:-0.75 [[ 9.54168756e-01 -2.98074663e-01 2.67110392e-02 3.04430343e+01] [ 2.97930670e-01 9.54542110e-01 9.31005021e-03 4.81398076e+00] [-2.82719018e-02 -9.25321220e-04 9.99599842e-01 -7.45740474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685919999999996 meters Centerline goodness [0,1] 0.9988155751863002 Centerline is valid? [True, True] Translation: X:30.47, Y:4.82, Z:-0.75 [[ 9.54029475e-01 -2.98520539e-01 2.67067136e-02 3.04692976e+01] [ 2.98376373e-01 9.54402762e-01 9.32245112e-03 4.82278710e+00] [-2.82719043e-02 -9.25240820e-04 9.99599842e-01 -7.45764267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.71592 meters Centerline goodness [0,1] 0.998766771902131 Centerline is valid? [True, True] Translation: X:30.50, Y:4.83, Z:-0.75 [[ 9.53493233e-01 -3.00329068e-01 2.55559158e-02 3.04973216e+01] [ 3.00197392e-01 9.53835277e-01 8.93249865e-03 4.83110651e+00] [-2.70588230e-02 -8.45257749e-04 9.99633486e-01 -7.45044870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74592 meters Centerline goodness [0,1] 0.9991613635242464 Centerline is valid? [True, True] Translation: X:30.52, Y:4.84, Z:-0.74 [[ 9.52713539e-01 -3.02766286e-01 2.58744641e-02 3.05244513e+01] [ 3.02631878e-01 9.53064500e-01 9.05572171e-03 4.84012661e+00] [-2.74018004e-02 -7.97071036e-04 9.99624182e-01 -7.44911994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77592 meters Centerline goodness [0,1] 0.9987185805815673 Centerline is valid? [True, True] Translation: X:30.55, Y:4.85, Z:-0.75 [[ 9.52841532e-01 -3.02304119e-01 2.65562569e-02 3.05523479e+01] [ 3.02162011e-01 9.53211156e-01 9.30649558e-03 4.84779156e+00] [-2.81271123e-02 -8.43323523e-04 9.99603999e-01 -7.45972070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80592 meters Centerline goodness [0,1] 0.9981245681571415 Centerline is valid? [True, True] Translation: X:30.58, Y:4.86, Z:-0.74 [[ 9.52942512e-01 -3.02113012e-01 2.50658544e-02 3.05804265e+01] [ 3.01986041e-01 9.53271770e-01 8.79564099e-03 4.85638938e+00] [-2.65518490e-02 -8.12202106e-04 9.99647108e-01 -7.44746113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83592 meters Centerline goodness [0,1] 0.9977810650887574 Centerline is valid? [True, True] Translation: X:30.61, Y:4.86, Z:-0.75 [[ 9.53595600e-01 -3.00085462e-01 2.45794264e-02 3.06079475e+01] [ 2.99962406e-01 9.53911931e-01 8.63616398e-03 4.86455415e+00] [-2.60381953e-02 -8.62504104e-04 9.99660577e-01 -7.45543025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865919999999996 meters Centerline goodness [0,1] 0.9984705708224382 Centerline is valid? [True, True] Translation: X:30.64, Y:4.87, Z:-0.74 [[ 9.53666072e-01 -2.99787573e-01 2.54643670e-02 3.06351865e+01] [ 2.99655076e-01 9.54005544e-01 8.95868679e-03 4.87456610e+00] [-2.69788503e-02 -9.13068801e-04 9.99635588e-01 -7.44090793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89592 meters Centerline goodness [0,1] 0.9983234714003945 Centerline is valid? [True, True] Translation: X:30.66, Y:4.88, Z:-0.74 [[ 9.53676514e-01 -2.99736726e-01 2.56710131e-02 3.06631866e+01] [ 2.99601729e-01 9.54021501e-01 9.04320413e-03 4.88229388e+00] [-2.72012789e-02 -9.33211456e-04 9.99629541e-01 -7.41483381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92592 meters Centerline goodness [0,1] 0.9987157322795752 Centerline is valid? [True, True] Translation: X:30.69, Y:4.89, Z:-0.74 [[ 9.53560640e-01 -3.00089608e-01 2.58521227e-02 3.06896345e+01] [ 2.99952464e-01 9.53910551e-01 9.12031668e-03 4.89138921e+00] [-2.73975249e-02 -9.42367098e-04 9.99624173e-01 -7.41075016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95592 meters Centerline goodness [0,1] 0.9989147592738753 Centerline is valid? [True, True] Translation: X:30.72, Y:4.90, Z:-0.74 [[ 9.53636860e-01 -2.99982959e-01 2.42273419e-02 3.07160442e+01] [ 2.99862199e-01 9.53944139e-01 8.55805738e-03 4.90280423e+00] [-2.56788021e-02 -8.96414955e-04 9.99669843e-01 -7.41376170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98592 meters Centerline goodness [0,1] 0.9989120759568787 Centerline is valid? [True, True] Translation: X:30.74, Y:4.91, Z:-0.74 [[ 9.53618896e-01 -2.99944648e-01 2.53812936e-02 3.07430654e+01] [ 2.99811977e-01 9.53956140e-01 8.97005562e-03 4.91153944e+00] [-2.69031611e-02 -9.44398702e-04 9.99637598e-01 -7.43019971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01592 meters Centerline goodness [0,1] 0.9992094861660079 Centerline is valid? [True, True] Translation: X:30.77, Y:4.92, Z:-0.74 [[ 9.53400224e-01 -3.00505043e-01 2.69208622e-02 3.07704612e+01] [ 3.00355812e-01 9.53779711e-01 9.52102584e-03 4.92044252e+00] [-2.85376884e-02 -9.91510737e-04 9.99592225e-01 -7.42157229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045919999999995 meters Centerline goodness [0,1] 0.9999506708760852 Centerline is valid? [True, True] Translation: X:30.80, Y:4.93, Z:-0.74 [[ 9.52755455e-01 -3.02503616e-01 2.73606465e-02 3.07987768e+01] [ 3.02349929e-01 9.53147755e-01 9.68900732e-03 4.92721563e+00] [-2.90096985e-02 -9.58765051e-04 9.99578670e-01 -7.42474395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075919999999996 meters Centerline goodness [0,1] 0.9999011466982998 Centerline is valid? [True, True] Translation: X:30.83, Y:4.94, Z:-0.74 [[ 9.52270195e-01 -3.04058302e-01 2.70189638e-02 3.08263512e+01] [ 3.03908727e-01 9.52652990e-01 9.57949282e-03 4.93737927e+00] [-2.86524210e-02 -9.10966600e-04 9.99589020e-01 -7.41865214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10592 meters Centerline goodness [0,1] 0.9995560378847672 Centerline is valid? [True, True] Translation: X:30.85, Y:4.95, Z:-0.74 [[ 9.52057796e-01 -3.04819558e-01 2.59034698e-02 3.08537209e+01] [ 3.04682034e-01 9.52409730e-01 9.19593808e-03 4.94573102e+00] [-2.74738184e-02 -8.62742683e-04 9.99622151e-01 -7.40191070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13592 meters Centerline goodness [0,1] 0.9996545427626709 Centerline is valid? [True, True] Translation: X:30.88, Y:4.95, Z:-0.74 [[ 9.51831296e-01 -3.05504438e-01 2.61576588e-02 3.08804944e+01] [ 3.05364078e-01 9.52190260e-01 9.29993193e-03 4.95350021e+00] [-2.77482384e-02 -8.64356900e-04 9.99614570e-01 -7.40677377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16592 meters Centerline goodness [0,1] 0.9996552063836075 Centerline is valid? [True, True] Translation: X:30.91, Y:4.96, Z:-0.74 [[ 9.52013104e-01 -3.04998080e-01 2.54405474e-02 3.09076351e+01] [ 3.04864770e-01 9.52352570e-01 9.05834775e-03 4.96011227e+00] [-2.69911494e-02 -8.67739110e-04 9.99635296e-01 -7.40492476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19592 meters Centerline goodness [0,1] 0.9997535610429297 Centerline is valid? [True, True] Translation: X:30.94, Y:4.97, Z:-0.74 [[ 9.52251646e-01 -3.04292104e-01 2.49623371e-02 3.09354199e+01] [ 3.04163214e-01 9.52578363e-01 8.89949609e-03 4.96830719e+00] [-2.64866286e-02 -8.81935102e-04 9.99648779e-01 -7.41738814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225919999999995 meters Centerline goodness [0,1] 0.9998519761188138 Centerline is valid? [True, True] Translation: X:30.96, Y:4.97, Z:-0.74 [[ 9.53292358e-01 -3.01008368e-01 2.50528067e-02 3.09642256e+01] [ 3.00877109e-01 9.53620987e-01 8.94306097e-03 4.97457375e+00] [-2.65828184e-02 -9.87535644e-04 9.99646127e-01 -7.42608982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255919999999996 meters Centerline goodness [0,1] 0.9999013758074856 Centerline is valid? [True, True] Translation: X:30.99, Y:4.98, Z:-0.74 [[ 9.53662253e-01 -2.99861087e-01 2.47312668e-02 3.09917361e+01] [ 2.99732500e-01 9.53982334e-01 8.83936336e-03 4.98367919e+00] [-2.62437727e-02 -1.01700275e-03 9.99655056e-01 -7.42225772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28592 meters Centerline goodness [0,1] 0.9996544916090819 Centerline is valid? [True, True] Translation: X:31.02, Y:5.00, Z:-0.74 [[ 9.55424683e-01 -2.93950690e-01 2.75075819e-02 3.10200888e+01] [ 2.93789144e-01 9.55819685e-01 9.83206961e-03 4.99545719e+00] [-2.91824319e-02 -1.31237307e-03 9.99573241e-01 -7.40437486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31592 meters Centerline goodness [0,1] 0.9995064653045109 Centerline is valid? [True, True] Translation: X:31.05, Y:5.01, Z:-0.74 [[ 9.56272288e-01 -2.91174710e-01 2.75789818e-02 3.10473598e+01] [ 2.91011098e-01 9.56668866e-01 9.86010098e-03 5.00647676e+00] [-2.92549653e-02 -1.40315153e-03 9.99570997e-01 -7.40666876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34592 meters Centerline goodness [0,1] 0.9997531961103707 Centerline is valid? [True, True] Translation: X:31.08, Y:5.02, Z:-0.74 [[ 9.57510903e-01 -2.86930760e-01 2.90449584e-02 3.10752226e+01] [ 2.86747308e-01 9.57949962e-01 1.03851853e-02 5.01833824e+00] [-3.08034459e-02 -1.61536452e-03 9.99524156e-01 -7.41945882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37592 meters Centerline goodness [0,1] 0.9995554238292828 Centerline is valid? [True, True] Translation: X:31.10, Y:5.03, Z:-0.74 [[ 9.58383177e-01 -2.84019299e-01 2.88916051e-02 3.11025166e+01] [ 2.83836378e-01 9.58817052e-01 1.03330013e-02 5.02898026e+00] [-3.06365354e-02 -1.70248608e-03 9.99529141e-01 -7.42491768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405919999999995 meters Centerline goodness [0,1] 0.9993556062258352 Centerline is valid? [True, True] Translation: X:31.13, Y:5.05, Z:-0.74 [[ 9.58739104e-01 -2.82708113e-01 2.99241230e-02 3.11269798e+01] [ 2.82510846e-01 9.59204261e-01 1.07148127e-02 5.04586870e+00] [-3.17325107e-02 -1.81882063e-03 9.99494742e-01 -7.42383065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435919999999996 meters Centerline goodness [0,1] 0.9990587069606143 Centerline is valid? [True, True] Translation: X:31.15, Y:5.06, Z:-0.74 [[ 9.58659626e-01 -2.82829210e-01 3.12947312e-02 3.11523853e+01] [ 2.82613098e-01 9.59168384e-01 1.12181642e-02 5.06030193e+00] [-3.31897413e-02 -1.91010015e-03 9.99447244e-01 -7.41599366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46592 meters Centerline goodness [0,1] 0.9997521439547911 Centerline is valid? [True, True] Translation: X:31.18, Y:5.08, Z:-0.74 [[ 9.57905683e-01 -2.84965632e-01 3.48036064e-02 3.11770559e+01] [ 2.84699159e-01 9.58535528e-01 1.24912398e-02 5.07751971e+00] [-3.69200673e-02 -2.05687209e-03 9.99316105e-01 -7.41307309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49592 meters Centerline goodness [0,1] 0.9997028378980733 Centerline is valid? [True, True] Translation: X:31.20, Y:5.09, Z:-0.74 [[ 9.57362158e-01 -2.86677006e-01 3.56930172e-02 3.12030229e+01] [ 2.86397322e-01 9.58025085e-01 1.28261725e-02 5.08968806e+00] [-3.78717746e-02 -2.05690764e-03 9.99280490e-01 -7.42733338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52592 meters Centerline goodness [0,1] 0.9997522913054249 Centerline is valid? [True, True] Translation: X:31.23, Y:5.10, Z:-0.74 [[ 9.57135000e-01 -2.87751623e-01 3.30392876e-02 3.12290494e+01] [ 2.87512481e-01 9.57703248e-01 1.18769132e-02 5.10223849e+00] [-3.50594341e-02 -1.86860177e-03 9.99383482e-01 -7.43059106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55592 meters Centerline goodness [0,1] 0.9995538591186239 Centerline is valid? [True, True] Translation: X:31.25, Y:5.12, Z:-0.74 [[ 9.56186843e-01 -2.91018057e-01 3.18623878e-02 3.12536838e+01] [ 2.90797424e-01 9.56716072e-01 1.14549257e-02 5.12150587e+00] [-3.38168487e-02 -1.68754890e-03 9.99426622e-01 -7.44976630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58592 meters Centerline goodness [0,1] 0.999752119379307 Centerline is valid? [True, True] Translation: X:31.28, Y:5.14, Z:-0.75 [[ 9.55289703e-01 -2.93643343e-01 3.45712320e-02 3.12774444e+01] [ 2.93384655e-01 9.55913456e-01 1.24462709e-02 5.13725706e+00] [-3.67018704e-02 -1.74712543e-03 9.99324732e-01 -7.46632715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615919999999996 meters Centerline goodness [0,1] 0.9994551218545671 Centerline is valid? [True, True] Translation: X:31.30, Y:5.15, Z:-0.75 [[ 9.54737699e-01 -2.95141119e-01 3.69816898e-02 3.13037771e+01] [ 2.94845542e-01 9.55451932e-01 1.33308771e-02 5.14955202e+00] [-3.92687170e-02 -1.82360453e-03 9.99227022e-01 -7.47147084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64592 meters Centerline goodness [0,1] 0.9994551758296186 Centerline is valid? [True, True] Translation: X:31.33, Y:5.17, Z:-0.75 [[ 9.53701298e-01 -2.98556033e-01 3.63060641e-02 3.13289815e+01] [ 2.98273441e-01 9.54390669e-01 1.30921631e-02 5.16506896e+00] [-3.85589130e-02 -1.65687825e-03 9.99254955e-01 -7.47270437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67592 meters Centerline goodness [0,1] 0.9993565312082364 Centerline is valid? [True, True] Translation: X:31.36, Y:5.18, Z:-0.75 [[ 9.53307787e-01 -2.99843536e-01 3.60293785e-02 3.13555911e+01] [ 2.99565542e-01 9.53987038e-01 1.30083620e-02 5.17672496e+00] [-3.82720333e-02 -1.60781249e-03 9.99266064e-01 -7.48426485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70592 meters Centerline goodness [0,1] 0.9996042346888295 Centerline is valid? [True, True] Translation: X:31.38, Y:5.19, Z:-0.75 [[ 9.52083041e-01 -3.03842689e-01 3.48927501e-02 3.13814794e+01] [ 3.03584097e-01 9.52721164e-01 1.26126406e-02 5.19206056e+00] [-3.70753201e-02 -1.41539715e-03 9.99311472e-01 -7.47733281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73592 meters Centerline goodness [0,1] 0.9994028662420382 Centerline is valid? [True, True] Translation: X:31.41, Y:5.21, Z:-0.75 [[ 9.51190749e-01 -3.06542403e-01 3.56077782e-02 3.14072260e+01] [ 3.06274415e-01 9.51856044e-01 1.28861977e-02 5.20527059e+00] [-3.78436449e-02 -1.35148059e-03 9.99282759e-01 -7.47622023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76592 meters Centerline goodness [0,1] 0.9993558297408454 Centerline is valid? [True, True] Translation: X:31.43, Y:5.22, Z:-0.75 [[ 9.50263464e-01 -3.09399394e-01 3.56561998e-02 3.14340788e+01] [ 3.09132056e-01 9.50931354e-01 1.29202280e-02 5.21685131e+00] [-3.79041090e-02 -1.25514630e-03 9.99280593e-01 -7.48006551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795919999999995 meters Centerline goodness [0,1] 0.9985164672139254 Centerline is valid? [True, True] Translation: X:31.46, Y:5.23, Z:-0.75 [[ 9.48682512e-01 -3.13816857e-01 3.89932323e-02 3.14602460e+01] [ 3.13499978e-01 9.49482776e-01 1.41500062e-02 5.22646389e+00] [-4.14639129e-02 -1.19948598e-03 9.99139282e-01 -7.48220124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825919999999996 meters Centerline goodness [0,1] 0.9997029261771551 Centerline is valid? [True, True] Translation: X:31.49, Y:5.24, Z:-0.75 [[ 9.46988469e-01 -3.18820115e-01 3.95799631e-02 3.14868308e+01] [ 3.18497257e-01 9.47814703e-01 1.43800620e-02 5.23970949e+00] [-4.20991240e-02 -1.01164316e-03 9.99112927e-01 -7.48143283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85592 meters Centerline goodness [0,1] 0.9996043325584846 Centerline is valid? [True, True] Translation: X:31.51, Y:5.25, Z:-0.75 [[ 9.46318766e-01 -3.20953930e-01 3.83323392e-02 3.15138310e+01] [ 3.20652186e-01 9.47094377e-01 1.39433630e-02 5.25171252e+00] [-4.07795200e-02 -9.03517735e-04 9.99167761e-01 -7.48276130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88592 meters Centerline goodness [0,1] 0.9995047298301223 Centerline is valid? [True, True] Translation: X:31.54, Y:5.26, Z:-0.75 [[ 9.45958004e-01 -3.22350659e-01 3.54049062e-02 3.15407447e+01] [ 3.22094051e-01 9.46620008e-01 1.28834575e-02 5.26198990e+00] [-3.76679836e-02 -7.83500055e-04 9.99290003e-01 -7.47340854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91592 meters Centerline goodness [0,1] 0.9987107651113205 Centerline is valid? [True, True] Translation: X:31.57, Y:5.27, Z:-0.75 [[ 9.45149042e-01 -3.24431611e-01 3.79133069e-02 3.15694556e+01] [ 3.24138292e-01 9.45908844e-01 1.38139925e-02 5.26819989e+00] [-4.03442282e-02 -7.67127232e-04 9.99185546e-01 -7.47856795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94592 meters Centerline goodness [0,1] 0.9984185035089453 Centerline is valid? [True, True] Translation: X:31.60, Y:5.28, Z:-0.75 [[ 9.45336175e-01 -3.23500339e-01 4.10736849e-02 3.15980256e+01] [ 3.23155039e-01 9.46227648e-01 1.49686236e-02 5.27682183e+00] [-4.37074110e-02 -8.77213148e-04 9.99043989e-01 -7.47935973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975919999999995 meters Centerline goodness [0,1] 0.9985177133257572 Centerline is valid? [True, True] Translation: X:31.63, Y:5.29, Z:-0.75 [[ 9.45334125e-01 -3.23238902e-01 4.31277604e-02 3.16254712e+01] [ 3.22856993e-01 9.46316915e-01 1.57371598e-02 5.28570793e+00] [-4.58993914e-02 -9.52775228e-04 9.98945613e-01 -7.48615405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005919999999996 meters Centerline goodness [0,1] 0.9989604475025989 Centerline is valid? [True, True] Translation: X:31.65, Y:5.29, Z:-0.75 [[ 9.45221590e-01 -3.23953487e-01 4.01283536e-02 3.16539710e+01] [ 3.23623280e-01 9.46072619e-01 1.46483037e-02 5.29263319e+00] [-4.27097056e-02 -8.59423504e-04 9.99087155e-01 -7.48161325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.03592 meters Centerline goodness [0,1] 0.9994049390062482 Centerline is valid? [True, True] Translation: X:31.68, Y:5.30, Z:-0.75 [[ 9.45158083e-01 -3.24110433e-01 4.03562389e-02 3.16817622e+01] [ 3.23775798e-01 9.46018849e-01 1.47502787e-02 5.30077439e+00] [-4.29584819e-02 -8.74971642e-04 9.99076475e-01 -7.49084850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06592 meters Centerline goodness [0,1] 0.9985151455157395 Centerline is valid? [True, True] Translation: X:31.71, Y:5.31, Z:-0.75 [[ 9.44768477e-01 -3.25219780e-01 4.05539113e-02 3.17079305e+01] [ 3.24881930e-01 9.45638077e-01 1.48444702e-02 5.31020864e+00] [-4.31770380e-02 -8.49354560e-04 9.99067076e-01 -7.51372970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09592 meters Centerline goodness [0,1] 0.9985151455157395 Centerline is valid? [True, True] Translation: X:31.73, Y:5.32, Z:-0.75 [[ 9.44613559e-01 -3.25670353e-01 4.05468324e-02 3.17340403e+01] [ 3.25332089e-01 9.45482998e-01 1.48637945e-02 5.31941059e+00] [-4.31770379e-02 -8.49356186e-04 9.99067076e-01 -7.51396734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12592 meters Centerline goodness [0,1] 0.9984163119865387 Centerline is valid? [True, True] Translation: X:31.76, Y:5.33, Z:-0.75 [[ 9.44544041e-01 -3.25898815e-01 4.03301060e-02 3.17609020e+01] [ 3.25563430e-01 9.45404269e-01 1.48061352e-02 5.32861651e+00] [-4.29535563e-02 -8.55039129e-04 9.99076704e-01 -7.50357251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155919999999995 meters Centerline goodness [0,1] 0.998664490280457 Centerline is valid? [True, True] Translation: X:31.79, Y:5.34, Z:-0.75 [[ 9.44641617e-01 -3.25437349e-01 4.17462219e-02 3.17890541e+01] [ 3.25076652e-01 9.45563152e-01 1.53458478e-02 5.33679409e+00] [-4.44678012e-02 -9.25604413e-04 9.99010389e-01 -7.51227336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185919999999996 meters Centerline goodness [0,1] 0.9988131150783839 Centerline is valid? [True, True] Translation: X:31.82, Y:5.34, Z:-0.75 [[ 9.45506758e-01 -3.23382782e-01 3.79545261e-02 3.18175095e+01] [ 3.23082290e-01 9.46267764e-01 1.39696865e-02 5.34281406e+00] [-4.04327007e-02 -9.45997757e-04 9.99181816e-01 -7.49705283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.21592 meters Centerline goodness [0,1] 0.998761947209429 Centerline is valid? [True, True] Translation: X:31.85, Y:5.35, Z:-0.75 [[ 9.46587233e-01 -3.20413934e-01 3.61596591e-02 3.18462314e+01] [ 3.20138385e-01 9.47277063e-01 1.33259567e-02 5.34847048e+00] [-3.85230379e-02 -1.03808559e-03 9.99257173e-01 -7.50654481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24592 meters Centerline goodness [0,1] 0.9992579033295403 Centerline is valid? [True, True] Translation: X:31.87, Y:5.36, Z:-0.75 [[ 9.47394741e-01 -3.18211821e-01 3.44157155e-02 3.18736855e+01] [ 3.17960098e-01 9.48019012e-01 1.27014939e-02 5.35599635e+00] [-3.66685181e-02 -1.09050420e-03 9.99326889e-01 -7.50131125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27592 meters Centerline goodness [0,1] 0.9989114299851559 Centerline is valid? [True, True] Translation: X:31.90, Y:5.36, Z:-0.75 [[ 9.47839070e-01 -3.16765932e-01 3.55026977e-02 3.19019072e+01] [ 3.16496408e-01 9.48502983e-01 1.31192735e-02 5.36390026e+00] [-3.78301536e-02 -1.19848368e-03 9.99283465e-01 -7.50603481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30592 meters Centerline goodness [0,1] 0.9986629029861833 Centerline is valid? [True, True] Translation: X:31.93, Y:5.37, Z:-0.75 [[ 9.48522093e-01 -3.14669101e-01 3.59053742e-02 3.19291397e+01] [ 3.14391296e-01 9.49200524e-01 1.32845216e-02 5.37454980e+00] [-3.82616285e-02 -1.31232512e-03 9.99266894e-01 -7.49017585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335919999999994 meters Centerline goodness [0,1] 0.9992096423631693 Centerline is valid? [True, True] Translation: X:31.96, Y:5.38, Z:-0.75 [[ 9.48599383e-01 -3.14375900e-01 3.64280663e-02 3.19560042e+01] [ 3.14089078e-01 9.49297606e-01 1.34946507e-02 5.38442697e+00] [-3.88234691e-02 -1.35935953e-03 9.99245160e-01 -7.49553110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365919999999996 meters Centerline goodness [0,1] 0.9992087042532146 Centerline is valid? [True, True] Translation: X:31.98, Y:5.39, Z:-0.75 [[ 9.48204219e-01 -3.15815462e-01 3.41957931e-02 3.19848366e+01] [ 3.15563105e-01 9.48819829e-01 1.26830022e-02 5.39061660e+00] [-3.64511348e-02 -1.23514558e-03 9.99334673e-01 -7.49078708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39592 meters Centerline goodness [0,1] 0.9992087825140935 Centerline is valid? [True, True] Translation: X:32.01, Y:5.40, Z:-0.75 [[ 9.47250777e-01 -3.18726019e-01 3.36108800e-02 3.20137174e+01] [ 3.18483534e-01 9.47846230e-01 1.24804994e-02 5.39726691e+00] [-3.58358057e-02 -1.11765090e-03 9.99357066e-01 -7.49660005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42592 meters Centerline goodness [0,1] 0.9991598299891272 Centerline is valid? [True, True] Translation: X:32.04, Y:5.41, Z:-0.75 [[ 9.46649404e-01 -3.20494079e-01 3.37409520e-02 3.20411449e+01] [ 3.20250273e-01 9.47249915e-01 1.25443736e-02 5.40733918e+00] [-3.59815113e-02 -1.06957465e-03 9.99351883e-01 -7.50143931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45592 meters Centerline goodness [0,1] 0.9990112226232264 Centerline is valid? [True, True] Translation: X:32.07, Y:5.42, Z:-0.75 [[ 9.46280258e-01 -3.21613201e-01 3.34458240e-02 3.20683199e+01] [ 3.21373788e-01 9.46870573e-01 1.24501373e-02 5.41688414e+00] [-3.56729950e-02 -1.03270800e-03 9.99362983e-01 -7.50739066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48592 meters Centerline goodness [0,1] 0.9995551381543176 Centerline is valid? [True, True] Translation: X:32.10, Y:5.42, Z:-0.75 [[ 9.45824420e-01 -3.23020213e-01 3.27736041e-02 3.20971734e+01] [ 3.22790679e-01 9.46391565e-01 1.22140678e-02 5.42369707e+00] [-3.49620533e-02 -9.73349710e-04 9.99388167e-01 -7.50111195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51592 meters Centerline goodness [0,1] 0.9997038207128048 Centerline is valid? [True, True] Translation: X:32.13, Y:5.43, Z:-0.75 [[ 9.45966670e-01 -3.22752268e-01 3.12735276e-02 3.21258975e+01] [ 3.22542638e-01 9.46482999e-01 1.16695928e-02 5.42993171e+00] [-3.33662497e-02 -9.51999785e-04 9.99442738e-01 -7.49790269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545919999999995 meters Centerline goodness [0,1] 0.9998514777959305 Centerline is valid? [True, True] Translation: X:32.16, Y:5.44, Z:-0.75 [[ 9.46431097e-01 -3.21653893e-01 2.84068955e-02 3.21550569e+01] [ 3.21480228e-01 9.46856880e-01 1.06071553e-02 5.43534406e+00] [-3.03090972e-02 -9.06686386e-04 9.99540163e-01 -7.48645363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575919999999996 meters Centerline goodness [0,1] 0.9998515072019007 Centerline is valid? [True, True] Translation: X:32.18, Y:5.44, Z:-0.75 [[ 9.46614641e-01 -3.21275938e-01 2.65045914e-02 3.21832366e+01] [ 3.21124263e-01 9.46985225e-01 9.90915209e-03 5.44356840e+00] [-2.82830286e-02 -8.68881063e-04 9.99599578e-01 -7.48431350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60592 meters Centerline goodness [0,1] 0.9996524847341508 Centerline is valid? [True, True] Translation: X:32.21, Y:5.45, Z:-0.75 [[ 9.47103057e-01 -3.19720782e-01 2.78284360e-02 3.22115093e+01] [ 3.19552538e-01 9.47511306e-01 1.04163475e-02 5.45088249e+00] [-2.96980805e-02 -9.72707236e-04 9.99558441e-01 -7.47777066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63592 meters Centerline goodness [0,1] 0.999653910807871 Centerline is valid? [True, True] Translation: X:32.24, Y:5.46, Z:-0.75 [[ 9.47171922e-01 -3.19392905e-01 2.92150936e-02 3.22394028e+01] [ 3.19207078e-01 9.47621809e-01 1.09430140e-02 5.45760551e+00] [-3.11799809e-02 -1.03925098e-03 9.99513246e-01 -7.47583408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66592 meters Centerline goodness [0,1] 0.9996048992493086 Centerline is valid? [True, True] Translation: X:32.27, Y:5.46, Z:-0.75 [[ 9.47426054e-01 -3.18672963e-01 2.88342749e-02 3.22678345e+01] [ 3.18491211e-01 9.47864134e-01 1.08135376e-02 5.46474912e+00] [-3.07769570e-02 -1.06156416e-03 9.99525714e-01 -7.48657718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69592 meters Centerline goodness [0,1] 0.9996539279181292 Centerline is valid? [True, True] Translation: X:32.30, Y:5.47, Z:-0.75 [[ 9.47456382e-01 -3.18699046e-01 2.75194803e-02 3.22964068e+01] [ 3.18533130e-01 9.47855405e-01 1.03332878e-02 5.47230661e+00] [-2.93776971e-02 -1.02447334e-03 9.99567857e-01 -7.50470639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725919999999995 meters Centerline goodness [0,1] 0.9994069681245367 Centerline is valid? [True, True] Translation: X:32.32, Y:5.48, Z:-0.75 [[ 9.47301231e-01 -3.19389867e-01 2.47080880e-02 3.23239360e+01] [ 3.19256082e-01 9.47622965e-01 9.28820731e-03 5.48092613e+00] [-2.63805109e-02 -9.10522873e-04 9.99651559e-01 -7.49220244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755919999999996 meters Centerline goodness [0,1] 0.9994043186895011 Centerline is valid? [True, True] Translation: X:32.35, Y:5.49, Z:-0.75 [[ 9.47182675e-01 -3.19779683e-01 2.42060766e-02 3.23519294e+01] [ 3.19651094e-01 9.47491508e-01 9.11160615e-03 5.48730433e+00] [-2.58487585e-02 -8.92856644e-04 9.99665466e-01 -7.46798484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78592 meters Centerline goodness [0,1] 0.9998514189490367 Centerline is valid? [True, True] Translation: X:32.38, Y:5.50, Z:-0.75 [[ 9.47235200e-01 -3.19454861e-01 2.63451469e-02 3.23795606e+01] [ 3.19302055e-01 9.47600973e-01 9.92938166e-03 5.49593345e+00] [-2.81366761e-02 -9.93400263e-04 9.99603592e-01 -7.46272128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81592 meters Centerline goodness [0,1] 0.9998023422444038 Centerline is valid? [True, True] Translation: X:32.41, Y:5.50, Z:-0.75 [[ 9.47626568e-01 -3.18067203e-01 2.89333919e-02 3.24082064e+01] [ 3.17882143e-01 9.48067485e-01 1.09081055e-02 5.50279734e+00] [-3.09003187e-02 -1.13940194e-03 9.99521822e-01 -7.47075582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84592 meters Centerline goodness [0,1] 0.9994572725478587 Centerline is valid? [True, True] Translation: X:32.44, Y:5.51, Z:-0.75 [[ 9.48114032e-01 -3.16597618e-01 2.90814591e-02 3.24362366e+01] [ 3.16409563e-01 9.48559168e-01 1.09769487e-02 5.50977320e+00] [-3.10607605e-02 -1.20574728e-03 9.99516771e-01 -7.48331795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87592 meters Centerline goodness [0,1] 0.9997037037037036 Centerline is valid? [True, True] Translation: X:32.46, Y:5.52, Z:-0.75 [[ 9.48564199e-01 -3.15449103e-01 2.67922166e-02 3.24633168e+01] [ 3.15288645e-01 9.48941790e-01 1.01266690e-02 5.51793623e+00] [-2.86187026e-02 -1.15851406e-03 9.99589730e-01 -7.49339291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905919999999995 meters Centerline goodness [0,1] 0.9999506562715879 Centerline is valid? [True, True] Translation: X:32.49, Y:5.53, Z:-0.75 [[ 9.48972341e-01 -3.14331565e-01 2.54393997e-02 3.24907988e+01] [ 3.14186187e-01 9.49312573e-01 9.62700970e-03 5.52677774e+00] [-2.71760150e-02 -1.14305794e-03 9.99630010e-01 -7.49428949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935919999999996 meters Centerline goodness [0,1] 0.9997523894418858 Centerline is valid? [True, True] Translation: X:32.52, Y:5.54, Z:-0.75 [[ 9.49407837e-01 -3.13081698e-01 2.45887933e-02 3.25183046e+01] [ 3.12945170e-01 9.49725502e-01 9.31622563e-03 5.53617353e+00] [-2.62693437e-02 -1.14995353e-03 9.99654240e-01 -7.48846873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96592 meters Centerline goodness [0,1] 0.9998515880083111 Centerline is valid? [True, True] Translation: X:32.55, Y:5.54, Z:-0.75 [[ 9.49164142e-01 -3.13794931e-01 2.49032660e-02 3.25451994e+01] [ 3.13654788e-01 9.49490075e-01 9.44834170e-03 5.54476184e+00] [-2.66102456e-02 -1.15699854e-03 9.99645215e-01 -7.48117364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99592 meters Centerline goodness [0,1] 0.9996545257131576 Centerline is valid? [True, True] Translation: X:32.57, Y:5.56, Z:-0.75 [[ 9.48373755e-01 -3.16107060e-01 2.57594266e-02 3.25715476e+01] [ 3.15957641e-01 9.48722839e-01 9.78489296e-03 5.55683527e+00] [-2.75316301e-02 -1.14084802e-03 9.99620282e-01 -7.48595978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02592 meters Centerline goodness [0,1] 0.9999505562422744 Centerline is valid? [True, True] Translation: X:32.60, Y:5.57, Z:-0.75 [[ 9.47529803e-01 -3.18645603e-01 2.55392409e-02 3.25982629e+01] [ 3.18499330e-01 9.47873323e-01 9.71287843e-03 5.56799334e+00] [-2.73029311e-02 -1.06901068e-03 9.99626634e-01 -7.47679050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05592 meters Centerline goodness [0,1] 0.9999010390895596 Centerline is valid? [True, True] Translation: X:32.63, Y:5.58, Z:-0.75 [[ 9.46966385e-01 -3.20368541e-01 2.48729331e-02 3.26256206e+01] [ 3.20230091e-01 9.47292453e-01 9.47090234e-03 5.57766078e+00] [-2.65961210e-02 -1.00356451e-03 9.99645757e-01 -7.47249155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085919999999994 meters Centerline goodness [0,1] 0.9999505219929741 Centerline is valid? [True, True] Translation: X:32.65, Y:5.59, Z:-0.75 [[ 9.45944389e-01 -3.23433238e-01 2.40863668e-02 3.26520582e+01] [ 3.23304311e-01 9.46250572e-01 9.17480212e-03 5.58849081e+00] [-2.57591744e-02 -8.91626348e-04 9.99667780e-01 -7.46026949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115919999999996 meters Centerline goodness [0,1] 0.9998025958643834 Centerline is valid? [True, True] Translation: X:32.68, Y:5.60, Z:-0.75 [[ 9.45646662e-01 -3.24255648e-01 2.47116319e-02 3.26779530e+01] [ 3.24119881e-01 9.45969057e-01 9.42577348e-03 5.59889609e+00] [-2.64327994e-02 -9.03920031e-04 9.99650184e-01 -7.46317387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14592 meters Centerline goodness [0,1] 0.9998515439429929 Centerline is valid? [True, True] Translation: X:32.70, Y:5.61, Z:-0.75 [[ 9.44905461e-01 -3.26281143e-01 2.63492982e-02 3.27041128e+01] [ 3.26127170e-01 9.45272328e-01 1.00644963e-02 5.61007395e+00] [-2.81911178e-02 -9.16775436e-04 9.99602131e-01 -7.46287179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17592 meters Centerline goodness [0,1] 0.9998021956285233 Centerline is valid? [True, True] Translation: X:32.73, Y:5.62, Z:-0.75 [[ 9.44581499e-01 -3.27205893e-01 2.64970695e-02 3.27308999e+01] [ 3.27050146e-01 9.44952634e-01 1.01351939e-02 5.61928778e+00] [-2.83547708e-02 -9.07646214e-04 9.99597511e-01 -7.45173039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20592 meters Centerline goodness [0,1] 0.9999506416584403 Centerline is valid? [True, True] Translation: X:32.76, Y:5.63, Z:-0.74 [[ 9.44650213e-01 -3.27219734e-01 2.37322723e-02 3.27584643e+01] [ 3.27094521e-01 9.44947918e-01 9.08879117e-03 5.62763028e+00] [-2.53997931e-02 -8.23032273e-04 9.99677034e-01 -7.43509114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:5.64, Z:-0.74 [[ 9.44695968e-01 -3.26970424e-01 2.52956518e-02 3.27861651e+01] [ 3.26827755e-01 9.45034147e-01 9.69942436e-03 5.63627392e+00] [-2.70766797e-02 -8.95685970e-04 9.99632958e-01 -7.44578224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26592 meters Centerline goodness [0,1] 0.9999013028030004 Centerline is valid? [True, True] Translation: X:32.81, Y:5.65, Z:-0.74 [[ 9.45332163e-01 -3.25158568e-01 2.48798588e-02 3.28142493e+01] [ 3.25019616e-01 9.45659038e-01 9.55159695e-03 5.64518845e+00] [-2.66336469e-02 -9.42989662e-04 9.99644817e-01 -7.43936102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295919999999995 meters Centerline goodness [0,1] 0.9998520637112284 Centerline is valid? [True, True] Translation: X:32.84, Y:5.66, Z:-0.75 [[ 9.45680664e-01 -3.24033123e-01 2.62795793e-02 3.28413685e+01] [ 3.23877316e-01 9.46045163e-01 1.01011487e-02 5.65627940e+00] [-2.81347756e-02 -1.04110143e-03 9.99603597e-01 -7.45207599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325919999999996 meters Centerline goodness [0,1] 0.9999505586868387 Centerline is valid? [True, True] Translation: X:32.87, Y:5.67, Z:-0.75 [[ 9.46767201e-01 -3.20960145e-01 2.48284535e-02 3.28676726e+01] [ 3.20819717e-01 9.47092085e-01 9.55466903e-03 5.66896595e+00] [-2.65814998e-02 -1.08058983e-03 9.99646065e-01 -7.46604368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.35592 meters Centerline goodness [0,1] 0.9999504754358162 Centerline is valid? [True, True] Translation: X:32.89, Y:5.68, Z:-0.75 [[ 9.47437209e-01 -3.19073800e-01 2.35508860e-02 3.28944301e+01] [ 3.18946601e-01 9.47729250e-01 9.07378516e-03 5.67936842e+00] [-2.52150706e-02 -1.08536666e-03 9.99681460e-01 -7.47130774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:5.69, Z:-0.75 [[ 9.48132722e-01 -3.17087230e-01 2.23613340e-02 3.29192065e+01] [ 3.16971914e-01 9.48395758e-01 8.61933383e-03 5.69415149e+00] [-2.39404750e-02 -1.08435760e-03 9.99712798e-01 -7.46868392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41592 meters Centerline goodness [0,1] 0.9999505342303127 Centerline is valid? [True, True] Translation: X:32.95, Y:5.71, Z:-0.75 [[ 9.48223543e-01 -3.16862377e-01 2.16874520e-02 3.29454566e+01] [ 3.16753622e-01 9.48470926e-01 8.36937584e-03 5.70621430e+00] [-2.32218580e-02 -1.06646025e-03 9.99729767e-01 -7.46967538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44592 meters Centerline goodness [0,1] 0.9999506465304511 Centerline is valid? [True, True] Translation: X:32.97, Y:5.72, Z:-0.75 [[ 9.48515456e-01 -3.15895471e-01 2.29887012e-02 3.29720672e+01] [ 3.15772729e-01 9.48793282e-01 8.88208097e-03 5.71763186e+00] [-2.46173344e-02 -1.16558617e-03 9.99696268e-01 -7.47119228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475919999999995 meters Centerline goodness [0,1] 0.9999506197224829 Centerline is valid? [True, True] Translation: X:33.00, Y:5.73, Z:-0.75 [[ 9.48087827e-01 -3.17120963e-01 2.37437895e-02 3.29983610e+01] [ 3.16990133e-01 9.48384363e-01 9.18458145e-03 5.73036302e+00] [-2.54308619e-02 -1.18124289e-03 9.99675885e-01 -7.47105495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505919999999996 meters Centerline goodness [0,1] 0.9999505513524205 Centerline is valid? [True, True] Translation: X:33.02, Y:5.75, Z:-0.75 [[ 9.48232345e-01 -3.16683910e-01 2.38059237e-02 3.30229939e+01] [ 3.16551980e-01 9.48530361e-01 9.21941023e-03 5.74775575e+00] [-2.55002803e-02 -1.20633068e-03 9.99674087e-01 -7.48517767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.53592 meters Centerline goodness [0,1] 0.999900911613159 Centerline is valid? [True, True] Translation: X:33.05, Y:5.76, Z:-0.75 [[ 9.47959142e-01 -3.17579892e-01 2.27261182e-02 3.30481504e+01] [ 3.17459682e-01 9.48230836e-01 8.81096379e-03 5.76335981e+00] [-2.43477910e-02 -1.13780742e-03 9.99702901e-01 -7.48123255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56592 meters Centerline goodness [0,1] 0.9999007690399404 Centerline is valid? [True, True] Translation: X:33.07, Y:5.78, Z:-0.75 [[ 9.47387047e-01 -3.19201007e-01 2.38432309e-02 3.30742896e+01] [ 3.19068912e-01 9.47686325e-01 9.25521685e-03 5.77692749e+00] [-2.55501784e-02 -1.16063883e-03 9.99672867e-01 -7.46858256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59592 meters Centerline goodness [0,1] 0.9996536882204522 Centerline is valid? [True, True] Translation: X:33.10, Y:5.79, Z:-0.75 [[ 9.46894176e-01 -3.20572143e-01 2.49983979e-02 3.31010487e+01] [ 3.20427053e-01 9.47223354e-01 9.71701991e-03 5.78677060e+00] [-2.67940722e-02 -1.19082658e-03 9.99640265e-01 -7.46941619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62592 meters Centerline goodness [0,1] 0.9998021760633037 Centerline is valid? [True, True] Translation: X:33.13, Y:5.80, Z:-0.75 [[ 9.46054587e-01 -3.23176860e-01 2.31826442e-02 3.31269796e+01] [ 3.23052618e-01 9.46338008e-01 9.02115510e-03 5.79987884e+00] [-2.48540459e-02 -1.04529128e-03 9.99690544e-01 -7.45630836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.15, Y:5.82, Z:-0.75 [[ 9.44483188e-01 -3.27602253e-01 2.50653393e-02 3.31512354e+01] [ 3.27458246e-01 9.44815185e-01 9.76546375e-03 5.81708783e+00] [-2.68813011e-02 -1.01546429e-03 9.99638117e-01 -7.48547033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.18, Y:5.83, Z:-0.75 [[ 9.43509215e-01 -3.30251625e-01 2.69114194e-02 3.31773592e+01] [ 3.30086330e-01 9.43892378e-01 1.04973188e-02 5.83092656e+00] [-2.88682403e-02 -1.02122539e-03 9.99582704e-01 -7.49964828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.20, Y:5.85, Z:-0.75 [[ 9.41949786e-01 -3.34582374e-01 2.80220563e-02 3.32025306e+01] [ 3.34404663e-01 9.42366041e-01 1.09437260e-02 5.84593101e+00] [-3.00686121e-02 -9.37734085e-04 9.99547397e-01 -7.49718278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.23, Y:5.86, Z:-0.75 [[ 9.40927367e-01 -3.37542706e-01 2.68442123e-02 3.32279269e+01] [ 3.37380463e-01 9.41309858e-01 1.04963472e-02 5.86123243e+00] [-2.88116871e-02 -8.19587549e-04 9.99584521e-01 -7.49150883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77592 meters Centerline goodness [0,1] 0.9998516687268232 Centerline is valid? [True, True] Translation: X:33.25, Y:5.87, Z:-0.75 [[ 9.40224346e-01 -3.39538218e-01 2.63054695e-02 3.32536439e+01] [ 3.39382851e-01 9.40591957e-01 1.02981314e-02 5.87395527e+00] [-2.82393222e-02 -7.54928625e-04 9.99600906e-01 -7.48187282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80592 meters Centerline goodness [0,1] 0.9996538936959208 Centerline is valid? [True, True] Translation: X:33.28, Y:5.89, Z:-0.75 [[ 9.39281395e-01 -3.42000547e-01 2.80372336e-02 3.32791471e+01] [ 3.41824678e-01 9.39699461e-01 1.09914272e-02 5.88537635e+00] [-3.01056474e-02 -7.40224708e-04 9.99546448e-01 -7.48871638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835919999999994 meters Centerline goodness [0,1] 0.999605016293078 Centerline is valid? [True, True] Translation: X:33.30, Y:5.90, Z:-0.75 [[ 9.37389816e-01 -3.47174677e-01 2.77502681e-02 3.33046240e+01] [ 3.47004251e-01 9.37800302e-01 1.08923571e-02 5.89901353e+00] [-2.98057604e-02 -5.80923565e-04 9.99555541e-01 -7.48630364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865919999999996 meters Centerline goodness [0,1] 0.9997035280166024 Centerline is valid? [True, True] Translation: X:33.33, Y:5.91, Z:-0.75 [[ 9.36198653e-01 -3.50266814e-01 2.90730248e-02 3.33305993e+01] [ 3.50080737e-01 9.36649822e-01 1.14275738e-02 5.91120224e+00] [-3.12339434e-02 -5.20573256e-04 9.99511966e-01 -7.49848049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89592 meters Centerline goodness [0,1] 0.9996540647393131 Centerline is valid? [True, True] Translation: X:33.36, Y:5.92, Z:-0.75 [[ 9.34595618e-01 -3.54526145e-01 2.90214301e-02 3.33573039e+01] [ 3.54342367e-01 9.35046021e-01 1.14204252e-02 5.92383680e+00] [-3.11852120e-02 -3.89957080e-04 9.99513547e-01 -7.49731979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92592 meters Centerline goodness [0,1] 0.9997530498345434 Centerline is valid? [True, True] Translation: X:33.38, Y:5.93, Z:-0.75 [[ 9.32989207e-01 -3.58473203e-01 3.20640441e-02 3.33843502e+01] [ 3.58250641e-01 9.33539968e-01 1.26335011e-02 5.93339911e+00] [-3.44618383e-02 -2.99955774e-04 9.99405969e-01 -7.49269246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95592 meters Centerline goodness [0,1] 0.9996531390912244 Centerline is valid? [True, True] Translation: X:33.41, Y:5.94, Z:-0.75 [[ 9.31868463e-01 -3.61377213e-01 3.20574153e-02 3.34112486e+01] [ 3.61155907e-01 9.32419684e-01 1.26468959e-02 5.94356388e+00] [-3.44612651e-02 -2.07518550e-04 9.99406013e-01 -7.47871885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98592 meters Centerline goodness [0,1] 0.9996531390912244 Centerline is valid? [True, True] Translation: X:33.44, Y:5.95, Z:-0.75 [[ 9.31690095e-01 -3.61837379e-01 3.20511887e-02 3.34371126e+01] [ 3.61615802e-01 9.32241207e-01 1.26626676e-02 5.95340641e+00] [-3.44612653e-02 -2.07465648e-04 9.99406013e-01 -7.47895656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01592 meters Centerline goodness [0,1] 0.9995059532631787 Centerline is valid? [True, True] Translation: X:33.46, Y:5.96, Z:-0.75 [[ 9.30803508e-01 -3.64103989e-01 3.21420978e-02 3.34635046e+01] [ 3.63881869e-01 9.31358290e-01 1.27169290e-02 5.96231199e+00] [-3.45660939e-02 -1.41035504e-04 9.99402404e-01 -7.49219271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045919999999995 meters Centerline goodness [0,1] 0.999159414556962 Centerline is valid? [True, True] Translation: X:33.49, Y:5.97, Z:-0.75 [[ 9.29998791e-01 -3.66218056e-01 3.14099360e-02 3.34914285e+01] [ 3.66006612e-01 9.30529059e-01 1.24430897e-02 5.97113012e+00] [-3.37847423e-02 -7.58141788e-05 9.99429130e-01 -7.49190511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075919999999996 meters Centerline goodness [0,1] 0.9998517713325757 Centerline is valid? [True, True] Translation: X:33.52, Y:5.98, Z:-0.75 [[ 9.29144232e-01 -3.68350825e-01 3.17595024e-02 3.35196013e+01] [ 3.68135260e-01 9.29686866e-01 1.26000431e-02 5.97743134e+00] [-3.41676285e-02 -1.54646708e-05 9.99416116e-01 -7.50296874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10592 meters Centerline goodness [0,1] 0.9998021271333168 Centerline is valid? [True, True] Translation: X:33.55, Y:5.98, Z:-0.75 [[ 9.29196848e-01 -3.68092280e-01 3.31857010e-02 3.35483598e+01] [ 3.67856146e-01 9.29789262e-01 1.31827197e-02 5.98437741e+00] [-3.57081658e-02 -4.17774872e-05 9.99362259e-01 -7.50799674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13592 meters Centerline goodness [0,1] 0.9998519468982875 Centerline is valid? [True, True] Translation: X:33.58, Y:5.99, Z:-0.75 [[ 9.29088566e-01 -3.68363122e-01 3.32121465e-02 3.35758585e+01] [ 3.68126100e-01 9.29681993e-01 1.32123560e-02 5.99264991e+00] [-3.57436793e-02 -4.91908954e-05 9.99360989e-01 -7.51164895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16592 meters Centerline goodness [0,1] 0.9999010978142617 Centerline is valid? [True, True] Translation: X:33.60, Y:6.00, Z:-0.75 [[ 9.29874474e-01 -3.66515668e-01 3.16184803e-02 3.36042710e+01] [ 3.66299484e-01 9.30411871e-01 1.25871971e-02 6.00086875e+00] [-3.40316143e-02 -1.22680247e-04 9.99420749e-01 -7.50702943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19592 meters Centerline goodness [0,1] 0.999553748512495 Centerline is valid? [True, True] Translation: X:33.63, Y:6.01, Z:-0.75 [[ 9.31441018e-01 -3.62595370e-01 3.06957231e-02 3.36323279e+01] [ 3.62388920e-01 9.31946631e-01 1.22371591e-02 6.00671476e+00] [-3.30439130e-02 -2.74401979e-04 9.99453863e-01 -7.50355517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225919999999995 meters Centerline goodness [0,1] 0.9997034694079272 Centerline is valid? [True, True] Translation: X:33.66, Y:6.01, Z:-0.75 [[ 9.33319146e-01 -3.57813807e-01 2.97430691e-02 3.36612653e+01] [ 3.57617074e-01 9.33792848e-01 1.18720635e-02 6.01309540e+00] [-3.20218534e-02 -4.43794856e-04 9.99487070e-01 -7.49554851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255919999999996 meters Centerline goodness [0,1] 0.9999012004149582 Centerline is valid? [True, True] Translation: X:33.69, Y:6.02, Z:-0.75 [[ 9.33635344e-01 -3.56844799e-01 3.14139042e-02 3.36889588e+01] [ 3.56624266e-01 9.34163541e-01 1.25543581e-02 6.02217098e+00] [-3.38256813e-02 -5.18231898e-04 9.99427614e-01 -7.50549972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28592 meters Centerline goodness [0,1] 0.9998020683853729 Centerline is valid? [True, True] Translation: X:33.72, Y:6.03, Z:-0.75 [[ 9.34410513e-01 -3.54871793e-01 3.07083550e-02 3.37166784e+01] [ 3.54659495e-01 9.34914788e-01 1.22874185e-02 6.03086032e+00] [-3.30701534e-02 -5.90483360e-04 9.99452858e-01 -7.49381594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.31592 meters Centerline goodness [0,1] 0.9994561186650185 Centerline is valid? [True, True] Translation: X:33.74, Y:6.04, Z:-0.75 [[ 9.35672868e-01 -3.51616653e-01 2.96986962e-02 3.37446227e+01] [ 3.51415987e-01 9.36143816e-01 1.18978701e-02 6.03871657e+00] [-3.19857401e-02 -6.95917567e-04 9.99488083e-01 -7.50901965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34592 meters Centerline goodness [0,1] 0.9993075134787555 Centerline is valid? [True, True] Translation: X:33.77, Y:6.05, Z:-0.75 [[ 9.35737972e-01 -3.51466364e-01 2.94251991e-02 3.37715704e+01] [ 3.51268790e-01 9.36200241e-01 1.18044683e-02 6.04711240e+00] [-3.16967521e-02 -7.09735164e-04 9.99497280e-01 -7.51394897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37592 meters Centerline goodness [0,1] 0.9995054401582592 Centerline is valid? [True, True] Translation: X:33.80, Y:6.06, Z:-0.75 [[ 9.36134894e-01 -3.50465859e-01 2.87252814e-02 3.37988920e+01] [ 3.50276615e-01 9.36575215e-01 1.15394857e-02 6.05507387e+00] [-3.09475823e-02 -7.40720863e-04 9.99520734e-01 -7.51417219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405919999999995 meters Centerline goodness [0,1] 0.9997035573122529 Centerline is valid? [True, True] Translation: X:33.82, Y:6.07, Z:-0.75 [[ 9.35972604e-01 -3.50902207e-01 2.86866861e-02 3.38246782e+01] [ 3.50713190e-01 9.36411818e-01 1.15397023e-02 6.06513761e+00] [-3.09118589e-02 -7.40045981e-04 9.99521840e-01 -7.51064699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435919999999996 meters Centerline goodness [0,1] 0.9995051464766429 Centerline is valid? [True, True] Translation: X:33.85, Y:6.07, Z:-0.75 [[ 9.36283523e-01 -3.50041273e-01 2.90563593e-02 3.38525869e+01] [ 3.49846501e-01 9.36733944e-01 1.17023432e-02 6.07437225e+00] [-3.13143812e-02 -7.91445531e-04 9.99509271e-01 -7.52287637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46592 meters Centerline goodness [0,1] 0.9992584902862227 Centerline is valid? [True, True] Translation: X:33.88, Y:6.08, Z:-0.75 [[ 9.36039421e-01 -3.50771171e-01 2.81031571e-02 3.38796950e+01] [ 3.50588892e-01 9.36460899e-01 1.13319310e-02 6.08349567e+00] [-3.02924225e-02 -7.54479407e-04 9.99540795e-01 -7.52208368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.49592 meters Centerline goodness [0,1] 0.99925764624369 Centerline is valid? [True, True] Translation: X:33.91, Y:6.09, Z:-0.75 [[ 9.35720277e-01 -3.51452736e-01 3.01419509e-02 3.39062634e+01] [ 3.51243218e-01 9.36205292e-01 1.21594595e-02 6.09358006e+00] [-3.24925293e-02 -7.90696936e-04 9.99471666e-01 -7.52290333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52592 meters Centerline goodness [0,1] 0.9993078558362585 Centerline is valid? [True, True] Translation: X:33.93, Y:6.11, Z:-0.75 [[ 9.36388725e-01 -3.49595659e-01 3.09682375e-02 3.39322445e+01] [ 3.49373301e-01 9.36900259e-01 1.24980691e-02 6.10513170e+00] [-3.33834204e-02 -8.83575655e-04 9.99442228e-01 -7.51597184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55592 meters Centerline goodness [0,1] 0.9991599130262898 Centerline is valid? [True, True] Translation: X:33.96, Y:6.12, Z:-0.75 [[ 9.37116572e-01 -3.47866303e-01 2.83119522e-02 3.39599024e+01] [ 3.47679300e-01 9.37543742e-01 1.14383409e-02 6.11526977e+00] [-3.05227069e-02 -8.75579079e-04 9.99533690e-01 -7.51636493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585919999999994 meters Centerline goodness [0,1] 0.9993574852962981 Centerline is valid? [True, True] Translation: X:33.99, Y:6.13, Z:-0.75 [[ 9.37603387e-01 -3.46724146e-01 2.61200174e-02 3.39861290e+01] [ 3.46564145e-01 9.37966756e-01 1.05668712e-02 6.12537545e+00] [-2.81634973e-02 -8.55272782e-04 9.99602964e-01 -7.51735011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615919999999996 meters Centerline goodness [0,1] 0.9989625018526752 Centerline is valid? [True, True] Translation: X:34.01, Y:6.14, Z:-0.75 [[ 9.38724653e-01 -3.43818702e-01 2.41811227e-02 3.40130890e+01] [ 3.43680313e-01 9.39035633e-01 9.79401437e-03 6.13691995e+00] [-2.60743011e-02 -8.83306932e-04 9.99659617e-01 -7.51011873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64592 meters Centerline goodness [0,1] 0.9991600375512624 Centerline is valid? [True, True] Translation: X:34.04, Y:6.15, Z:-0.75 [[ 9.39500908e-01 -3.41528615e-01 2.63865402e-02 3.40402049e+01] [ 3.41362862e-01 9.39870807e-01 1.06893960e-02 6.14900951e+00] [-2.84506734e-02 -1.03531235e-03 9.99594662e-01 -7.51621231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.67592 meters Centerline goodness [0,1] 0.9991569551202579 Centerline is valid? [True, True] Translation: X:34.07, Y:6.16, Z:-0.75 [[ 9.40205133e-01 -3.39577020e-01 2.64906518e-02 3.40653801e+01] [ 3.39408836e-01 9.40577597e-01 1.07437027e-02 6.16343680e+00] [-2.85648282e-02 -1.11012311e-03 9.99591326e-01 -7.50525777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70592 meters Centerline goodness [0,1] 0.9989106753812637 Centerline is valid? [True, True] Translation: X:34.09, Y:6.18, Z:-0.75 [[ 9.40453028e-01 -3.39035087e-01 2.45624145e-02 3.40907231e+01] [ 3.38890011e-01 9.40773137e-01 9.97320623e-03 6.17909989e+00] [-2.64889266e-02 -1.05537510e-03 9.99648550e-01 -7.49937802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73592 meters Centerline goodness [0,1] 0.9989112144907453 Centerline is valid? [True, True] Translation: X:34.12, Y:6.19, Z:-0.75 [[ 9.40049110e-01 -3.40134654e-01 2.48211318e-02 3.41170564e+01] [ 3.39986576e-01 9.40376160e-01 1.00898560e-02 6.19191997e+00] [-2.67731103e-02 -1.04610854e-03 9.99640989e-01 -7.51283897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76592 meters Centerline goodness [0,1] 0.9988114693210518 Centerline is valid? [True, True] Translation: X:34.14, Y:6.20, Z:-0.75 [[ 9.39750388e-01 -3.41086490e-01 2.30046431e-02 3.41433275e+01] [ 3.40959315e-01 9.40031433e-01 9.36217825e-03 6.20479754e+00] [-2.48184002e-02 -9.54463285e-04 9.99691520e-01 -7.50935643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795919999999995 meters Centerline goodness [0,1] 0.9990591264732098 Centerline is valid? [True, True] Translation: X:34.17, Y:6.22, Z:-0.75 [[ 9.38284247e-01 -3.44962489e-01 2.49710449e-02 3.41680707e+01] [ 3.44813687e-01 9.38616005e-01 1.01742766e-02 6.22031626e+00] [-2.69479661e-02 -9.36005398e-04 9.99636399e-01 -7.52096397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825919999999996 meters Centerline goodness [0,1] 0.9990116623838703 Centerline is valid? [True, True] Translation: X:34.19, Y:6.23, Z:-0.75 [[ 9.37347893e-01 -3.47500756e-01 2.49429896e-02 3.41939930e+01] [ 3.47352867e-01 9.37679296e-01 1.01746541e-02 6.23246927e+00] [-2.69242250e-02 -8.73171628e-04 9.99637096e-01 -7.51815868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.85592 meters Centerline goodness [0,1] 0.999158582458919 Centerline is valid? [True, True] Translation: X:34.22, Y:6.25, Z:-0.75 [[ 9.35643731e-01 -3.52210442e-01 2.27730995e-02 3.42203352e+01] [ 3.52088533e-01 9.35920589e-01 9.29061207e-03 6.24627218e+00] [-2.45860633e-02 -6.74555755e-04 9.99697489e-01 -7.50262255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88592 meters Centerline goodness [0,1] 0.9992065459955368 Centerline is valid? [True, True] Translation: X:34.25, Y:6.26, Z:-0.75 [[ 9.34562504e-01 -3.55166112e-01 2.12122432e-02 3.42460618e+01] [ 3.55060891e-01 9.34803035e-01 8.66308051e-03 6.25930357e+00] [-2.29061019e-02 -5.64552235e-04 9.99737461e-01 -7.48983701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91592 meters Centerline goodness [0,1] 0.9993064500148617 Centerline is valid? [True, True] Translation: X:34.27, Y:6.27, Z:-0.75 [[ 9.33888708e-01 -3.56940804e-01 2.10983965e-02 3.42723091e+01] [ 3.56836926e-01 9.34126856e-01 8.62698050e-03 6.27221400e+00] [-2.27879002e-02 -5.27952713e-04 9.99740183e-01 -7.49827499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94592 meters Centerline goodness [0,1] 0.9991592482690406 Centerline is valid? [True, True] Translation: X:34.30, Y:6.29, Z:-0.75 [[ 9.32733847e-01 -3.59867295e-01 2.24299048e-02 3.42977467e+01] [ 3.59750461e-01 9.33003368e-01 9.18268479e-03 6.28531033e+00] [-2.42317247e-02 -4.95832329e-04 9.99706246e-01 -7.51801984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975919999999995 meters Centerline goodness [0,1] 0.99900985197287 Centerline is valid? [True, True] Translation: X:34.32, Y:6.30, Z:-0.75 [[ 9.32347275e-01 -3.60803374e-01 2.34410679e-02 3.43246229e+01] [ 3.60675770e-01 9.32641770e-01 9.60815929e-03 6.29690396e+00] [-2.53287754e-02 -5.03515893e-04 9.99679048e-01 -7.50908042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005919999999996 meters Centerline goodness [0,1] 0.9989593141384607 Centerline is valid? [True, True] Translation: X:34.35, Y:6.31, Z:-0.75 [[ 9.31266327e-01 -3.63554769e-01 2.38947462e-02 3.43501677e+01] [ 3.63422779e-01 9.31572718e-01 9.80584034e-03 6.31051801e+00] [-2.58246537e-02 -4.47953858e-04 9.99666388e-01 -7.51501061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03592 meters Centerline goodness [0,1] 0.9991085136942202 Centerline is valid? [True, True] Translation: X:34.38, Y:6.32, Z:-0.75 [[ 9.30719503e-01 -3.65037346e-01 2.25597586e-02 3.43762634e+01] [ 3.64919859e-01 9.30992793e-01 9.26912408e-03 6.32257259e+00] [-2.43865491e-02 -3.94450641e-04 9.99702526e-01 -7.50955426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06592 meters Centerline goodness [0,1] 0.9989621942179392 Centerline is valid? [True, True] Translation: X:34.40, Y:6.33, Z:-0.75 [[ 9.30053742e-01 -3.66786105e-01 2.16330859e-02 3.44036032e+01] [ 3.66678294e-01 9.30305237e-01 8.89910742e-03 6.33340030e+00] [-2.33894421e-02 -3.44265104e-04 9.99726370e-01 -7.51146059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09592 meters Centerline goodness [0,1] 0.9992076069730587 Centerline is valid? [True, True] Translation: X:34.43, Y:6.34, Z:-0.75 [[ 9.29607582e-01 -3.67813286e-01 2.33051499e-02 3.44305428e+01] [ 3.67688192e-01 9.29899598e-01 9.59853643e-03 6.34443262e+00] [-2.52019187e-02 -3.53843823e-04 9.99682319e-01 -7.51608994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12592 meters Centerline goodness [0,1] 0.9993562444290384 Centerline is valid? [True, True] Translation: X:34.46, Y:6.36, Z:-0.75 [[ 9.29194169e-01 -3.68908180e-01 2.24710994e-02 3.44564279e+01] [ 3.68791929e-01 9.29465788e-01 9.26623275e-03 6.35745393e+00] [-2.43045072e-02 -3.22969351e-04 9.99704550e-01 -7.51125038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155919999999995 meters Centerline goodness [0,1] 0.9996033123419448 Centerline is valid? [True, True] Translation: X:34.48, Y:6.37, Z:-0.75 [[ 9.29181601e-01 -3.68921752e-01 2.27660474e-02 3.44833867e+01] [ 3.68802154e-01 9.29460396e-01 9.39918300e-03 6.36872823e+00] [-2.46277025e-02 -3.37380609e-04 9.99696635e-01 -7.51152364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:6.38, Z:-0.75 [[ 9.29568871e-01 -3.67764293e-01 2.55174256e-02 3.45106575e+01] [ 3.67613401e-01 9.29918948e-01 1.05422087e-02 6.37720382e+00] [-2.76061855e-02 -4.19161388e-04 9.99618789e-01 -7.50668852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.54, Y:6.39, Z:-0.75 [[ 9.30081995e-01 -3.66397042e-01 2.64705551e-02 3.45378001e+01] [ 3.66233739e-01 9.30458472e-01 1.09489548e-02 6.38778950e+00] [-2.86414169e-02 -4.89015292e-04 9.99589631e-01 -7.51035984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.56, Y:6.40, Z:-0.75 [[ 9.30729543e-01 -3.64891754e-01 2.44238736e-02 3.45636545e+01] [ 3.64751896e-01 9.31049812e-01 1.01144128e-02 6.40119027e+00] [-2.64305087e-02 -5.05128578e-04 9.99650525e-01 -7.52954418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:6.41, Z:-0.75 [[ 9.31133657e-01 -3.63867727e-01 2.42979389e-02 3.45905765e+01] [ 3.63728647e-01 9.31450473e-01 1.00741582e-02 6.41231105e+00] [-2.62979877e-02 -5.42531300e-04 9.99654001e-01 -7.52726077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30592 meters Centerline goodness [0,1] 0.9999504876961925 Centerline is valid? [True, True] Translation: X:34.62, Y:6.42, Z:-0.75 [[ 9.31337247e-01 -3.63345424e-01 2.43111976e-02 3.46183258e+01] [ 3.63205699e-01 9.31654324e-01 1.00916109e-02 6.42086782e+00] [-2.63163730e-02 -5.68727611e-04 9.99653502e-01 -7.51638534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:6.43, Z:-0.75 [[ 9.31070420e-01 -3.64119881e-01 2.29038176e-02 3.46452864e+01] [ 3.63995825e-01 9.31351940e-01 9.51860606e-03 6.43203962e+00] [-2.47974287e-02 -5.25598571e-04 9.99692358e-01 -7.49896361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:6.45, Z:-0.75 [[ 9.30896519e-01 -3.64323475e-01 2.64589518e-02 3.46706775e+01] [ 3.64157612e-01 9.31272264e-01 1.10092741e-02 6.44572036e+00] [-2.86514249e-02 -6.13266218e-04 9.99589276e-01 -7.50876426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.70, Y:6.46, Z:-0.75 [[ 9.30698538e-01 -3.64785172e-01 2.70556814e-02 3.46965267e+01] [ 3.64611547e-01 9.31091503e-01 1.12708504e-02 6.45782498e+00] [-2.93027541e-02 -6.24950112e-04 9.99570387e-01 -7.51417756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42592 meters Centerline goodness [0,1] 0.9999504631693664 Centerline is valid? [True, True] Translation: X:34.72, Y:6.47, Z:-0.75 [[ 9.30317254e-01 -3.65701606e-01 2.77874532e-02 3.47217949e+01] [ 3.65518399e-01 9.30731939e-01 1.15912778e-02 6.46942213e+00] [-3.01016191e-02 -6.26740347e-04 9.99546647e-01 -7.52161472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.75, Y:6.48, Z:-0.75 [[ 9.30356898e-01 -3.65745616e-01 2.58105736e-02 3.47486564e+01] [ 3.65587217e-01 9.30714668e-01 1.07793351e-02 6.48065006e+00] [-2.79647740e-02 -5.92613009e-04 9.99608734e-01 -7.53014581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:6.49, Z:-0.75 [[ 9.29520913e-01 -3.67957468e-01 2.44575791e-02 3.47755285e+01] [ 3.67815707e-01 9.29842483e-01 1.02256209e-02 6.49132624e+00] [-2.65042896e-02 -5.09046765e-04 9.99648570e-01 -7.51701018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.80, Y:6.50, Z:-0.75 [[ 9.28623375e-01 -3.70236750e-01 2.41531968e-02 3.48024230e+01] [ 3.70098947e-01 9.28937321e-01 1.01105569e-02 6.50208619e+00] [-2.61801057e-02 -4.49826754e-04 9.99657141e-01 -7.52048330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:6.51, Z:-0.75 [[ 9.27662476e-01 -3.72603931e-01 2.46706556e-02 3.48291117e+01] [ 3.72460665e-01 9.27990382e-01 1.03394578e-02 6.51410112e+00] [-2.67466537e-02 -4.02678198e-04 9.99642163e-01 -7.53300780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.85, Y:6.53, Z:-0.75 [[ 9.26985652e-01 -3.74218784e-01 2.56496019e-02 3.48542825e+01] [ 3.74064132e-01 9.27340366e-01 1.07643480e-02 6.52671032e+00] [-2.78141325e-02 -3.83800095e-04 9.99613038e-01 -7.54592995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.88, Y:6.54, Z:-0.75 [[ 9.27336237e-01 -3.73421243e-01 2.45780112e-02 3.48802873e+01] [ 3.73278590e-01 9.27661799e-01 1.03286803e-02 6.53639865e+00] [-2.66570307e-02 -4.03714167e-04 9.99644557e-01 -7.52453044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:6.55, Z:-0.75 [[ 9.27112057e-01 -3.73959631e-01 2.48481139e-02 3.49058312e+01] [ 3.73813629e-01 9.27444893e-01 1.04566051e-02 6.54747371e+00] [-2.69556045e-02 -4.05881029e-04 9.99636549e-01 -7.52343047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:6.56, Z:-0.75 [[ 9.27417018e-01 -3.73251642e-01 2.41015839e-02 3.49313807e+01] [ 3.73113684e-01 9.27730041e-01 1.01562574e-02 6.55879848e+00] [-2.61506032e-02 -4.26455247e-04 9.99657924e-01 -7.53086242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.96, Y:6.57, Z:-0.75 [[ 9.27652584e-01 -3.72766028e-01 2.24982525e-02 3.49577739e+01] [ 3.72645397e-01 9.27925272e-01 9.49195835e-03 6.56979464e+00] [-2.44149767e-02 -4.21369437e-04 9.99701821e-01 -7.54752919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.98, Y:6.58, Z:-0.75 [[ 9.27350465e-01 -3.73464169e-01 2.33586939e-02 3.49848729e+01] [ 3.73334057e-01 9.27644506e-01 9.86672422e-03 6.57934312e+00] [-2.53534320e-02 -4.29315347e-04 9.99678458e-01 -7.54755275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:6.59, Z:-0.75 [[ 9.27124104e-01 -3.73969782e-01 2.42383538e-02 3.50121910e+01] [ 3.73829535e-01 9.27440783e-01 1.02504544e-02 6.58976843e+00] [-2.63129981e-02 -4.42430811e-04 9.99653655e-01 -7.54251403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:6.60, Z:-0.75 [[ 9.26935373e-01 -3.74434330e-01 2.42846896e-02 3.50380499e+01] [ 3.74293340e-01 9.27253329e-01 1.02839286e-02 6.60146314e+00] [-2.63687152e-02 -4.42939643e-04 9.99652187e-01 -7.54582698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.06, Y:6.62, Z:-0.75 [[ 9.26592968e-01 -3.75372307e-01 2.28276649e-02 3.50640048e+01] [ 3.75247867e-01 9.26874033e-01 9.67286821e-03 6.61567224e+00] [-2.47892967e-02 -3.96779092e-04 9.99692619e-01 -7.54845922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.09, Y:6.63, Z:-0.75 [[ 9.26337066e-01 -3.75974376e-01 2.33003813e-02 3.50900663e+01] [ 3.75844580e-01 9.26629973e-01 9.88655647e-03 6.62615554e+00] [-2.53079237e-02 -4.00961668e-04 9.99679623e-01 -7.54899505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.12, Y:6.64, Z:-0.75 [[ 9.26724960e-01 -3.75025784e-01 2.31626745e-02 3.51172577e+01] [ 3.74896927e-01 9.27014278e-01 9.83984288e-03 6.63566184e+00] [-2.51623247e-02 -4.35212526e-04 9.99683284e-01 -7.52075542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.14, Y:6.65, Z:-0.75 [[ 9.26540442e-01 -3.75481721e-01 2.31578537e-02 3.51428444e+01] [ 3.75352723e-01 9.26829697e-01 9.85118284e-03 6.64617734e+00] [-2.51623256e-02 -4.35155872e-04 9.99683284e-01 -7.52099310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.17, Y:6.66, Z:-0.75 [[ 9.26296050e-01 -3.76061893e-01 2.35176536e-02 3.51695355e+01] [ 3.75928691e-01 9.26594442e-01 1.00179245e-02 6.65612569e+00] [-2.55586868e-02 -4.38603170e-04 9.99673227e-01 -7.53548332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.20, Y:6.67, Z:-0.75 [[ 9.26410318e-01 -3.75761193e-01 2.38211799e-02 3.51973038e+01] [ 3.75624120e-01 9.26716413e-01 1.01592283e-02 6.66580115e+00] [-2.58929222e-02 -4.63804210e-04 9.99664614e-01 -7.54887930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.22, Y:6.68, Z:-0.76 [[ 9.25768025e-01 -3.77310051e-01 2.43040863e-02 3.52234693e+01] [ 3.77167531e-01 9.26086891e-01 1.03789852e-02 6.67666227e+00] [-2.64237912e-02 -4.41820411e-04 9.99650733e-01 -7.55448843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.25, Y:6.69, Z:-0.75 [[ 9.25836648e-01 -3.77266843e-01 2.22762155e-02 3.52508846e+01] [ 3.77146852e-01 9.26104506e-01 9.52344211e-03 6.68754815e+00] [-2.42229825e-02 -4.15747168e-04 9.99706494e-01 -7.54133900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.28, Y:6.70, Z:-0.75 [[ 9.26400037e-01 -3.75825478e-01 2.31987427e-02 3.52779429e+01] [ 3.75694597e-01 9.26690335e-01 9.92940520e-03 6.69837403e+00] [-2.52297741e-02 -4.82959055e-04 9.99681562e-01 -7.54049410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.30, Y:6.71, Z:-0.75 [[ 9.26435763e-01 -3.75801691e-01 2.21329239e-02 3.53041925e+01] [ 3.75682288e-01 9.26699987e-01 9.48428740e-03 6.70968705e+00] [-2.40747916e-02 -4.71635536e-04 9.99710049e-01 -7.53106036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115919999999996 meters Centerline goodness [0,1] 0.9999504729830122 Centerline is valid? [True, True] Translation: X:35.33, Y:6.72, Z:-0.76 [[ 9.27398486e-01 -3.73382287e-01 2.27533851e-02 3.53299986e+01] [ 3.73255084e-01 9.27677398e-01 9.76155303e-03 6.72244492e+00] [-2.47525921e-02 -5.60032827e-04 9.99693451e-01 -7.55532033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.36, Y:6.74, Z:-0.76 [[ 9.27824435e-01 -3.72361616e-01 2.21053035e-02 3.53562495e+01] [ 3.72241006e-01 9.28087544e-01 9.49440394e-03 6.73518515e+00] [-2.40510085e-02 -5.80639551e-04 9.99710564e-01 -7.55046320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:6.75, Z:-0.75 [[ 9.28097169e-01 -3.71739832e-01 2.10983983e-02 3.53818742e+01] [ 3.71629528e-01 9.28336771e-01 9.07377597e-03 6.74613862e+00] [-2.29595029e-02 -5.80557977e-04 9.99736227e-01 -7.54251367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.41, Y:6.76, Z:-0.75 [[ 9.28169753e-01 -3.71574199e-01 2.08212308e-02 3.54071864e+01] [ 3.71466464e-01 9.28403074e-01 8.96646826e-03 6.75808363e+00] [-2.26622030e-02 -5.88015631e-04 9.99743006e-01 -7.54520546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.43, Y:6.78, Z:-0.76 [[ 9.28226562e-01 -3.71367517e-01 2.19457525e-02 3.54314480e+01] [ 3.71247506e-01 9.28485737e-01 9.46179153e-03 6.77592989e+00] [-2.38901202e-02 -6.35380327e-04 9.99714388e-01 -7.56397352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.46, Y:6.79, Z:-0.76 [[ 9.28293912e-01 -3.71010328e-01 2.49349139e-02 3.54564160e+01] [ 3.70854928e-01 9.28628442e-01 1.07628780e-02 6.79040999e+00] [-2.71484091e-02 -7.43878477e-04 9.99631137e-01 -7.58018585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.48, Y:6.80, Z:-0.76 [[ 9.28351109e-01 -3.70920723e-01 2.41254235e-02 3.54813059e+01] [ 3.70774865e-01 9.28664244e-01 1.04269808e-02 6.80435860e+00] [-2.62720014e-02 -7.34798573e-04 9.99654561e-01 -7.57007247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:6.82, Z:-0.76 [[ 9.28532627e-01 -3.70574042e-01 2.24062492e-02 3.55069973e+01] [ 3.70447865e-01 9.28802663e-01 9.69497360e-03 6.81747661e+00] [-2.44036895e-02 -7.01752124e-04 9.99701939e-01 -7.56742734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.35592 meters Centerline goodness [0,1] 0.9999503475670308 Centerline is valid? [True, True] Translation: X:35.53, Y:6.83, Z:-0.76 [[ 9.28523193e-01 -3.70527297e-01 2.35415118e-02 3.55315151e+01] [ 3.70387693e-01 9.28821275e-01 1.01978532e-02 6.83426276e+00] [-2.56444400e-02 -7.49456923e-04 9.99670846e-01 -7.57958374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:6.85, Z:-0.76 [[ 9.28188241e-01 -3.71225058e-01 2.56621298e-02 3.55572606e+01] [ 3.71059074e-01 9.28542570e-01 1.11292142e-02 6.84693250e+00] [-2.79598232e-02 -8.07839639e-04 9.99608721e-01 -7.58525030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.58, Y:6.86, Z:-0.76 [[ 9.26467433e-01 -3.75581901e-01 2.44199111e-02 3.55820352e+01] [ 3.75433012e-01 9.26788982e-01 1.05941939e-02 6.86295732e+00] [-2.66110920e-02 -6.47134840e-04 9.99645653e-01 -7.57339460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.61, Y:6.88, Z:-0.76 [[ 9.25655745e-01 -3.77607448e-01 2.39594674e-02 3.56066843e+01] [ 3.77464495e-01 9.25965587e-01 1.04060783e-02 6.87841460e+00] [-2.61150550e-02 -5.88597967e-04 9.99658771e-01 -7.58202824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.63, Y:6.90, Z:-0.76 [[ 9.23832555e-01 -3.82053045e-01 2.38512482e-02 3.56299264e+01] [ 3.81912545e-01 9.24140275e-01 1.03711146e-02 6.89724098e+00] [-2.60042150e-02 -4.72082409e-04 9.99661722e-01 -7.59623288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.66, Y:6.91, Z:-0.76 [[ 9.23104650e-01 -3.83716210e-01 2.52918230e-02 3.56553223e+01] [ 3.83558492e-01 9.23450950e-01 1.10103094e-02 6.91057247e+00] [-2.75805921e-02 -4.62774297e-04 9.99619476e-01 -7.58694748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:6.93, Z:-0.76 [[ 9.20674256e-01 -3.89405723e-01 2.68718730e-02 3.56806659e+01] [ 3.89229721e-01 9.21066273e-01 1.17109114e-02 6.92525355e+00] [-2.93110718e-02 -3.22603040e-04 9.99570286e-01 -7.57028543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.71, Y:6.94, Z:-0.76 [[ 9.19172073e-01 -3.92903505e-01 2.73776560e-02 3.57058112e+01] [ 3.92721880e-01 9.19579677e-01 1.19474585e-02 6.93757810e+00] [-2.98701344e-02 -2.29965689e-04 9.99553762e-01 -7.57726423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59592 meters Centerline goodness [0,1] 0.9999504435304029 Centerline is valid? [True, True] Translation: X:35.73, Y:6.95, Z:-0.76 [[ 9.16356622e-01 -3.99539840e-01 2.56604263e-02 3.57321780e+01] [ 3.99382504e-01 9.16715832e-01 1.12115925e-02 6.94881353e+00] [-2.80027969e-02 -2.54917512e-05 9.99607844e-01 -7.58709246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.76, Y:6.96, Z:-0.76 [[ 9.15103602e-01 -4.02419658e-01 2.53735445e-02 3.57578405e+01] [ 4.02266502e-01 9.15455305e-01 1.11015984e-02 6.96004192e+00] [-2.76958473e-02 4.78142663e-05 9.99616395e-01 -7.58166780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655919999999995 meters Centerline goodness [0,1] 0.9999504558065795 Centerline is valid? [True, True] Translation: X:35.78, Y:6.97, Z:-0.76 [[ 9.13751865e-01 -4.05428064e-01 2.61842347e-02 3.57839354e+01] [ 4.05265797e-01 9.14126943e-01 1.14702291e-02 6.97215790e+00] [-2.85860672e-02 1.30631492e-04 9.99591326e-01 -7.57079780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685919999999996 meters Centerline goodness [0,1] 0.9999504631693664 Centerline is valid? [True, True] Translation: X:35.81, Y:6.98, Z:-0.76 [[ 9.12175672e-01 -4.08990100e-01 2.57418436e-02 3.58087205e+01] [ 4.08834246e-01 9.12538793e-01 1.12920974e-02 6.98477270e+00] [-2.81087870e-02 2.23770660e-04 9.99604845e-01 -7.56430511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.84, Y:6.99, Z:-0.76 [[ 9.11177393e-01 -4.11325810e-01 2.38083444e-02 3.58367157e+01] [ 4.11192957e-01 9.11488349e-01 1.04566858e-02 6.99236145e+00] [-2.60021332e-02 2.61927830e-04 9.99661853e-01 -7.57897355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.86, Y:7.00, Z:-0.76 [[ 9.10817980e-01 -4.12147275e-01 2.33501651e-02 3.58637709e+01] [ 4.12019395e-01 9.11117200e-01 1.02696393e-02 7.00089434e+00] [-2.55073409e-02 2.66948740e-04 9.99674599e-01 -7.58257179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77592 meters Centerline goodness [0,1] 0.9998513747832549 Centerline is valid? [True, True] Translation: X:35.89, Y:7.01, Z:-0.76 [[ 9.10010546e-01 -4.13737044e-01 2.65040647e-02 3.58909997e+01] [ 4.13572793e-01 9.10396363e-01 1.16622504e-02 7.00946259e+00] [-2.89543092e-02 3.48589182e-04 9.99580675e-01 -7.58615222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.92, Y:7.02, Z:-0.76 [[ 9.10076376e-01 -4.13537171e-01 2.73495590e-02 3.59185091e+01] [ 4.13361754e-01 9.10487173e-01 1.20485581e-02 7.01901463e+00] [-2.98839493e-02 3.40153581e-04 9.99553317e-01 -7.58020706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:7.03, Z:-0.76 [[ 9.10079445e-01 -4.13698721e-01 2.46733069e-02 3.59461158e+01] [ 4.13555667e-01 9.10413795e-01 1.08826333e-02 7.02870758e+00] [-2.69650504e-02 2.99724982e-04 9.99636332e-01 -7.57999467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865919999999996 meters Centerline goodness [0,1] 0.9999504925986435 Centerline is valid? [True, True] Translation: X:35.97, Y:7.04, Z:-0.76 [[ 9.11010328e-01 -4.11706809e-01 2.36153721e-02 3.59745479e+01] [ 4.11574767e-01 9.11316331e-01 1.04286006e-02 7.03589144e+00] [-2.58146001e-02 2.18928430e-04 9.99666724e-01 -7.59901999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:7.04, Z:-0.76 [[ 9.12309259e-01 -4.08787956e-01 2.41706968e-02 3.60020577e+01] [ 4.08648212e-01 9.12629383e-01 1.06886762e-02 7.04272363e+00] [-2.64282902e-02 1.25933722e-04 9.99650704e-01 -7.61895366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92592 meters Centerline goodness [0,1] 0.9999504459861249 Centerline is valid? [True, True] Translation: X:36.03, Y:7.05, Z:-0.76 [[ 9.12800258e-01 -4.07548210e-01 2.64602738e-02 3.60299797e+01] [ 4.07379796e-01 9.13183689e-01 1.17154946e-02 7.05214607e+00] [-2.89377193e-02 8.54744650e-05 9.99581213e-01 -7.62536656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:7.06, Z:-0.76 [[ 9.13186142e-01 -4.06711244e-01 2.60198768e-02 3.60568854e+01] [ 4.06547602e-01 9.13556765e-01 1.15362303e-02 7.06133843e+00] [-2.84625491e-02 4.35929252e-05 9.99594859e-01 -7.61971125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.08, Y:7.07, Z:-0.76 [[ 9.13698883e-01 -4.05652186e-01 2.45082537e-02 3.60846095e+01] [ 4.05506278e-01 9.14027518e-01 1.08790891e-02 7.06945652e+00] [-2.68143446e-02 -1.96087127e-06 9.99640431e-01 -7.62013247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.11, Y:7.08, Z:-0.76 [[ 9.13761331e-01 -4.05571742e-01 2.34902531e-02 3.61120122e+01] [ 4.05437358e-01 9.14063215e-01 1.04396644e-02 7.07950389e+00] [-2.57056091e-02 -1.55354722e-05 9.99669556e-01 -7.61029031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:7.09, Z:-0.76 [[ 9.14521463e-01 -4.03770474e-01 2.48977338e-02 3.61392268e+01] [ 4.03618474e-01 9.14860316e-01 1.10783579e-02 7.08960429e+00] [-2.72510624e-02 -8.22107289e-05 9.99628617e-01 -7.60003644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:7.10, Z:-0.76 [[ 9.14696764e-01 -4.03337370e-01 2.54714605e-02 3.61660862e+01] [ 4.03177765e-01 9.15051340e-01 1.13461694e-02 7.10079203e+00] [-2.78840281e-02 -1.08777919e-04 9.99611159e-01 -7.61089967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:7.11, Z:-0.76 [[ 9.14910469e-01 -4.02835677e-01 2.57342397e-02 3.61927945e+01] [ 4.02672120e-01 9.15272308e-01 1.14789276e-02 7.10925647e+00] [-2.81779586e-02 -1.39730176e-04 9.99602913e-01 -7.64378712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:7.12, Z:-0.76 [[ 9.15105047e-01 -4.02434186e-01 2.50894086e-02 3.62196841e+01] [ 4.02278160e-01 9.15448906e-01 1.12063302e-02 7.11896415e+00] [-2.74778821e-02 -1.62048205e-04 9.99622399e-01 -7.64008474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:7.13, Z:-0.76 [[ 9.14854432e-01 -4.02919112e-01 2.64113261e-02 3.62466020e+01] [ 4.02746008e-01 9.15235577e-01 1.18106702e-02 7.12939293e+00] [-2.89313300e-02 -1.67987833e-04 9.99581387e-01 -7.63445222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.27, Y:7.14, Z:-0.76 [[ 9.14704787e-01 -4.03244646e-01 2.66253209e-02 3.62729199e+01] [ 4.03068399e-01 9.15092195e-01 1.19222690e-02 7.13916846e+00] [-2.91722145e-02 -1.73531082e-04 9.99574385e-01 -7.62254849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:7.15, Z:-0.76 [[ 9.15182948e-01 -4.02214225e-01 2.57660508e-02 3.63001850e+01] [ 4.02048323e-01 9.15545560e-01 1.15531074e-02 7.14599987e+00] [-2.82368175e-02 -2.14009344e-04 9.99601239e-01 -7.62873393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.33, Y:7.16, Z:-0.76 [[ 9.15340945e-01 -4.01808597e-01 2.64727437e-02 3.63273798e+01] [ 4.01632895e-01 9.15723643e-01 1.18838869e-02 7.15616354e+00] [-2.90167652e-02 -2.45483587e-04 9.99578895e-01 -7.63644880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.35, Y:7.17, Z:-0.76 [[ 9.16137066e-01 -4.00049442e-01 2.55601250e-02 3.63533188e+01] [ 3.99884538e-01 9.16493508e-01 1.14893578e-02 7.16697448e+00] [-2.80219998e-02 -3.04727763e-04 9.99607260e-01 -7.63786961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.38, Y:7.18, Z:-0.76 [[ 9.16603421e-01 -3.99071674e-01 2.40825075e-02 3.63789684e+01] [ 3.98924765e-01 9.16919678e-01 1.08321940e-02 7.18075091e+00] [-2.64045468e-02 -3.21717408e-04 9.99651287e-01 -7.63722805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.40, Y:7.19, Z:-0.76 [[ 9.16971730e-01 -3.98251769e-01 2.36299539e-02 3.64047613e+01] [ 3.98109697e-01 9.17276079e-01 1.06425702e-02 7.19089600e+00] [-2.59136138e-02 -3.51622185e-04 9.99664124e-01 -7.63954125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.43, Y:7.20, Z:-0.76 [[ 9.17378089e-01 -3.97390372e-01 2.23233921e-02 3.64326531e+01] [ 3.97263164e-01 9.17649585e-01 1.00606793e-02 7.20044619e+00] [-2.44830686e-02 -3.61185341e-04 9.99700180e-01 -7.60763193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405919999999995 meters Centerline goodness [0,1] 0.9999504975001238 Centerline is valid? [True, True] Translation: X:36.46, Y:7.21, Z:-0.76 [[ 9.17022281e-01 -3.98121377e-01 2.38643041e-02 3.64586890e+01] [ 3.97975921e-01 9.17332670e-01 1.07674897e-02 7.21387201e+00] [-2.61782736e-02 -3.76609578e-04 9.99657219e-01 -7.62643144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.48, Y:7.23, Z:-0.76 [[ 9.16919764e-01 -3.98365653e-01 2.37266140e-02 3.64830956e+01] [ 3.98221589e-01 9.17226614e-01 1.07193273e-02 7.22703791e+00] [-2.60328937e-02 -3.80313169e-04 9.99661014e-01 -7.64110970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:7.24, Z:-0.77 [[ 9.16352588e-01 -3.99652418e-01 2.39974812e-02 3.65078945e+01] [ 3.99505115e-01 9.16666687e-01 1.08557765e-02 7.24067659e+00] [-2.63362289e-02 -3.60602338e-04 9.99653076e-01 -7.65312260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.53, Y:7.25, Z:-0.76 [[ 9.15485348e-01 -4.01725613e-01 2.24301048e-02 3.65333169e+01] [ 4.01597261e-01 9.15760038e-01 1.01584273e-02 7.25438758e+00] [-2.46214941e-02 -2.92022681e-04 9.99696802e-01 -7.64054301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.56, Y:7.27, Z:-0.76 [[ 9.15003300e-01 -4.02877738e-01 2.14123544e-02 3.65604319e+01] [ 4.02760825e-01 9.15253769e-01 9.70858800e-03 7.26571942e+00] [-2.35091120e-02 -2.59332557e-04 9.99723589e-01 -7.62729790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.59, Y:7.28, Z:-0.76 [[ 9.13704897e-01 -4.05847939e-01 2.07560218e-02 3.65874289e+01] [ 4.05738602e-01 9.13940597e-01 9.42185911e-03 7.27639716e+00] [-2.27936130e-02 -1.87279559e-04 9.99740174e-01 -7.62349322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585919999999994 meters Centerline goodness [0,1] 0.9999504754358162 Centerline is valid? [True, True] Translation: X:36.61, Y:7.29, Z:-0.76 [[ 9.13368421e-01 -4.06557732e-01 2.16549648e-02 3.66140045e+01] [ 4.06438645e-01 9.13625074e-01 9.84137146e-03 7.28816032e+00] [-2.37856045e-02 -1.87383371e-04 9.99717065e-01 -7.63145431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615919999999996 meters Centerline goodness [0,1] 0.9999504680766754 Centerline is valid? [True, True] Translation: X:36.64, Y:7.30, Z:-0.76 [[ 9.12309588e-01 -4.08971739e-01 2.08166243e-02 3.66407473e+01] [ 4.08862072e-01 9.12547040e-01 9.47133437e-03 7.30011188e+00] [-2.28696570e-02 -1.29661013e-04 9.99738447e-01 -7.64464372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.67, Y:7.31, Z:-0.76 [[ 9.11989698e-01 -4.09670067e-01 2.11004049e-02 3.66671237e+01] [ 4.09557389e-01 9.12233754e-01 9.60848418e-03 7.31099676e+00] [-2.31848100e-02 -1.21011826e-04 9.99731189e-01 -7.63250956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:7.32, Z:-0.76 [[ 9.11909411e-01 -4.09882480e-01 2.04347603e-02 3.66941321e+01] [ 4.09776578e-01 9.12138332e-01 9.31767328e-03 7.32031003e+00] [-2.24584792e-02 -1.23187801e-04 9.99747769e-01 -7.60457809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70592 meters Centerline goodness [0,1] 0.9999009263387328 Centerline is valid? [True, True] Translation: X:36.72, Y:7.33, Z:-0.76 [[ 9.11820867e-01 -4.10037252e-01 2.12640130e-02 3.67216307e+01] [ 4.09922351e-01 9.12068766e-01 9.70732827e-03 7.33093684e+00] [-2.33746083e-02 -1.34750266e-04 9.99726767e-01 -7.61988621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.75, Y:7.34, Z:-0.76 [[ 9.11873191e-01 -4.09949613e-01 2.07026355e-02 3.67478424e+01] [ 4.09840394e-01 9.12108159e-01 9.46348734e-03 7.34123356e+00] [-2.27625957e-02 -1.44724123e-04 9.99740888e-01 -7.61647801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.77, Y:7.35, Z:-0.76 [[ 9.11572830e-01 -4.10628826e-01 2.04681139e-02 3.67742697e+01] [ 4.10521959e-01 9.11802582e-01 9.36867410e-03 7.35097096e+00] [-2.25099268e-02 -1.37618532e-04 9.99746610e-01 -7.62628375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.80, Y:7.36, Z:-0.76 [[ 9.11366787e-01 -4.11086156e-01 2.04634120e-02 3.67995540e+01] [ 4.10979175e-01 9.11596486e-01 9.37893959e-03 7.36218144e+00] [-2.25099267e-02 -1.37617874e-04 9.99746610e-01 -7.62652120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825919999999996 meters Centerline goodness [0,1] 0.9999505024006335 Centerline is valid? [True, True] Translation: X:36.83, Y:7.37, Z:-0.76 [[ 9.11520400e-01 -4.10813924e-01 1.90388896e-02 3.68260243e+01] [ 4.10721050e-01 9.11719200e-01 8.73616218e-03 7.37316639e+00] [-2.09470582e-02 -1.43517337e-04 9.99780576e-01 -7.61439370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.85, Y:7.38, Z:-0.76 [[ 9.11972452e-01 -4.09762542e-01 2.00226208e-02 3.68525772e+01] [ 4.09659335e-01 9.12192208e-01 9.19809144e-03 7.38409226e+00] [-2.20335120e-02 -1.85952478e-04 9.99757215e-01 -7.59396896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.88, Y:7.40, Z:-0.76 [[ 9.12191084e-01 -4.09177358e-01 2.19388954e-02 3.68793375e+01] [ 4.09052998e-01 9.12454841e-01 1.00900160e-02 7.39596930e+00] [-2.41468574e-02 -2.29851724e-04 9.99708396e-01 -7.60272683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.90, Y:7.41, Z:-0.76 [[ 9.13486418e-01 -4.06318795e-01 2.11565887e-02 3.69047548e+01] [ 4.06202230e-01 9.13731332e-01 9.73664726e-03 7.40875470e+00] [-2.32876208e-02 -3.00441504e-04 9.99728761e-01 -7.60717361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.93, Y:7.42, Z:-0.76 [[ 9.13773185e-01 -4.05692227e-01 2.07938396e-02 3.69300094e+01] [ 4.05579177e-01 9.14009690e-01 9.58214288e-03 7.42092843e+00] [-2.28931717e-02 -3.22356868e-04 9.99737865e-01 -7.61563057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.96, Y:7.43, Z:-0.76 [[ 9.14089100e-01 -4.05073107e-01 1.88916735e-02 3.69557553e+01] [ 4.04979460e-01 9.14284244e-01 8.71544308e-03 7.43375291e+00] [-2.08027510e-02 -3.15951796e-04 9.99783549e-01 -7.61619854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:7.45, Z:-0.76 [[ 9.14483164e-01 -4.04188919e-01 1.87579445e-02 3.69823821e+01] [ 4.04096206e-01 9.14675462e-01 8.66349540e-03 7.44527247e+00] [-2.06591204e-02 -3.42606482e-04 9.99786519e-01 -7.60148549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.01, Y:7.46, Z:-0.76 [[ 9.15098760e-01 -4.02806153e-01 1.84787016e-02 3.70077429e+01] [ 4.02715703e-01 9.15285235e-01 8.54408743e-03 7.45884526e+00] [-2.03548937e-02 -3.77020501e-04 9.99792747e-01 -7.58101986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:7.47, Z:-0.76 [[ 9.14725540e-01 -4.03658142e-01 1.83655049e-02 3.70322599e+01] [ 4.03568749e-01 9.14909816e-01 8.50261303e-03 7.47318001e+00] [-2.02349297e-02 -3.65813461e-04 9.99795186e-01 -7.58932048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:7.49, Z:-0.76 [[ 9.14903779e-01 -4.03285565e-01 1.76586650e-02 3.70556594e+01] [ 4.03202649e-01 9.15074105e-01 8.18577916e-03 7.48843993e+00] [-1.94601936e-02 -3.69179784e-04 9.99810564e-01 -7.59796791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.08, Y:7.50, Z:-0.76 [[ 9.14770078e-01 -4.03583619e-01 1.77754514e-02 3.70811797e+01] [ 4.03499452e-01 9.14942688e-01 8.25051458e-03 7.50125074e+00] [-1.95932918e-02 -3.74938995e-04 9.99807963e-01 -7.58851094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:7.52, Z:-0.76 [[ 9.15190458e-01 -4.02618763e-01 1.80154529e-02 3.71049875e+01] [ 4.02531932e-01 9.15367666e-01 8.37138885e-03 7.51790110e+00] [-1.98612413e-02 -4.09620125e-04 9.99802662e-01 -7.57124155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.13, Y:7.53, Z:-0.76 [[ 9.15276396e-01 -4.02454804e-01 1.72988060e-02 3.71291235e+01] [ 4.02374520e-01 9.15439766e-01 8.04859311e-03 7.53254006e+00] [-1.90752098e-02 -4.06088547e-04 9.99817969e-01 -7.57205598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:7.55, Z:-0.76 [[ 9.14643877e-01 -4.03853037e-01 1.81466975e-02 3.71526313e+01] [ 4.03764748e-01 9.14823786e-01 8.45387475e-03 7.54941054e+00] [-2.00151535e-02 -4.05288018e-04 9.99799595e-01 -7.57342954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.18, Y:7.56, Z:-0.76 [[ 9.14030119e-01 -4.05189382e-01 1.92485376e-02 3.71766783e+01] [ 4.05090097e-01 9.14232682e-01 8.97866489e-03 7.56410931e+00] [-2.12357018e-02 -4.09378179e-04 9.99774413e-01 -7.57292108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.20, Y:7.58, Z:-0.76 [[ 9.13568360e-01 -4.06336779e-01 1.68307586e-02 3.71996530e+01] [ 4.06260913e-01 9.13723320e-01 7.85908060e-03 7.58459592e+00] [-1.85720901e-02 -3.42128031e-04 9.99827465e-01 -7.55648959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:7.60, Z:-0.76 [[ 9.13215648e-01 -4.07146243e-01 1.64048023e-02 3.72231825e+01] [ 4.07074123e-01 9.13362924e-01 7.66993253e-03 7.59960951e+00] [-1.81063224e-02 -3.26331893e-04 9.99836014e-01 -7.56228473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.335919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.25, Y:7.61, Z:-0.75 [[ 9.12645697e-01 -4.08455243e-01 1.55610593e-02 3.72485125e+01] [ 4.08390411e-01 9.12778302e-01 7.28308876e-03 7.61495612e+00] [-1.71786131e-02 -2.91892226e-04 9.99852394e-01 -7.54947845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.27, Y:7.63, Z:-0.75 [[ 9.11498106e-01 -4.10993100e-01 1.59960554e-02 3.72720400e+01] [ 4.10924834e-01 9.11638418e-01 7.49509886e-03 7.63402599e+00] [-1.76630525e-02 -2.58592020e-04 9.99843963e-01 -7.53808955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:7.65, Z:-0.75 [[ 9.10583251e-01 -4.13000602e-01 1.63904152e-02 3.72955275e+01] [ 4.12929073e-01 9.10730722e-01 7.68978951e-03 7.64907956e+00] [-1.81031424e-02 -2.34114582e-04 9.99836097e-01 -7.54846756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:7.66, Z:-0.76 [[ 9.09574313e-01 -4.15186307e-01 1.71726653e-02 3.73191551e+01] [ 4.15107989e-01 9.09736383e-01 8.06661967e-03 7.66394993e+00] [-1.89717484e-02 -2.08679488e-04 9.99819998e-01 -7.56230038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:7.68, Z:-0.75 [[ 9.08498545e-01 -4.17587959e-01 1.58332038e-02 3.73444883e+01] [ 4.17521598e-01 9.08636491e-01 7.44595358e-03 7.67813145e+00] [-1.74959673e-02 -1.53933421e-04 9.99846922e-01 -7.53428694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:37.37, Y:7.69, Z:-0.75 [[ 9.07436265e-01 -4.19837772e-01 1.71950711e-02 3.73692790e+01] [ 4.19759704e-01 9.07599156e-01 8.09706657e-03 7.69259692e+00] [-1.90056864e-02 -1.29773870e-04 9.99819367e-01 -7.53938030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.39, Y:7.71, Z:-0.76 [[ 9.06982019e-01 -4.20779251e-01 1.81228960e-02 3.73948338e+01] [ 4.20692520e-01 9.07163054e-01 8.54383532e-03 7.70657435e+00] [-2.00354903e-02 -1.24938206e-04 9.99799262e-01 -7.55064204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545919999999995 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:37.42, Y:7.72, Z:-0.76 [[ 9.05519637e-01 -4.23959911e-01 1.70933082e-02 3.74211615e+01] [ 4.23883158e-01 9.05680954e-01 8.06706209e-03 7.71967393e+00] [-1.89011946e-02 -5.93176535e-05 9.99821355e-01 -7.56579206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.45, Y:7.73, Z:-0.76 [[ 9.05145532e-01 -4.24754380e-01 1.71838244e-02 3.74473431e+01] [ 4.24676753e-01 9.05308629e-01 8.12042015e-03 7.73005096e+00] [-1.90058486e-02 -5.25912563e-05 9.99819371e-01 -7.56555809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.47, Y:7.74, Z:-0.76 [[ 9.05233231e-01 -4.24460578e-01 1.96472778e-02 3.74740975e+01] [ 4.24358790e-01 9.05446416e-01 9.29542871e-03 7.74029240e+00] [-2.17351003e-02 -7.70359372e-05 9.99763762e-01 -7.57383714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.50, Y:7.75, Z:-0.76 [[ 9.05353180e-01 -4.24174253e-01 2.02934043e-02 3.75002973e+01] [ 4.24065340e-01 9.05580584e-01 9.61217195e-03 7.75205389e+00] [-2.24545487e-02 -9.66810755e-05 9.99747860e-01 -7.57012922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.53, Y:7.76, Z:-0.76 [[ 9.05956032e-01 -4.23015668e-01 1.73612465e-02 3.75272474e+01] [ 4.22935564e-01 9.06122360e-01 8.23272357e-03 7.76324933e+00] [-1.92139847e-02 -1.15797010e-04 9.99815388e-01 -7.56273733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.55, Y:7.77, Z:-0.76 [[ 9.06046715e-01 -4.22816626e-01 1.74771305e-02 3.75536503e+01] [ 4.22735204e-01 9.06215252e-01 8.29844440e-03 7.77329742e+00] [-1.93467625e-02 -1.30579963e-04 9.99812825e-01 -7.57081126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.58, Y:7.78, Z:-0.76 [[ 9.06811711e-01 -4.21128257e-01 1.85340884e-02 3.75806309e+01] [ 4.21036127e-01 9.07001079e-01 8.81041151e-03 7.78358639e+00] [-2.05207514e-02 -1.85863523e-04 9.99789410e-01 -7.56439112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.61, Y:7.80, Z:-0.76 [[ 9.08146291e-01 -4.18185455e-01 1.97797774e-02 3.76067172e+01] [ 4.18079590e-01 9.08361628e-01 9.41322811e-03 7.79540220e+00] [-2.19036659e-02 -2.79066977e-04 9.99760047e-01 -7.55332014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:7.81, Z:-0.76 [[ 9.10110382e-01 -4.13972491e-01 1.80518524e-02 3.76316934e+01] [ 4.13883293e-01 9.10289322e-01 8.60054316e-03 7.81011852e+00] [-1.99927967e-02 -3.56083510e-04 9.99800061e-01 -7.56091604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.66, Y:7.82, Z:-0.76 [[ 9.10549950e-01 -4.13043245e-01 1.71483878e-02 3.76567829e+01] [ 4.12962393e-01 9.10711339e-01 8.18037484e-03 7.82295750e+00] [-1.89960798e-02 -3.67000652e-04 9.99819491e-01 -7.56406361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.68, Y:7.84, Z:-0.76 [[ 9.11142969e-01 -4.11732477e-01 1.71714355e-02 3.76831130e+01] [ 4.11651002e-01 9.11304672e-01 8.20043684e-03 7.83515162e+00] [-1.90247956e-02 -4.03131732e-04 9.99818931e-01 -7.55847539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.71, Y:7.85, Z:-0.76 [[ 9.11984675e-01 -4.09853195e-01 1.74445241e-02 3.77093176e+01] [ 4.09768588e-01 9.12151385e-01 8.33999524e-03 7.84653013e+00] [-1.93302205e-02 -4.57729858e-04 9.99813049e-01 -7.55600235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905919999999995 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:37.74, Y:7.86, Z:-0.76 [[ 9.11994401e-01 -4.09795302e-01 1.82762796e-02 3.77350673e+01] [ 4.09702228e-01 9.12177379e-01 8.74722186e-03 7.85946553e+00] [-2.02557793e-02 -4.89584882e-04 9.99794711e-01 -7.55168099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:7.88, Z:-0.76 [[ 9.11188543e-01 -4.11509362e-01 1.98867819e-02 3.77573542e+01] [ 4.11399304e-01 9.11405394e-01 9.52995457e-03 7.87755772e+00] [-2.20465858e-02 -5.02177179e-04 9.99756818e-01 -7.56511974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.78, Y:7.89, Z:-0.76 [[ 9.10574110e-01 -4.12861224e-01 2.00099899e-02 3.77814486e+01] [ 4.12749889e-01 9.10793817e-01 9.59957065e-03 7.89383081e+00] [-2.21882656e-02 -4.81999376e-04 9.99753694e-01 -7.56835144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.81, Y:7.91, Z:-0.76 [[ 9.09354633e-01 -4.15480929e-01 2.12072934e-02 3.78062696e+01] [ 4.15356317e-01 9.09601777e-01 1.01851834e-02 7.90842118e+00] [-2.35219412e-02 -4.53360443e-04 9.99723218e-01 -7.59429449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.83, Y:7.92, Z:-0.76 [[ 9.08875286e-01 -4.16581247e-01 2.01439727e-02 3.78328444e+01] [ 4.16468851e-01 9.09098396e-01 9.68517616e-03 7.92054210e+00] [-2.23475160e-02 -4.13280089e-04 9.99750178e-01 -7.58071464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.86, Y:7.94, Z:-0.76 [[ 9.08499230e-01 -4.17431162e-01 1.95031641e-02 3.78574109e+01] [ 4.17325773e-01 9.08708464e-01 9.38754454e-03 7.93649788e+00] [-2.16413439e-02 -3.89403948e-04 9.99765723e-01 -7.58005705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.88, Y:7.95, Z:-0.76 [[ 9.07770534e-01 -4.18902589e-01 2.17549641e-02 3.78802175e+01] [ 4.18771719e-01 9.08031090e-01 1.04779493e-02 7.95455509e+00] [-2.41434238e-02 -4.01209895e-04 9.99708425e-01 -7.59493999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.90, Y:7.97, Z:-0.76 [[ 9.07077966e-01 -4.20388290e-01 2.19829417e-02 3.79048825e+01] [ 4.20254775e-01 9.07344225e-01 1.06009985e-02 7.96738918e+00] [-2.44026309e-02 -3.77495949e-04 9.99702140e-01 -7.60031121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.93, Y:7.98, Z:-0.76 [[ 9.06375456e-01 -4.21990242e-01 2.01932717e-02 3.79318311e+01] [ 4.21877737e-01 9.06600317e-01 9.74884196e-03 7.97808175e+00] [-2.24211427e-02 -3.17019319e-04 9.99748564e-01 -7.58995392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.96, Y:7.99, Z:-0.76 [[ 9.05518805e-01 -4.23815215e-01 2.04048086e-02 3.79567508e+01] [ 4.23700518e-01 9.05748630e-01 9.86357866e-03 7.99032890e+00] [-2.26619622e-02 -2.86127994e-04 9.99743144e-01 -7.58767472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:37.98, Y:8.00, Z:-0.76 [[ 9.04494001e-01 -4.25995845e-01 2.04485455e-02 3.79827665e+01] [ 4.25880971e-01 9.04725086e-01 9.89525894e-03 8.00412122e+00] [-2.27156513e-02 -2.41555942e-04 9.99741937e-01 -7.59119693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.01, Y:8.02, Z:-0.76 [[ 9.02728348e-01 -4.29710303e-01 2.07505562e-02 3.80078710e+01] [ 4.29592725e-01 9.02966793e-01 1.00528856e-02 8.01833594e+00] [-2.30568917e-02 -1.60736833e-04 9.99734142e-01 -7.58950430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:8.03, Z:-0.76 [[ 9.02210770e-01 -4.30698535e-01 2.26825563e-02 3.80335887e+01] [ 4.30558034e-01 9.02495843e-01 1.10015044e-02 8.03127772e+00] [-2.52092446e-02 -1.59518912e-04 9.99682184e-01 -7.59205732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:8.04, Z:-0.76 [[ 9.03108921e-01 -4.28920190e-01 2.05364603e-02 3.80589852e+01] [ 4.28804482e-01 9.03342368e-01 9.96407828e-03 8.04409373e+00] [-2.28252491e-02 -1.92521742e-04 9.99739452e-01 -7.57301737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.09, Y:8.06, Z:-0.76 [[ 9.03567623e-01 -4.27973349e-01 2.01087794e-02 3.80850492e+01] [ 4.27861902e-01 9.03791327e-01 9.76884061e-03 8.05547638e+00] [-2.23549438e-02 -2.23027510e-04 9.99750072e-01 -7.57458891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.11, Y:8.07, Z:-0.76 [[ 9.05013710e-01 -4.24982968e-01 1.84299259e-02 3.81110806e+01] [ 4.24888498e-01 9.05201302e-01 8.96474825e-03 8.06563281e+00] [-2.04926583e-02 -2.82556516e-04 9.99789964e-01 -7.58659671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.14, Y:8.08, Z:-0.76 [[ 9.05677232e-01 -4.23589670e-01 1.79036969e-02 3.81372081e+01] [ 4.23500052e-01 9.05854123e-01 8.71855876e-03 8.07779841e+00] [-1.99112291e-02 -3.13983628e-04 9.99801703e-01 -7.58946186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41592 meters Centerline goodness [0,1] 0.9998507314160613 Centerline is valid? [True, True] Translation: X:38.16, Y:8.09, Z:-0.76 [[ 9.05776261e-01 -4.23361169e-01 1.82944089e-02 3.81630272e+01] [ 4.23267350e-01 9.05960931e-01 8.91860068e-03 8.09100908e+00] [-2.03498089e-02 -3.34830802e-04 9.99792865e-01 -7.57566462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:8.11, Z:-0.76 [[ 9.05883058e-01 -4.23122770e-01 1.85204377e-02 3.81882957e+01] [ 4.23026363e-01 9.06072291e-01 9.03878539e-03 8.10623195e+00] [-2.06053714e-02 -3.53449132e-04 9.99787624e-01 -7.58165100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475919999999995 meters Centerline goodness [0,1] 0.9999004479840716 Centerline is valid? [True, True] Translation: X:38.21, Y:8.12, Z:-0.76 [[ 9.05859712e-01 -4.23200249e-01 1.78810317e-02 3.82130149e+01] [ 4.23110181e-01 9.06036107e-01 8.73769637e-03 8.12037019e+00] [-1.98986557e-02 -3.49480539e-04 9.99801941e-01 -7.58467016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.24, Y:8.14, Z:-0.76 [[ 9.05717886e-01 -4.23579976e-01 1.59723154e-02 3.82373014e+01] [ 4.23508028e-01 9.05858657e-01 7.81304848e-03 8.13681672e+00] [-1.77781110e-02 -3.12013971e-04 9.99841908e-01 -7.60302266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:8.15, Z:-0.76 [[ 9.05503543e-01 -4.24029081e-01 1.62071312e-02 3.82618721e+01] [ 4.23954892e-01 9.05648518e-01 7.93800805e-03 8.15031362e+00] [-1.80439106e-02 -3.16801890e-04 9.99837145e-01 -7.60092968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56592 meters Centerline goodness [0,1] 0.9999005272058092 Centerline is valid? [True, True] Translation: X:38.28, Y:8.17, Z:-0.76 [[ 9.04681048e-01 -4.25732983e-01 1.74249237e-02 3.82842485e+01] [ 4.25647455e-01 9.04848790e-01 8.53883988e-03 8.16730309e+00] [-1.94021869e-02 -3.08052193e-04 9.99811712e-01 -7.57924667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.31, Y:8.18, Z:-0.76 [[ 9.04246436e-01 -4.26633076e-01 1.79610862e-02 3.83088228e+01] [ 4.26542297e-01 9.04424749e-01 8.80578441e-03 8.18174204e+00] [-2.00012898e-02 -3.01436191e-04 9.99799909e-01 -7.57741141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62592 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:38.33, Y:8.20, Z:-0.76 [[ 9.03026239e-01 -4.29203340e-01 1.81136259e-02 3.83334510e+01] [ 4.29111470e-01 9.03207856e-01 8.88345949e-03 8.19775142e+00] [-2.01731797e-02 -2.49232371e-04 9.99796470e-01 -7.58260246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.36, Y:8.21, Z:-0.76 [[ 9.02398060e-01 -4.30560969e-01 1.71753671e-02 3.83585548e+01] [ 4.30478564e-01 9.02561470e-01 8.42602210e-03 8.21201077e+00] [-1.91297408e-02 -2.09998619e-04 9.99816988e-01 -7.58515970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:8.23, Z:-0.76 [[ 9.00852176e-01 -4.33773502e-01 1.74901691e-02 3.83828510e+01] [ 4.33688598e-01 9.01021935e-01 8.58327245e-03 8.22752110e+00] [-1.94822222e-02 -1.46972751e-04 9.99810193e-01 -7.57490559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:8.24, Z:-0.76 [[ 9.00768748e-01 -4.33946787e-01 1.74885418e-02 3.84076003e+01] [ 4.33861851e-01 9.00938491e-01 8.58658752e-03 8.23960316e+00] [-1.94822226e-02 -1.46918553e-04 9.99810193e-01 -7.57514323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74592 meters Centerline goodness [0,1] 0.9999501420950292 Centerline is valid? [True, True] Translation: X:38.43, Y:8.25, Z:-0.76 [[ 8.99476664e-01 -4.36553171e-01 1.90541164e-02 3.84326880e+01] [ 4.36452722e-01 8.99678452e-01 9.36501479e-03 8.25449117e+00] [-2.12309048e-02 -1.07391299e-04 9.99774593e-01 -7.56436245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77592 meters Centerline goodness [0,1] 0.9998506942716369 Centerline is valid? [True, True] Translation: X:38.46, Y:8.27, Z:-0.75 [[ 8.98563542e-01 -4.38499479e-01 1.73714582e-02 3.84560609e+01] [ 4.38416294e-01 8.98731441e-01 8.54107291e-03 8.27174097e+00] [-1.93575317e-02 -5.87664082e-05 9.99812624e-01 -7.54350492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80592 meters Centerline goodness [0,1] 0.9999002891614318 Centerline is valid? [True, True] Translation: X:38.48, Y:8.29, Z:-0.75 [[ 8.97820133e-01 -4.40009996e-01 1.76128682e-02 3.84804221e+01] [ 4.39924690e-01 8.97992875e-01 8.66397756e-03 8.28659073e+00] [-1.96284669e-02 -3.03578823e-05 9.99807343e-01 -7.53634525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.835919999999994 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:38.51, Y:8.30, Z:-0.76 [[ 8.96846503e-01 -4.42011420e-01 1.70954406e-02 3.85058039e+01] [ 4.41931363e-01 8.97009423e-01 8.41229282e-03 8.30126149e+00] [-1.90531008e-02 1.04759799e-05 9.99818473e-01 -7.55197022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865919999999996 meters Centerline goodness [0,1] 0.9998508427385273 Centerline is valid? [True, True] Translation: X:38.53, Y:8.31, Z:-0.76 [[ 8.95418783e-01 -4.44850743e-01 1.82488050e-02 3.85312814e+01] [ 4.44759997e-01 8.95604718e-01 8.98516889e-03 8.31380710e+00] [-2.03407749e-02 7.08494568e-05 9.99793103e-01 -7.56720705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89592 meters Centerline goodness [0,1] 0.9996016729735112 Centerline is valid? [True, True] Translation: X:38.56, Y:8.33, Z:-0.76 [[ 8.93796038e-01 -4.48103318e-01 1.82225092e-02 3.85576074e+01] [ 4.48013446e-01 8.93981765e-01 8.97528837e-03 8.32505255e+00] [-2.03124474e-02 1.41851950e-04 9.99793671e-01 -7.56230743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92592 meters Centerline goodness [0,1] 0.9998507908087139 Centerline is valid? [True, True] Translation: X:38.58, Y:8.34, Z:-0.75 [[ 8.92636230e-01 -4.50493929e-01 1.59931300e-02 3.85837073e+01] [ 4.50425041e-01 8.92779475e-01 7.87982685e-03 8.33837568e+00] [-1.78281524e-02 1.69887301e-04 9.99841051e-01 -7.53912837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95592 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:38.61, Y:8.35, Z:-0.75 [[ 8.92008774e-01 -4.51720062e-01 1.64113446e-02 3.86091195e+01] [ 4.51647682e-01 8.92159709e-01 8.08856490e-03 8.35198516e+00] [-1.82953075e-02 1.97074882e-04 9.99832607e-01 -7.53932640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98592 meters Centerline goodness [0,1] 0.9997515034044033 Centerline is valid? [True, True] Translation: X:38.63, Y:8.37, Z:-0.75 [[ 8.90876807e-01 -4.53907332e-01 1.75113927e-02 3.86336458e+01] [ 4.53825275e-01 8.91048859e-01 8.63428668e-03 8.36641925e+00] [-1.95226725e-02 2.55026879e-04 9.99809382e-01 -7.54023733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015919999999994 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:38.66, Y:8.38, Z:-0.75 [[ 8.90572291e-01 -4.54460951e-01 1.86074990e-02 3.86601146e+01] [ 4.54368355e-01 8.90766617e-01 9.17783379e-03 8.37783639e+00] [-2.07459060e-02 2.81134266e-04 9.99784741e-01 -7.54660317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045919999999995 meters Centerline goodness [0,1] 0.9999006063015605 Centerline is valid? [True, True] Translation: X:38.69, Y:8.39, Z:-0.76 [[ 8.90469171e-01 -4.54642541e-01 1.91001541e-02 3.86869873e+01] [ 4.54544951e-01 8.90673945e-01 9.42396722e-03 8.38787016e+00] [-2.12965460e-02 2.90126349e-04 9.99773161e-01 -7.55160115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.71, Y:8.40, Z:-0.76 [[ 8.90441389e-01 -4.54689757e-01 1.92706413e-02 3.87117406e+01] [ 4.54590328e-01 8.90649842e-01 9.51273969e-03 8.39999159e+00] [-2.14887390e-02 2.89710026e-04 9.99769048e-01 -7.56929148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.74, Y:8.41, Z:-0.76 [[ 8.90686584e-01 -4.54256603e-01 1.81203699e-02 3.87375583e+01] [ 4.54168541e-01 8.90870850e-01 8.94793401e-03 8.41193542e+00] [-2.02075674e-02 2.59897167e-04 9.99795772e-01 -7.55016871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:8.42, Z:-0.75 [[ 8.90613638e-01 -4.54386701e-01 1.84410787e-02 3.87644222e+01] [ 4.54295296e-01 8.90804501e-01 9.11726869e-03 8.42196420e+00] [-2.05701616e-02 2.57731486e-04 9.99788379e-01 -7.54623147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.79, Y:8.43, Z:-0.75 [[ 8.91335215e-01 -4.53011795e-01 1.73737973e-02 3.87915895e+01] [ 4.52930342e-01 8.91504498e-01 8.59280147e-03 8.43187577e+00] [-1.93814588e-02 2.10053406e-04 9.99812140e-01 -7.53543117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:38.82, Y:8.44, Z:-0.75 [[ 8.91141957e-01 -4.53365874e-01 1.80387575e-02 3.88175831e+01] [ 4.53278078e-01 8.91324483e-01 8.92463266e-03 8.44476290e+00] [-2.01245101e-02 2.23458724e-04 9.99797457e-01 -7.54465236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225919999999995 meters Centerline goodness [0,1] 0.9999006063015605 Centerline is valid? [True, True] Translation: X:38.84, Y:8.46, Z:-0.75 [[ 8.91133681e-01 -4.53362290e-01 1.85309340e-02 3.88440043e+01] [ 4.53269575e-01 8.91326305e-01 9.17116587e-03 8.45584824e+00] [-2.06749697e-02 2.26773782e-04 9.99786224e-01 -7.54961782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.87, Y:8.47, Z:-0.76 [[ 8.91070904e-01 -4.53536759e-01 1.72352239e-02 3.88707647e+01] [ 4.53456535e-01 8.91237546e-01 8.53271307e-03 8.46747570e+00] [-1.92305777e-02 2.12172575e-04 9.99815053e-01 -7.55033762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.90, Y:8.48, Z:-0.75 [[ 8.90772533e-01 -4.54132387e-01 1.69725962e-02 3.88964864e+01] [ 4.54054620e-01 8.90934188e-01 8.40680052e-03 8.47954695e+00] [-1.89392666e-02 2.17938701e-04 9.99820612e-01 -7.54222163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:38.92, Y:8.49, Z:-0.75 [[ 8.90733054e-01 -4.54183063e-01 1.76740430e-02 3.89231844e+01] [ 4.54098687e-01 8.90908353e-01 8.75719763e-03 8.49028413e+00] [-1.97233234e-02 2.25434348e-04 9.99805451e-01 -7.54864755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.95, Y:8.50, Z:-0.76 [[ 8.89423103e-01 -4.56714987e-01 1.83838064e-02 3.89517310e+01] [ 4.56624026e-01 8.89613028e-01 9.11911354e-03 8.49799726e+00] [-2.05193095e-02 2.83737433e-04 9.99789417e-01 -7.55612209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37592 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:38.98, Y:8.51, Z:-0.75 [[ 8.89240336e-01 -4.57148519e-01 1.63357313e-02 3.89790216e+01] [ 4.57076613e-01 8.89390335e-01 8.11187317e-03 8.50799727e+00] [-1.82371723e-02 2.53275890e-04 9.99833657e-01 -7.54752648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405919999999995 meters Centerline goodness [0,1] 0.9998504337421478 Centerline is valid? [True, True] Translation: X:39.01, Y:8.52, Z:-0.76 [[ 8.88622124e-01 -4.58330953e-01 1.68362138e-02 3.90056422e+01] [ 4.58254601e-01 8.88781560e-01 8.37018569e-03 8.51919395e+00] [-1.88000315e-02 2.77340236e-04 9.99823225e-01 -7.55504645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435919999999996 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:39.03, Y:8.53, Z:-0.76 [[ 8.88443863e-01 -4.58667817e-01 1.70685468e-02 3.90317561e+01] [ 4.58589188e-01 8.88607763e-01 8.49708347e-03 8.52884305e+00] [-1.90645819e-02 2.78269329e-04 9.99818216e-01 -7.57196654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.06, Y:8.54, Z:-0.76 [[ 8.88014917e-01 -4.59466970e-01 1.78776369e-02 3.90591958e+01] [ 4.59380668e-01 8.88194806e-01 8.91006784e-03 8.53908933e+00] [-1.99727061e-02 3.00367637e-04 9.99800480e-01 -7.55976624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:39.09, Y:8.55, Z:-0.76 [[ 8.88044474e-01 -4.59361281e-01 1.90847051e-02 3.90875277e+01] [ 4.59262672e-01 8.88249469e-01 9.52256615e-03 8.54751268e+00] [-2.13262774e-02 3.08430425e-04 9.99772522e-01 -7.56530194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:39.11, Y:8.56, Z:-0.76 [[ 8.88506780e-01 -4.58508211e-01 1.80533398e-02 3.91147303e+01] [ 4.58419591e-01 8.88690132e-01 9.01820110e-03 8.55799925e+00] [-2.01787442e-02 2.63271845e-04 9.99796354e-01 -7.56545846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:8.57, Z:-0.76 [[ 8.89549930e-01 -4.56473090e-01 1.82548578e-02 3.91434482e+01] [ 4.56381851e-01 8.89737194e-01 9.12862563e-03 8.56632372e+00] [-2.04089979e-02 2.10817488e-04 9.99791692e-01 -7.58091785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585919999999994 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:39.17, Y:8.58, Z:-0.76 [[ 8.89866546e-01 -4.55865721e-01 1.79992816e-02 3.91696754e+01] [ 4.55776660e-01 8.90048544e-01 9.01253447e-03 8.57614285e+00] [-2.01287400e-02 1.83699547e-04 9.99797380e-01 -7.58649097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615919999999996 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:39.20, Y:8.59, Z:-0.76 [[ 8.90463163e-01 -4.54641774e-01 1.93961893e-02 3.91968069e+01] [ 4.54537818e-01 8.90674369e-01 9.72313733e-03 8.58556686e+00] [-2.16962331e-02 1.58205955e-04 9.99764597e-01 -7.58650871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.22, Y:8.60, Z:-0.76 [[ 8.91088367e-01 -4.53406095e-01 1.96070236e-02 3.92225829e+01] [ 4.53299285e-01 8.91304044e-01 9.84168332e-03 8.59660008e+00] [-2.19380986e-02 1.18040250e-04 9.99759324e-01 -7.57974686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67592 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:39.25, Y:8.61, Z:-0.76 [[ 8.92419991e-01 -4.50644018e-01 2.25061732e-02 3.92503838e+01] [ 4.50502072e-01 8.92703740e-01 1.13099850e-02 8.60569488e+00] [-2.51881221e-02 4.58209421e-05 9.99682728e-01 -7.58484336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.28, Y:8.62, Z:-0.76 [[ 8.92607072e-01 -4.50337565e-01 2.11823745e-02 3.92768728e+01] [ 4.50211460e-01 8.92858374e-01 1.06566592e-02 8.61678812e+00] [-2.37119545e-02 2.43383863e-05 9.99718832e-01 -7.57839852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73592 meters Centerline goodness [0,1] 0.9999004331159457 Centerline is valid? [True, True] Translation: X:39.30, Y:8.63, Z:-0.76 [[ 8.92907043e-01 -4.49736445e-01 2.13106188e-02 3.93027764e+01] [ 4.49608308e-01 8.93161312e-01 1.07349775e-02 8.62691086e+00] [-2.38617309e-02 -3.90578188e-06 9.99715268e-01 -7.59092232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765919999999994 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:39.33, Y:8.64, Z:-0.76 [[ 8.93084187e-01 -4.49348041e-01 2.20674585e-02 3.93298761e+01] [ 4.49210212e-01 8.93356780e-01 1.11287304e-02 8.63787858e+00] [-2.47147869e-02 -2.59653707e-05 9.99694543e-01 -7.59844075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795919999999995 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:39.36, Y:8.65, Z:-0.76 [[ 8.93049329e-01 -4.49518094e-01 1.99092943e-02 3.93566817e+01] [ 4.49405701e-01 8.93271226e-01 1.00515321e-02 8.64832661e+00] [-2.23027453e-02 -2.91636587e-05 9.99751262e-01 -7.58933961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.38, Y:8.66, Z:-0.76 [[ 8.93526445e-01 -4.48571137e-01 1.98602000e-02 3.93839045e+01] [ 4.48458782e-01 8.93747129e-01 1.00393961e-02 8.65697000e+00] [-2.22533801e-02 -6.39848266e-05 9.99752361e-01 -7.58507885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.41, Y:8.67, Z:-0.76 [[ 8.94165347e-01 -4.47334564e-01 1.89768427e-02 3.94099125e+01] [ 4.47231445e-01 8.94366691e-01 9.60503157e-03 8.66861873e+00] [-2.12689186e-02 -1.01445615e-04 9.99773786e-01 -7.58356746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88592 meters Centerline goodness [0,1] 0.9998510648860647 Centerline is valid? [True, True] Translation: X:39.44, Y:8.68, Z:-0.76 [[ 8.94424703e-01 -4.46780178e-01 1.97970474e-02 3.94361698e+01] [ 4.46667569e-01 8.94643759e-01 1.00312885e-02 8.68080561e+00] [-2.21930858e-02 -1.29533232e-04 9.99753695e-01 -7.58740252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91592 meters Centerline goodness [0,1] 0.9997519841269841 Centerline is valid? [True, True] Translation: X:39.46, Y:8.69, Z:-0.76 [[ 8.95188522e-01 -4.45193890e-01 2.09740337e-02 3.94645214e+01] [ 4.45066779e-01 8.95434176e-01 1.06394566e-02 8.68961835e+00] [-2.35174877e-02 -1.89473808e-04 9.99723408e-01 -7.59763271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94592 meters Centerline goodness [0,1] 0.9999007936507937 Centerline is valid? [True, True] Translation: X:39.49, Y:8.70, Z:-0.76 [[ 8.95026527e-01 -4.45531587e-01 2.07152128e-02 3.94910377e+01] [ 4.45407375e-01 8.95266200e-01 1.05214833e-02 8.69972068e+00] [-2.32332830e-02 -1.90298079e-04 9.99730053e-01 -7.60111051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.52, Y:8.71, Z:-0.76 [[ 8.95036815e-01 -4.45516040e-01 2.06047948e-02 3.95170796e+01] [ 4.45392843e-01 8.95273934e-01 1.04784568e-02 8.70992451e+00] [-2.31152563e-02 -2.01376483e-04 9.99732786e-01 -7.60674486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:8.72, Z:-0.76 [[ 8.94742831e-01 -4.46165226e-01 1.92835957e-02 3.95439951e+01] [ 4.46057258e-01 8.94950590e-01 9.81650982e-03 8.72195922e+00] [-2.16376507e-02 -1.81663965e-04 9.99765862e-01 -7.61634544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03592 meters Centerline goodness [0,1] 0.9999504017458586 Centerline is valid? [True, True] Translation: X:39.57, Y:8.73, Z:-0.76 [[ 8.95104928e-01 -4.45458859e-01 1.88035348e-02 3.95715114e+01] [ 4.45355796e-01 8.95302387e-01 9.58390080e-03 8.73068484e+00] [-2.11040831e-02 -2.04333643e-04 9.99777263e-01 -7.60144205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:8.74, Z:-0.76 [[ 8.95217984e-01 -4.45216450e-01 1.91591463e-02 3.95986222e+01] [ 4.45109168e-01 8.95422952e-01 9.77579572e-03 8.74230211e+00] [-2.15078844e-02 -2.23556461e-04 9.99768654e-01 -7.59130750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:8.75, Z:-0.76 [[ 8.95670942e-01 -4.44286853e-01 1.95641530e-02 3.96252300e+01] [ 4.44174527e-01 8.95884548e-01 9.99327093e-03 8.75438202e+00] [-2.19671012e-02 -2.60783990e-04 9.99758660e-01 -7.58483199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:8.77, Z:-0.76 [[ 8.96563373e-01 -4.42403456e-01 2.12908346e-02 3.96516788e+01] [ 4.42269612e-01 8.96816070e-01 1.08870055e-02 8.76586022e+00] [-2.39104115e-02 -3.44601238e-04 9.99714046e-01 -7.58350541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:8.78, Z:-0.76 [[ 8.97109759e-01 -4.41350671e-01 2.00914419e-02 3.96774254e+01] [ 4.41230936e-01 8.97334638e-01 1.02862869e-02 8.77646410e+00] [-2.25686064e-02 -3.62962668e-04 9.99745231e-01 -7.57948365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185919999999996 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:39.70, Y:8.79, Z:-0.76 [[ 8.97041697e-01 -4.41562517e-01 1.84048292e-02 3.97043004e+01] [ 4.41461880e-01 8.97230422e-01 9.43282891e-03 8.78684977e+00] [-2.06785564e-02 -3.36610335e-04 9.99786119e-01 -7.59065365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.73, Y:8.80, Z:-0.76 [[ 8.96876158e-01 -4.41871342e-01 1.90492766e-02 3.97302920e+01] [ 4.41763478e-01 8.97078367e-01 9.76894971e-03 8.79838697e+00] [-2.14053128e-02 -3.46263410e-04 9.99770820e-01 -7.59488233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:8.81, Z:-0.76 [[ 8.97221695e-01 -4.41103070e-01 2.05258733e-02 3.97577056e+01] [ 4.40977376e-01 8.97456361e-01 1.05372974e-02 8.80846369e+00] [-2.30691098e-02 -4.02846122e-04 9.99733792e-01 -7.59050784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.78, Y:8.82, Z:-0.76 [[ 8.97492686e-01 -4.40647385e-01 1.83510302e-02 3.97840044e+01] [ 4.40546633e-01 8.97680199e-01 9.43002540e-03 8.82162577e+00] [-2.06286724e-02 -3.78894267e-04 9.99787135e-01 -7.57919576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.81, Y:8.84, Z:-0.76 [[ 8.98189208e-01 -4.39208232e-01 1.87690226e-02 3.98090762e+01] [ 4.39102310e-01 8.98385187e-01 9.65490081e-03 8.83573437e+00] [-2.11023238e-02 -4.30406533e-04 9.99777229e-01 -7.58387816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.335919999999994 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:39.83, Y:8.85, Z:-0.76 [[ 8.99045319e-01 -4.37488006e-01 1.79376551e-02 3.98346273e+01] [ 4.37390844e-01 8.99224132e-01 9.23095039e-03 8.84813287e+00] [-2.01684024e-02 -4.53276637e-04 9.99796494e-01 -7.57257549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.86, Y:8.86, Z:-0.76 [[ 8.99220861e-01 -4.37128815e-01 1.78953009e-02 3.98604517e+01] [ 4.37031852e-01 8.99398788e-01 9.21850332e-03 8.86084826e+00] [-2.01246854e-02 -4.68653981e-04 9.99797368e-01 -7.57994544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.89, Y:8.87, Z:-0.76 [[ 8.99532708e-01 -4.36473903e-01 1.82054703e-02 3.98865190e+01] [ 4.36373216e-01 8.99716778e-01 9.38803075e-03 8.87350308e+00] [-2.04773975e-02 -5.00461120e-04 9.99790191e-01 -7.58643211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.91, Y:8.89, Z:-0.76 [[ 8.99172300e-01 -4.37245668e-01 1.74757309e-02 3.99125669e+01] [ 4.37152853e-01 8.99341984e-01 9.02105842e-03 8.88666380e+00] [-1.96610772e-02 -4.71920214e-04 9.99806591e-01 -7.59055929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.94, Y:8.90, Z:-0.76 [[ 8.97097104e-01 -4.41503487e-01 1.70720885e-02 3.99379277e+01] [ 4.41415504e-01 8.97259454e-01 8.82185776e-03 8.90102169e+00] [-1.92129737e-02 -3.78178536e-04 9.99815342e-01 -7.59574391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.96, Y:8.92, Z:-0.76 [[ 8.95688059e-01 -4.44294845e-01 1.85739748e-02 3.99617448e+01] [ 4.44191056e-01 8.95880552e-01 9.60947509e-03 8.91519382e+00] [-2.09095030e-02 -3.56698622e-04 9.99781309e-01 -7.60346446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.99, Y:8.93, Z:-0.76 [[ 8.94509023e-01 -4.46738033e-01 1.66954468e-02 3.99867436e+01] [ 4.46654431e-01 8.94664771e-01 8.64674229e-03 8.93043865e+00] [-1.87996568e-02 -2.77493689e-04 9.99823232e-01 -7.59137732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:8.94, Z:-0.76 [[ 8.94059317e-01 -4.47624825e-01 1.70280499e-02 4.00118266e+01] [ 4.47537815e-01 8.94221416e-01 8.82964346e-03 8.94300118e+00] [-1.91792145e-02 -2.73528731e-04 9.99816025e-01 -7.58689473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575919999999996 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:40.04, Y:8.96, Z:-0.76 [[ 8.93597274e-01 -4.48500597e-01 1.81968559e-02 4.00378954e+01] [ 4.48401204e-01 8.93782488e-01 9.44588022e-03 8.95516496e+00] [-2.05005141e-02 -2.81320727e-04 9.99789803e-01 -7.57908734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:40.06, Y:8.97, Z:-0.76 [[ 8.93370850e-01 -4.48951637e-01 1.81921133e-02 4.00625739e+01] [ 4.48852151e-01 8.93556013e-01 9.45501071e-03 8.96761281e+00] [-2.05005148e-02 -2.81261765e-04 9.99789803e-01 -7.57932496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.09, Y:8.98, Z:-0.76 [[ 8.92489152e-01 -4.50684574e-01 1.86152498e-02 4.00877217e+01] [ 4.50580533e-01 8.92683229e-01 9.68688823e-03 8.98041933e+00] [-2.09832524e-02 -2.57773492e-04 9.99779794e-01 -7.58111817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.11, Y:9.00, Z:-0.76 [[ 8.91309967e-01 -4.53062397e-01 1.73495359e-02 4.01119646e+01] [ 4.52972285e-01 8.91478786e-01 9.03789842e-03 8.99591784e+00] [-1.95614751e-02 -1.96710044e-04 9.99808637e-01 -7.58242736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.14, Y:9.01, Z:-0.76 [[ 8.90583267e-01 -4.54477146e-01 1.76626320e-02 4.01367223e+01] [ 4.54383819e-01 8.90758380e-01 9.21160958e-03 9.00868541e+00] [-1.99196035e-02 -1.78091184e-04 9.99801569e-01 -7.58772926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.16, Y:9.02, Z:-0.76 [[ 8.89660168e-01 -4.56280647e-01 1.76849392e-02 4.01624193e+01] [ 4.56187209e-01 8.89835911e-01 9.23477403e-03 9.02047911e+00] [-1.99503427e-02 -1.48167553e-04 9.99800961e-01 -7.59170964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.19, Y:9.03, Z:-0.76 [[ 8.87271842e-01 -4.60880300e-01 1.83855194e-02 4.01876364e+01] [ 4.60780048e-01 8.87462307e-01 9.61255206e-03 9.03212532e+00] [-2.07466914e-02 -5.72662353e-05 9.99784763e-01 -7.58378440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.21, Y:9.04, Z:-0.76 [[ 8.86562296e-01 -4.62308146e-01 1.66875210e-02 4.02136743e+01] [ 4.62225631e-01 8.86719334e-01 8.73431862e-03 9.04451257e+00] [-1.88350941e-02 -3.01176602e-05 9.99822603e-01 -7.58847612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.24, Y:9.06, Z:-0.76 [[ 8.84673674e-01 -4.65936032e-01 1.60032525e-02 4.02399866e+01] [ 4.65860553e-01 8.84818406e-01 8.38643635e-03 9.05589441e+00] [-1.80675153e-02 3.60246130e-05 9.99836768e-01 -7.59734705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.27, Y:9.07, Z:-0.76 [[ 8.84381408e-01 -4.66479511e-01 1.63214730e-02 4.02660607e+01] [ 4.66400898e-01 8.84532003e-01 8.56375737e-03 9.06678315e+00] [-1.84316825e-02 3.87218587e-05 9.99830121e-01 -7.60664625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:9.08, Z:-0.76 [[ 8.84619238e-01 -4.66016801e-01 1.66477031e-02 4.02934104e+01] [ 4.65934727e-01 8.84775871e-01 8.74578767e-03 9.07604069e+00] [-1.88051700e-02 2.00510009e-05 9.99823167e-01 -7.59287648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.32, Y:9.09, Z:-0.76 [[ 8.84668731e-01 -4.65842908e-01 1.87515582e-02 4.03206061e+01] [ 4.65738525e-01 8.84867439e-01 9.86110088e-03 9.08705116e+00] [-2.11863672e-02 9.51545290e-06 9.99775544e-01 -7.59542768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:9.09, Z:-0.76 [[ 8.85841939e-01 -4.63597321e-01 1.90153227e-02 4.03478210e+01] [ 4.63489194e-01 8.86046004e-01 1.00122720e-02 9.09488924e+00] [-2.14901132e-02 -5.58938441e-05 9.99769059e-01 -7.60628994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:9.11, Z:-0.76 [[ 8.86210518e-01 -4.62947797e-01 1.76140353e-02 4.03743218e+01] [ 4.62854709e-01 8.86385543e-01 9.28368019e-03 9.10609018e+00] [-1.99106855e-02 -7.45558423e-05 9.99801760e-01 -7.60290378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:9.12, Z:-0.76 [[ 8.86437557e-01 -4.62481969e-01 1.84088750e-02 4.04013414e+01] [ 4.62379971e-01 8.86628682e-01 9.71306714e-03 9.11680595e+00] [-2.08139550e-02 -9.81324077e-05 9.99783361e-01 -7.61583194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:9.13, Z:-0.76 [[ 8.86810227e-01 -4.61780216e-01 1.80735487e-02 4.04268887e+01] [ 4.61681520e-01 8.86994373e-01 9.54763087e-03 9.12823257e+00] [-2.04400430e-02 -1.22713267e-04 9.99791073e-01 -7.61079136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:9.14, Z:-0.76 [[ 8.86964014e-01 -4.61507579e-01 1.74811855e-02 4.04536902e+01] [ 4.61414972e-01 8.87136256e-01 9.24590739e-03 9.13836362e+00] [-1.97752498e-02 -1.34706398e-04 9.99804442e-01 -7.58198059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.48, Y:9.15, Z:-0.76 [[ 8.87054545e-01 -4.61398349e-01 1.56779527e-02 4.04799649e+01] [ 4.61323690e-01 8.87193072e-01 8.30100140e-03 9.15034296e+00] [-1.77394393e-02 -1.30830057e-04 9.99842635e-01 -7.58657813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.51, Y:9.16, Z:-0.76 [[ 8.86935773e-01 -4.61602549e-01 1.63713691e-02 4.05060674e+01] [ 4.61521004e-01 8.87086843e-01 8.67729623e-03 9.16204181e+00] [-1.85282882e-02 -1.40473720e-04 9.99828327e-01 -7.59444599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.53, Y:9.17, Z:-0.76 [[ 8.87124235e-01 -4.61187703e-01 1.77902827e-02 4.05333425e+01] [ 4.61091126e-01 8.87302583e-01 9.43928118e-03 9.17271685e+00] [-2.01386442e-02 -1.70873612e-04 9.99797182e-01 -7.60151135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:9.18, Z:-0.76 [[ 8.87834552e-01 -4.59780728e-01 1.87480948e-02 4.05618863e+01] [ 4.59672933e-01 8.88032450e-01 9.95803572e-03 9.18146308e+00] [-2.12274295e-02 -2.23096431e-04 9.99774648e-01 -7.59124093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.59, Y:9.19, Z:-0.76 [[ 8.88097495e-01 -4.59257500e-01 1.91151438e-02 4.05882027e+01] [ 4.59145089e-01 8.88303150e-01 1.01636740e-02 9.19413001e+00] [-2.16477860e-02 -2.49709003e-04 9.99765628e-01 -7.59500565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:9.21, Z:-0.76 [[ 8.89275109e-01 -4.57012764e-01 1.81414993e-02 4.06135453e+01] [ 4.56910842e-01 8.89460086e-01 9.65595171e-03 9.20716996e+00] [-2.05490327e-02 -2.97749774e-04 9.99788802e-01 -7.59421630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.64, Y:9.22, Z:-0.76 [[ 8.89473397e-01 -4.56635841e-01 1.79104517e-02 4.06388023e+01] [ 4.56536195e-01 8.89653647e-01 9.54417293e-03 9.21890464e+00] [-2.02923101e-02 -3.12518457e-04 9.99794041e-01 -7.59461522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:9.23, Z:-0.76 [[ 8.89764535e-01 -4.56039347e-01 1.86329355e-02 4.06651580e+01] [ 4.55931151e-01 8.89959545e-01 9.93946213e-03 9.23011073e+00] [-2.11153446e-02 -3.48445166e-04 9.99776986e-01 -7.61259943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.69, Y:9.24, Z:-0.76 [[ 8.89949076e-01 -4.55694273e-01 1.82584713e-02 4.06907847e+01] [ 4.55590074e-01 8.90136282e-01 9.75111139e-03 9.24095029e+00] [-2.06960533e-02 -3.59614302e-04 9.99785749e-01 -7.62195088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:9.26, Z:-0.76 [[ 8.89610911e-01 -4.56317218e-01 1.91578590e-02 4.07154281e+01] [ 4.56202554e-01 8.89817095e-01 1.02355559e-02 9.25505373e+00] [-2.17176509e-02 -3.65798021e-04 9.99764077e-01 -7.63291730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.74, Y:9.27, Z:-0.76 [[ 8.88809318e-01 -4.57816743e-01 2.05383995e-02 4.07416169e+01] [ 4.57685099e-01 8.89046511e-01 1.09841772e-02 9.26814735e+00] [-2.32883326e-02 -3.62719654e-04 9.99728724e-01 -7.63490871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.77, Y:9.28, Z:-0.76 [[ 8.87218965e-01 -4.60917710e-01 1.99342183e-02 4.07687787e+01] [ 4.60794231e-01 8.87442835e-01 1.06720269e-02 9.27876304e+00] [-2.26094054e-02 -2.82851897e-04 9.99744335e-01 -7.61307464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.79, Y:9.29, Z:-0.76 [[ 8.86394959e-01 -4.62503650e-01 1.98582374e-02 4.07946598e+01] [ 4.62381226e-01 8.86617341e-01 1.06438645e-02 9.29096690e+00] [-2.25294838e-02 -2.52591649e-04 9.99746147e-01 -7.61880287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.82, Y:9.30, Z:-0.76 [[ 8.85511913e-01 -4.64100385e-01 2.18971403e-02 4.08218799e+01] [ 4.63951709e-01 8.85782576e-01 1.17489796e-02 9.30220287e+00] [-2.48488113e-02 -2.44645762e-04 9.99691191e-01 -7.63835312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:9.31, Z:-0.76 [[ 8.85293897e-01 -4.64567237e-01 2.07845575e-02 4.08486413e+01] [ 4.64433146e-01 8.85537819e-01 1.11634555e-02 9.31389434e+00] [-2.35916874e-02 -2.29901587e-04 9.99721651e-01 -7.64014503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:9.32, Z:-0.76 [[ 8.85892717e-01 -4.63532261e-01 1.82191170e-02 4.08755136e+01] [ 4.63428806e-01 8.86080012e-01 9.79562828e-03 9.32470878e+00] [-2.06841852e-02 -2.34612112e-04 9.99786032e-01 -7.63802417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56592 meters Centerline goodness [0,1] 0.9999504287909582 Centerline is valid? [True, True] Translation: X:40.90, Y:9.33, Z:-0.76 [[ 8.87800226e-01 -4.59872674e-01 1.81075295e-02 4.09042387e+01] [ 4.59769513e-01 8.87984807e-01 9.74567740e-03 9.33275562e+00] [-2.05609818e-02 -3.26924571e-04 9.99788547e-01 -7.64137783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.93, Y:9.34, Z:-0.76 [[ 8.88870261e-01 -4.57784720e-01 1.85151212e-02 4.09318432e+01] [ 4.57676194e-01 8.89062988e-01 9.97521627e-03 9.34248367e+00] [-2.10276106e-02 -3.92742871e-04 9.99778818e-01 -7.64394938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.96, Y:9.35, Z:-0.76 [[ 8.89625926e-01 -4.56280315e-01 1.93387073e-02 4.09590509e+01] [ 4.56161333e-01 8.89835977e-01 1.04294209e-02 9.35362364e+00] [-2.19670169e-02 -4.56712715e-04 9.99758592e-01 -7.63560272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.99, Y:9.37, Z:-0.76 [[ 8.90871055e-01 -4.53801826e-01 2.03141930e-02 4.09855026e+01] [ 4.53669638e-01 8.91102461e-01 1.09664891e-02 9.36572999e+00] [-2.30786402e-02 -5.53795135e-04 9.99733499e-01 -7.63731180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.01, Y:9.38, Z:-0.77 [[ 8.91511822e-01 -4.52564873e-01 1.97915937e-02 4.10133520e+01] [ 4.52438854e-01 8.91731293e-01 1.06950513e-02 9.37564653e+00] [-2.24889880e-02 -5.80278639e-04 9.99746922e-01 -7.65889707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.04, Y:9.39, Z:-0.77 [[ 8.91442453e-01 -4.52750730e-01 1.86314032e-02 4.10398702e+01] [ 4.52638885e-01 8.91636962e-01 1.00780355e-02 9.38808517e+00] [-2.11752857e-02 -5.50691134e-04 9.99775627e-01 -7.65875838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.07, Y:9.40, Z:-0.77 [[ 8.91413627e-01 -4.52747256e-01 2.00416477e-02 4.10661777e+01] [ 4.52617589e-01 8.91638694e-01 1.08516704e-02 9.40128151e+00] [-2.27829725e-02 -6.02124633e-04 9.99740253e-01 -7.67217463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.09, Y:9.41, Z:-0.77 [[ 8.91435137e-01 -4.52687603e-01 2.04286628e-02 4.10923501e+01] [ 4.52552609e-01 8.91668965e-01 1.10721498e-02 9.41441408e+00] [-2.32278295e-02 -6.25058723e-04 9.99730002e-01 -7.67476727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.12, Y:9.43, Z:-0.77 [[ 8.92038100e-01 -4.51590323e-01 1.82813855e-02 4.11183443e+01] [ 4.51481759e-01 8.92225211e-01 9.91940061e-03 9.42577681e+00] [-2.07906183e-02 -5.94771203e-04 9.99783675e-01 -7.66266931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.14, Y:9.44, Z:-0.77 [[ 8.92054565e-01 -4.51605672e-01 1.70578422e-02 4.11441207e+01] [ 4.51510968e-01 8.92217462e-01 9.26532761e-03 9.43797421e+00] [-1.94035792e-02 -5.63374928e-04 9.99811574e-01 -7.65598284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:9.45, Z:-0.77 [[ 8.92526241e-01 -4.50718597e-01 1.58004747e-02 4.11708447e+01] [ 4.50637048e-01 8.92665921e-01 8.59094246e-03 9.44849206e+00] [-1.79766429e-02 -5.47362289e-04 9.99838257e-01 -7.66289490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89592 meters Centerline goodness [0,1] 0.9999505317833293 Centerline is valid? [True, True] Translation: X:41.20, Y:9.46, Z:-0.77 [[ 8.92657299e-01 -4.50437481e-01 1.64018978e-02 4.11968468e+01] [ 4.50349394e-01 8.92807783e-01 8.92675160e-03 9.46134744e+00] [-1.86646855e-02 -5.81945249e-04 9.99825630e-01 -7.66194395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:9.47, Z:-0.77 [[ 8.92779830e-01 -4.50158325e-01 1.73682828e-02 4.12237290e+01] [ 4.50059314e-01 8.92948534e-01 9.46199189e-03 9.47259989e+00] [-1.97683771e-02 -6.30718099e-04 9.99804388e-01 -7.65999891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:9.48, Z:-0.77 [[ 8.92545202e-01 -4.50614135e-01 1.76058134e-02 4.12495141e+01] [ 4.50512270e-01 8.92718597e-01 9.60210999e-03 9.48403344e+00] [-2.00438835e-02 -6.38682240e-04 9.99798897e-01 -7.65141633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.28, Y:9.50, Z:-0.77 [[ 8.91709337e-01 -4.52316397e-01 1.62584302e-02 4.12756373e+01] [ 4.52229660e-01 8.91857366e-01 8.87541054e-03 9.49758645e+00] [-1.85146945e-02 -5.61742081e-04 9.99828431e-01 -7.66058065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015919999999994 meters Centerline goodness [0,1] 0.9999504312481412 Centerline is valid? [True, True] Translation: X:41.30, Y:9.51, Z:-0.77 [[ 8.91230952e-01 -4.53220604e-01 1.72763804e-02 4.13004147e+01] [ 4.53122625e-01 8.91398194e-01 9.44177780e-03 9.51148166e+00] [-1.96793425e-02 -5.86485801e-04 9.99806171e-01 -7.66849204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.33, Y:9.52, Z:-0.77 [[ 8.90349417e-01 -4.54985873e-01 1.63024739e-02 4.13273443e+01] [ 4.54898759e-01 8.90498501e-01 8.91843597e-03 9.52275763e+00] [-1.85750910e-02 -5.24549114e-04 9.99827331e-01 -7.68558287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.35, Y:9.53, Z:-0.77 [[ 8.89910655e-01 -4.55861044e-01 1.58029698e-02 4.13542546e+01] [ 4.55779171e-01 8.90050819e-01 8.65376925e-03 9.53312394e+00] [-1.80103625e-02 -4.98417011e-04 9.99837676e-01 -7.68423706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.38, Y:9.54, Z:-0.77 [[ 8.89414160e-01 -4.56821592e-01 1.60151485e-02 4.13808652e+01] [ 4.56737481e-01 8.89558199e-01 8.77975310e-03 9.54398664e+00] [-1.82571874e-02 -4.94118134e-04 9.99833202e-01 -7.67163339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:9.56, Z:-0.77 [[ 8.88983545e-01 -4.57584546e-01 1.80177764e-02 4.14057449e+01] [ 4.57478038e-01 8.89165948e-01 9.88742853e-03 9.55801695e+00] [-2.05451277e-02 -5.47024282e-04 9.99788777e-01 -7.67940806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16592 meters Centerline goodness [0,1] 0.9999504459861249 Centerline is valid? [True, True] Translation: X:41.43, Y:9.57, Z:-0.77 [[ 8.90004945e-01 -4.55594874e-01 1.80141299e-02 4.14320389e+01] [ 4.55487803e-01 8.90187030e-01 9.89510657e-03 9.57032556e+00] [-2.05441046e-02 -6.01477340e-04 9.99788767e-01 -7.67170773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19592 meters Centerline goodness [0,1] 0.9999506099669087 Centerline is valid? [True, True] Translation: X:41.46, Y:9.58, Z:-0.77 [[ 8.90311024e-01 -4.54928431e-01 1.96571719e-02 4.14589159e+01] [ 4.54800531e-01 8.90527741e-01 1.08083437e-02 9.58141004e+00] [-2.24222797e-02 -6.82695345e-04 9.99748356e-01 -7.68082738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.49, Y:9.59, Z:-0.77 [[ 8.91263522e-01 -4.53213593e-01 1.57090025e-02 4.14858641e+01] [ 4.53131479e-01 8.91401757e-01 8.64697382e-03 9.59113622e+00] [-1.79219585e-02 -5.88488831e-04 9.99839216e-01 -7.66853505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:9.60, Z:-0.77 [[ 8.91482434e-01 -4.52781770e-01 1.57397280e-02 4.15121548e+01] [ 4.52699114e-01 8.91621165e-01 8.67240138e-03 9.60403640e+00] [-1.79605798e-02 -6.05932586e-04 9.99838512e-01 -7.67125142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:9.62, Z:-0.77 [[ 8.92744975e-01 -4.50244384e-01 1.69234686e-02 4.15375345e+01] [ 4.50148304e-01 8.92905085e-01 9.32810314e-03 9.61693470e+00] [-1.93109772e-02 -7.09546530e-04 9.99813274e-01 -7.67000138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:9.63, Z:-0.77 [[ 8.93409952e-01 -4.48946152e-01 1.63098343e-02 4.15632685e+01] [ 4.48856607e-01 8.93558527e-01 8.99470892e-03 9.63067824e+00] [-1.86119315e-02 -7.15185574e-04 9.99826527e-01 -7.66031010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34592 meters Centerline goodness [0,1] 0.9999008133306884 Centerline is valid? [True, True] Translation: X:41.59, Y:9.64, Z:-0.77 [[ 8.94410353e-01 -4.46964264e-01 1.59080789e-02 4.15886959e+01] [ 4.46878681e-01 8.94551505e-01 8.77772452e-03 9.64337419e+00] [-1.81539251e-02 -7.41906364e-04 9.99834929e-01 -7.65180710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37592 meters Centerline goodness [0,1] 0.9999504705299653 Centerline is valid? [True, True] Translation: X:41.61, Y:9.66, Z:-0.77 [[ 8.94669307e-01 -4.46361619e-01 1.81145307e-02 4.16129680e+01] [ 4.46250410e-01 8.94852255e-01 1.00006565e-02 9.65902188e+00] [-2.06737378e-02 -8.63663698e-04 9.99785902e-01 -7.67302814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405919999999995 meters Centerline goodness [0,1] 0.9997034840622684 Centerline is valid? [True, True] Translation: X:41.64, Y:9.67, Z:-0.77 [[ 8.94631413e-01 -4.46489848e-01 1.67764949e-02 4.16403390e+01] [ 4.46394316e-01 8.94788337e-01 9.27072919e-03 9.67011791e+00] [-1.91506985e-02 -8.04953569e-04 9.99816285e-01 -7.66855407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435919999999996 meters Centerline goodness [0,1] 0.9999012881891318 Centerline is valid? [True, True] Translation: X:41.67, Y:9.68, Z:-0.77 [[ 8.93859477e-01 -4.48044321e-01 1.64779402e-02 4.16661115e+01] [ 4.47952262e-01 8.94011018e-01 9.11430920e-03 9.68332320e+00] [-1.88150746e-02 -7.65581068e-04 9.99822688e-01 -7.65543179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46592 meters Centerline goodness [0,1] 0.9999506148451776 Centerline is valid? [True, True] Translation: X:41.69, Y:9.70, Z:-0.77 [[ 8.92437575e-01 -4.50826812e-01 1.76170644e-02 4.16897897e+01] [ 4.50721937e-01 8.92611115e-01 9.75364073e-03 9.69963633e+00] [-2.01223902e-02 -7.64118097e-04 9.99797232e-01 -7.67457875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.71, Y:9.71, Z:-0.77 [[ 8.92277443e-01 -4.51157429e-01 1.72608803e-02 4.17143485e+01] [ 4.51056610e-01 8.92444066e-01 9.56680593e-03 9.71391652e+00] [-1.97205058e-02 -7.50610976e-04 9.99805250e-01 -7.68223028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.74, Y:9.73, Z:-0.77 [[ 8.92068880e-01 -4.51569848e-01 1.72564567e-02 4.17387268e+01] [ 4.51468952e-01 8.92235456e-01 9.57478273e-03 9.72705517e+00] [-1.97205057e-02 -7.50611294e-04 9.99805250e-01 -7.68246788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55592 meters Centerline goodness [0,1] 0.9997528789601147 Centerline is valid? [True, True] Translation: X:41.76, Y:9.74, Z:-0.76 [[ 8.92298878e-01 -4.51210050e-01 1.45672235e-02 4.17642951e+01] [ 4.51137977e-01 8.92417544e-01 8.09032815e-03 9.74011616e+00] [-1.66504832e-02 -6.47162978e-04 9.99861162e-01 -7.64990094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585919999999994 meters Centerline goodness [0,1] 0.9998020389983173 Centerline is valid? [True, True] Translation: X:41.79, Y:9.76, Z:-0.76 [[ 8.92857346e-01 -4.50142767e-01 1.33134777e-02 4.17880049e+01] [ 4.50082341e-01 8.92956388e-01 7.40105365e-03 9.75712119e+00] [-1.52198857e-02 -6.15923914e-04 9.99883981e-01 -7.64877639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615919999999996 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:41.81, Y:9.77, Z:-0.77 [[ 8.92714783e-01 -4.50380816e-01 1.47457236e-02 4.18116480e+01] [ 4.50306642e-01 8.92836298e-01 8.20196796e-03 9.77412632e+00] [-1.68595263e-02 -6.81920772e-04 9.99857636e-01 -7.65992836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64592 meters Centerline goodness [0,1] 0.9998518299007261 Centerline is valid? [True, True] Translation: X:41.84, Y:9.79, Z:-0.77 [[ 8.92573814e-01 -4.50605279e-01 1.63361643e-02 4.18372972e+01] [ 4.50514113e-01 8.92722973e-01 9.09542599e-03 9.78781017e+00] [-1.86821161e-02 -7.58666489e-04 9.99825186e-01 -7.67875297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:9.80, Z:-0.77 [[ 8.91780630e-01 -4.52114741e-01 1.78765038e-02 4.18607082e+01] [ 4.52005762e-01 8.91959428e-01 9.95846441e-03 9.80443951e+00] [-2.04474846e-02 -8.00482960e-04 9.99790608e-01 -7.65725940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70592 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:41.88, Y:9.83, Z:-0.77 [[ 8.90575193e-01 -4.54549069e-01 1.61545302e-02 4.18822177e+01] [ 4.54460319e-01 8.90721438e-01 9.00761168e-03 9.82548235e+00] [-1.84835879e-02 -6.80362537e-04 9.99828932e-01 -7.65420670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73592 meters Centerline goodness [0,1] 0.9999010586722074 Centerline is valid? [True, True] Translation: X:41.91, Y:9.84, Z:-0.77 [[ 8.89585635e-01 -4.56476526e-01 1.63272487e-02 4.19062862e+01] [ 4.56386026e-01 8.89735215e-01 9.11279572e-03 9.84235082e+00] [-1.86867055e-02 -6.55084003e-04 9.99825174e-01 -7.67168126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765919999999994 meters Centerline goodness [0,1] 0.9999009704892058 Centerline is valid? [True, True] Translation: X:41.93, Y:9.86, Z:-0.77 [[ 8.88441048e-01 -4.58711119e-01 1.60191782e-02 4.19308280e+01] [ 4.58624207e-01 8.88585249e-01 8.94943775e-03 9.85789485e+00] [-1.83396120e-02 -6.04264952e-04 9.99831633e-01 -7.67428118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.96, Y:9.87, Z:-0.77 [[ 8.86374340e-01 -4.62620518e-01 1.79662578e-02 4.19552933e+01] [ 4.62511803e-01 8.86556204e-01 1.00463701e-02 9.87363395e+00] [-2.05757543e-02 -5.95238363e-04 9.99788120e-01 -7.65216660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.98, Y:9.89, Z:-0.77 [[ 8.85016009e-01 -4.65183370e-01 1.87375708e-02 4.19798210e+01] [ 4.65065470e-01 8.85214160e-01 1.04880205e-02 9.88916238e+00] [-2.14656157e-02 -5.67868852e-04 9.99769426e-01 -7.65681650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.00, Y:9.90, Z:-0.77 [[ 8.83836750e-01 -4.67425902e-01 1.85909894e-02 4.20037602e+01] [ 4.67310118e-01 8.84032102e-01 1.04161346e-02 9.90494564e+00] [-2.13038025e-02 -5.18405082e-04 9.99772914e-01 -7.67878016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.03, Y:9.92, Z:-0.77 [[ 8.82789293e-01 -4.69456088e-01 1.71477527e-02 4.20291743e+01] [ 4.69357784e-01 8.82955711e-01 9.61685861e-03 9.91903566e+00] [-1.96553990e-02 -4.41228598e-04 9.99806717e-01 -7.68331658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91592 meters Centerline goodness [0,1] 0.9998516393847979 Centerline is valid? [True, True] Translation: X:42.05, Y:9.93, Z:-0.77 [[ 8.82717360e-01 -4.69541479e-01 1.84624569e-02 4.20546853e+01] [ 4.69427324e-01 8.82910282e-01 1.03644117e-02 9.93206947e+00] [-2.11672142e-02 -4.82064400e-04 9.99775833e-01 -7.69116303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.08, Y:9.95, Z:-0.77 [[ 8.83811044e-01 -4.67489969e-01 1.81979910e-02 4.20796666e+01] [ 4.67378546e-01 8.83998219e-01 1.02197933e-02 9.94545885e+00] [-2.08646425e-02 -5.27015574e-04 9.99782171e-01 -7.68235057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975919999999995 meters Centerline goodness [0,1] 0.9999010390895596 Centerline is valid? [True, True] Translation: X:42.10, Y:9.96, Z:-0.77 [[ 8.84249342e-01 -4.66607523e-01 1.95069173e-02 4.21049208e+01] [ 4.66479044e-01 8.84464280e-01 1.09653180e-02 9.95958531e+00] [-2.23696714e-02 -5.96507052e-04 9.99749590e-01 -7.69405106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.13, Y:9.97, Z:-0.77 [[ 8.84293662e-01 -4.66545625e-01 1.89710110e-02 4.21291823e+01] [ 4.66423838e-01 8.84496936e-01 1.06758494e-02 9.97345982e+00] [-2.17605719e-02 -5.92054193e-04 9.99763035e-01 -7.68721889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03592 meters Centerline goodness [0,1] 0.9999010243974861 Centerline is valid? [True, True] Translation: X:42.15, Y:9.99, Z:-0.77 [[ 8.83781205e-01 -4.67461740e-01 2.02559383e-02 4.21545719e+01] [ 4.67322894e-01 8.84013088e-01 1.14093242e-02 9.98780818e+00] [-2.32399371e-02 -6.17282570e-04 9.99729726e-01 -7.69073200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06592 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:42.18, Y:10.00, Z:-0.77 [[ 8.83012005e-01 -4.68941239e-01 1.95936872e-02 4.21809452e+01] [ 4.68811553e-01 8.83229186e-01 1.10423007e-02 1.00008627e+01] [-2.24839066e-02 -5.64737116e-04 9.99747046e-01 -7.68559388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.21, Y:10.01, Z:-0.77 [[ 8.81147790e-01 -4.72368215e-01 2.11386237e-02 4.22068758e+01] [ 4.72217972e-01 8.81401154e-01 1.19244450e-02 1.00129387e+01] [-2.42643361e-02 -5.25160352e-04 9.99705440e-01 -7.69608025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12592 meters Centerline goodness [0,1] 0.9997527445356542 Centerline is valid? [True, True] Translation: X:42.23, Y:10.03, Z:-0.77 [[ 8.79880112e-01 -4.74799744e-01 1.93956438e-02 4.22325886e+01] [ 4.74673609e-01 8.80093755e-01 1.09520287e-02 1.00270369e+01] [-2.22700054e-02 -4.29872014e-04 9.99751900e-01 -7.68409217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:10.04, Z:-0.77 [[ 8.78928828e-01 -4.76563997e-01 1.92580524e-02 4.22587288e+01] [ 4.76439846e-01 8.79139695e-01 1.08843703e-02 1.00405881e+01] [-2.21176173e-02 -3.91283342e-04 9.99755299e-01 -7.70462554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185919999999996 meters Centerline goodness [0,1] 0.9999504729830122 Centerline is valid? [True, True] Translation: X:42.28, Y:10.05, Z:-0.77 [[ 8.78470890e-01 -4.77378487e-01 1.99668352e-02 4.22841290e+01] [ 4.77244967e-01 8.78697686e-01 1.12967844e-02 1.00537553e+01] [-2.29376537e-02 -3.94824675e-04 9.99736819e-01 -7.69401637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21592 meters Centerline goodness [0,1] 0.9999505170963432 Centerline is valid? [True, True] Translation: X:42.31, Y:10.06, Z:-0.77 [[ 8.79291612e-01 -4.75874957e-01 1.97303532e-02 4.23122343e+01] [ 4.75743951e-01 8.79512838e-01 1.11740752e-02 1.00633632e+01] [-2.26705615e-02 -4.38674369e-04 9.99742894e-01 -7.67899835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24592 meters Centerline goodness [0,1] 0.9999506148451776 Centerline is valid? [True, True] Translation: X:42.34, Y:10.07, Z:-0.77 [[ 8.81513484e-01 -4.71739608e-01 1.98926910e-02 4.23395924e+01] [ 4.71605131e-01 8.81737733e-01 1.12770170e-02 1.00740543e+01] [-2.28599518e-02 -5.59347405e-04 9.99738521e-01 -7.69550990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:10.09, Z:-0.77 [[ 8.82428313e-01 -4.69997637e-01 2.05546484e-02 4.23658887e+01] [ 4.69853321e-01 8.82667445e-01 1.16635470e-02 1.00865606e+01] [-2.36247586e-02 -6.34574304e-04 9.99720695e-01 -7.71180368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30592 meters Centerline goodness [0,1] 0.9999506002074792 Centerline is valid? [True, True] Translation: X:42.39, Y:10.10, Z:-0.77 [[ 8.83372755e-01 -4.68240843e-01 2.00770664e-02 4.23936707e+01] [ 4.68102451e-01 8.83600620e-01 1.14034717e-02 1.00965762e+01] [-2.30796795e-02 -6.75392232e-04 9.99733401e-01 -7.71919946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335919999999994 meters Centerline goodness [0,1] 0.9999011222623226 Centerline is valid? [True, True] Translation: X:42.42, Y:10.11, Z:-0.77 [[ 8.83866073e-01 -4.67335146e-01 1.94583228e-02 4.24205688e+01] [ 4.67204696e-01 8.84079968e-01 1.10626482e-02 1.01087004e+01] [-2.23726778e-02 -6.86879643e-04 9.99749464e-01 -7.70689452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365919999999996 meters Centerline goodness [0,1] 0.9999505904441919 Centerline is valid? [True, True] Translation: X:42.45, Y:10.12, Z:-0.77 [[ 8.84135334e-01 -4.66817687e-01 1.96458134e-02 4.24464845e+01] [ 4.66684343e-01 8.84353286e-01 1.11798925e-02 1.01212561e+01] [-2.25928112e-02 -7.16144473e-04 9.99744493e-01 -7.70370510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39592 meters Centerline goodness [0,1] 0.9999506124061636 Centerline is valid? [True, True] Translation: X:42.47, Y:10.13, Z:-0.77 [[ 8.85089021e-01 -4.65082327e-01 1.77722604e-02 4.24721241e+01] [ 4.64972660e-01 8.85267160e-01 1.01232984e-02 1.01339495e+01] [-2.04413656e-02 -6.96405081e-04 9.99790811e-01 -7.70746480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42592 meters Centerline goodness [0,1] 0.9998514630885775 Centerline is valid? [True, True] Translation: X:42.50, Y:10.15, Z:-0.77 [[ 8.85960163e-01 -4.63455111e-01 1.68508297e-02 4.24978174e+01] [ 4.63356064e-01 8.86120119e-01 9.60689467e-03 1.01475013e+01] [-1.93842236e-02 -7.03391863e-04 9.99811861e-01 -7.70425329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.45592 meters Centerline goodness [0,1] 0.9998021564942131 Centerline is valid? [True, True] Translation: X:42.52, Y:10.16, Z:-0.77 [[ 8.87833123e-01 -4.59787897e-01 1.86396379e-02 4.25246483e+01] [ 4.59665821e-01 8.88028340e-01 1.06301151e-02 1.01591134e+01] [-2.14401250e-02 -8.69763795e-04 9.99769756e-01 -7.71813606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48592 meters Centerline goodness [0,1] 0.999851683393484 Centerline is valid? [True, True] Translation: X:42.55, Y:10.17, Z:-0.77 [[ 8.88218348e-01 -4.58993387e-01 1.98302027e-02 4.25499968e+01] [ 4.58854785e-01 8.88439170e-01 1.13193410e-02 1.01736380e+01] [-2.28134315e-02 -9.54862984e-04 9.99739284e-01 -7.71037532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.515919999999994 meters Centerline goodness [0,1] 0.9998513600554922 Centerline is valid? [True, True] Translation: X:42.58, Y:10.19, Z:-0.77 [[ 8.90236027e-01 -4.55043121e-01 2.03856120e-02 4.25750815e+01] [ 4.54895583e-01 8.90468740e-01 1.16375225e-02 1.01892478e+01] [-2.34483248e-02 -1.08681695e-03 9.99724459e-01 -7.70619418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545919999999995 meters Centerline goodness [0,1] 0.9999505268886361 Centerline is valid? [True, True] Translation: X:42.60, Y:10.20, Z:-0.77 [[ 8.90619900e-01 -4.54312583e-01 1.99065513e-02 4.26006859e+01] [ 4.54171481e-01 8.90841675e-01 1.13742999e-02 1.02022268e+01] [-2.29010731e-02 -1.08918995e-03 9.99737143e-01 -7.70008740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575919999999996 meters Centerline goodness [0,1] 0.9994062051561186 Centerline is valid? [True, True] Translation: X:42.63, Y:10.22, Z:-0.77 [[ 8.91045776e-01 -4.53511119e-01 1.91073118e-02 4.26253777e+01] [ 4.53380716e-01 8.91249971e-01 1.09277025e-02 1.02165644e+01] [-2.19852257e-02 -1.07419648e-03 9.99757719e-01 -7.69336101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60592 meters Centerline goodness [0,1] 0.9992568370986921 Centerline is valid? [True, True] Translation: X:42.65, Y:10.23, Z:-0.77 [[ 8.91332305e-01 -4.52947681e-01 1.91081224e-02 4.26490374e+01] [ 4.52816918e-01 8.91536423e-01 1.09382096e-02 1.02331599e+01] [-2.19900238e-02 -1.09709843e-03 9.99757588e-01 -7.70015165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.63592 meters Centerline goodness [0,1] 0.9996036660886797 Centerline is valid? [True, True] Translation: X:42.67, Y:10.25, Z:-0.77 [[ 8.90997433e-01 -4.53658584e-01 1.78175403e-02 4.26717691e+01] [ 4.53544838e-01 8.91174988e-01 1.02088376e-02 1.02511217e+01] [-2.05098730e-02 -1.01499463e-03 9.99789135e-01 -7.70791152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66592 meters Centerline goodness [0,1] 0.9993071022024251 Centerline is valid? [True, True] Translation: X:42.70, Y:10.27, Z:-0.77 [[ 8.91226273e-01 -4.53172452e-01 1.87205614e-02 4.26962307e+01] [ 4.53046565e-01 8.91422205e-01 1.07360531e-02 1.02669287e+01] [-2.15532077e-02 -1.08696652e-03 9.99767112e-01 -7.70937752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69592 meters Centerline goodness [0,1] 0.9996032533227535 Centerline is valid? [True, True] Translation: X:42.72, Y:10.28, Z:-0.77 [[ 8.90631048e-01 -4.54348779e-01 1.85343743e-02 4.27208485e+01] [ 4.54225429e-01 8.90823254e-01 1.06390439e-02 1.02830469e+01] [-2.13446882e-02 -1.05667870e-03 9.99771618e-01 -7.69962807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725919999999995 meters Centerline goodness [0,1] 0.9994059700014851 Centerline is valid? [True, True] Translation: X:42.75, Y:10.30, Z:-0.77 [[ 8.90105179e-01 -4.55348843e-01 1.92406029e-02 4.27453507e+01] [ 4.55215888e-01 8.90312450e-01 1.10560383e-02 1.02970991e+01] [-2.21645026e-02 -1.08240883e-03 9.99753751e-01 -7.69880337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755919999999996 meters Centerline goodness [0,1] 0.9988609914326747 Centerline is valid? [True, True] Translation: X:42.77, Y:10.31, Z:-0.77 [[ 8.89396669e-01 -4.56687722e-01 2.02457169e-02 4.27698715e+01] [ 4.56540608e-01 8.89626374e-01 1.16442597e-02 1.03132742e+01] [-2.33289142e-02 -1.11337392e-03 9.99727224e-01 -7.69774269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78592 meters Centerline goodness [0,1] 0.9983665792209078 Centerline is valid? [True, True] Translation: X:42.79, Y:10.33, Z:-0.77 [[ 8.88112734e-01 -4.59191938e-01 1.99633741e-02 4.27921380e+01] [ 4.59049404e-01 8.88336472e-01 1.14873074e-02 1.03329204e+01] [-2.30090723e-02 -1.03784894e-03 9.99734718e-01 -7.69302286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81592 meters Centerline goodness [0,1] 0.9990577733696999 Centerline is valid? [True, True] Translation: X:42.82, Y:10.35, Z:-0.77 [[ 8.85927310e-01 -4.63338849e-01 2.12111366e-02 4.28157432e+01] [ 4.63179038e-01 8.86180641e-01 1.22086390e-02 1.03495186e+01] [-2.44536353e-02 -9.91412884e-04 9.99700474e-01 -7.71825933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84592 meters Centerline goodness [0,1] 0.9990098029507872 Centerline is valid? [True, True] Translation: X:42.84, Y:10.37, Z:-0.77 [[ 8.84464653e-01 -4.66049879e-01 2.27988515e-02 4.28404012e+01] [ 4.65865826e-01 8.84757887e-01 1.31344517e-02 1.03654540e+01] [-2.62927733e-02 -9.95752452e-04 9.99653789e-01 -7.72217922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87592 meters Centerline goodness [0,1] 0.9991100123609394 Centerline is valid? [True, True] Translation: X:42.86, Y:10.39, Z:-0.77 [[ 8.81404468e-01 -4.71795754e-01 2.31285456e-02 4.28630860e+01] [ 4.71608249e-01 8.81707471e-01 1.33265150e-02 1.03853005e+01] [-2.66800046e-02 -8.38436968e-04 9.99643674e-01 -7.72455247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905919999999995 meters Centerline goodness [0,1] 0.9989612188365651 Centerline is valid? [True, True] Translation: X:42.89, Y:10.40, Z:-0.77 [[ 8.79507737e-01 -4.75352910e-01 2.24889290e-02 4.28877248e+01] [ 4.75176506e-01 8.79794915e-01 1.29690382e-02 1.04016430e+01] [-2.59505154e-02 -7.20158733e-04 9.99662969e-01 -7.72292994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935919999999996 meters Centerline goodness [0,1] 0.999307581977348 Centerline is valid? [True, True] Translation: X:42.91, Y:10.42, Z:-0.77 [[ 8.77768251e-01 -4.78567337e-01 2.22755732e-02 4.29127662e+01] [ 4.78394982e-01 8.78050629e-01 1.28582471e-02 1.04159460e+01] [-2.57126181e-02 -6.30038613e-04 9.99669177e-01 -7.72362649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96592 meters Centerline goodness [0,1] 0.9989585399722277 Centerline is valid? [True, True] Translation: X:42.94, Y:10.43, Z:-0.77 [[ 8.74499339e-01 -4.84564486e-01 2.11699063e-02 4.29382351e+01] [ 4.84410420e-01 8.74755433e-01 1.22261013e-02 1.04305609e+01] [-2.44428251e-02 -4.36794253e-04 9.99701134e-01 -7.72243866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99592 meters Centerline goodness [0,1] 0.9991596638655462 Centerline is valid? [True, True] Translation: X:42.96, Y:10.45, Z:-0.77 [[ 8.72024923e-01 -4.89042668e-01 2.02435647e-02 4.29628651e+01] [ 4.88902730e-01 8.72259809e-01 1.17024243e-02 1.04457401e+01] [-2.33806327e-02 -3.07671586e-04 9.99726588e-01 -7.74361781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02592 meters Centerline goodness [0,1] 0.9994563337122523 Centerline is valid? [True, True] Translation: X:42.99, Y:10.46, Z:-0.77 [[ 8.70761514e-01 -4.91290988e-01 2.01879042e-02 4.29883847e+01] [ 4.91152153e-01 8.70995464e-01 1.16817708e-02 1.04595236e+01] [-2.33227217e-02 -2.56703812e-04 9.99727955e-01 -7.74215905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05592 meters Centerline goodness [0,1] 0.9997023514237524 Centerline is valid? [True, True] Translation: X:43.02, Y:10.47, Z:-0.77 [[ 8.69401376e-01 -4.93691091e-01 2.02572137e-02 4.30150387e+01] [ 4.93551678e-01 8.69637318e-01 1.17335402e-02 1.04710277e+01] [-2.34091733e-02 -2.03174176e-04 9.99725947e-01 -7.71843438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085919999999994 meters Centerline goodness [0,1] 0.9992596248766041 Centerline is valid? [True, True] Translation: X:43.04, Y:10.48, Z:-0.77 [[ 8.69066789e-01 -4.94254449e-01 2.08676021e-02 4.30409167e+01] [ 4.94106377e-01 8.69317260e-01 1.20991894e-02 1.04841743e+01] [-2.41206449e-02 -2.04188373e-04 9.99709034e-01 -7.72356473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115919999999996 meters Centerline goodness [0,1] 0.9990587069606143 Centerline is valid? [True, True] Translation: X:43.07, Y:10.50, Z:-0.77 [[ 8.69147446e-01 -4.94101096e-01 2.11382106e-02 4.30665295e+01] [ 4.93948774e-01 8.69404427e-01 1.22699350e-02 1.04953919e+01] [-2.44402422e-02 -2.23189471e-04 9.99701268e-01 -7.73590544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14592 meters Centerline goodness [0,1] 0.9995555775023456 Centerline is valid? [True, True] Translation: X:43.09, Y:10.51, Z:-0.77 [[ 8.69188184e-01 -4.94043804e-01 2.07995386e-02 4.30928483e+01] [ 4.93895979e-01 8.69436982e-01 1.20870624e-02 1.05064924e+01] [-2.40554263e-02 -2.33123356e-04 9.99710599e-01 -7.73867756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17592 meters Centerline goodness [0,1] 0.9996050357936312 Centerline is valid? [True, True] Translation: X:43.12, Y:10.52, Z:-0.78 [[ 8.69273978e-01 -4.93890858e-01 2.08463588e-02 4.31194508e+01] [ 4.93741994e-01 8.69523868e-01 1.21278847e-02 1.05162019e+01] [-2.41162580e-02 -2.49731795e-04 9.99709130e-01 -7.76311659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20592 meters Centerline goodness [0,1] 0.9995553799031717 Centerline is valid? [True, True] Translation: X:43.15, Y:10.53, Z:-0.77 [[ 8.70024961e-01 -4.92615390e-01 1.96632792e-02 4.31454131e+01] [ 4.92482473e-01 8.70247093e-01 1.14460162e-02 1.05292295e+01] [-2.27503953e-02 -2.74499457e-04 9.99741139e-01 -7.74512521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23592 meters Centerline goodness [0,1] 0.9997039668442865 Centerline is valid? [True, True] Translation: X:43.17, Y:10.54, Z:-0.77 [[ 8.71148107e-01 -4.90619381e-01 1.98392968e-02 4.31715743e+01] [ 4.90483297e-01 8.71373919e-01 1.15597674e-02 1.05411102e+01] [-2.29588917e-02 -3.39425821e-04 9.99736352e-01 -7.74214966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265919999999994 meters Centerline goodness [0,1] 0.999605016293078 Centerline is valid? [True, True] Translation: X:43.20, Y:10.55, Z:-0.77 [[ 8.71710129e-01 -4.89639717e-01 1.93494107e-02 4.31963957e+01] [ 4.89509747e-01 8.71924775e-01 1.12869013e-02 1.05537935e+01] [-2.23977458e-02 -3.67181058e-04 9.99749072e-01 -7.73263916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295919999999995 meters Centerline goodness [0,1] 0.9993079584775086 Centerline is valid? [True, True] Translation: X:43.22, Y:10.57, Z:-0.77 [[ 8.74304624e-01 -4.85062532e-01 1.74861441e-02 4.32235181e+01] [ 4.84955272e-01 8.74479354e-01 1.02099686e-02 1.05652939e+01] [-2.02437452e-02 -4.46624999e-04 9.99794975e-01 -7.74302302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325919999999996 meters Centerline goodness [0,1] 0.999605016293078 Centerline is valid? [True, True] Translation: X:43.25, Y:10.58, Z:-0.77 [[ 8.75614858e-01 -4.82645412e-01 1.87623567e-02 4.32488985e+01] [ 4.82521279e-01 8.75815684e-01 1.09591754e-02 1.05783467e+01] [-2.17217620e-02 -5.42780479e-04 9.99763907e-01 -7.74582874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.35592 meters Centerline goodness [0,1] 0.9995550721771801 Centerline is valid? [True, True] Translation: X:43.28, Y:10.59, Z:-0.77 [[ 8.79457282e-01 -4.75681511e-01 1.67925082e-02 4.32751043e+01] [ 4.75580777e-01 8.79617354e-01 9.80997579e-03 1.05929629e+01] [-1.94374057e-02 -6.41260563e-04 9.99810870e-01 -7.72998033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38592 meters Centerline goodness [0,1] 0.9997530620308178 Centerline is valid? [True, True] Translation: X:43.30, Y:10.61, Z:-0.77 [[ 8.81023971e-01 -4.72786574e-01 1.64200408e-02 4.33000402e+01] [ 4.72689593e-01 8.81176696e-01 9.60101122e-03 1.06084002e+01] [-1.90081865e-02 -6.97138647e-04 9.99819085e-01 -7.72808902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41592 meters Centerline goodness [0,1] 0.9997530620308178 Centerline is valid? [True, True] Translation: X:43.32, Y:10.62, Z:-0.77 [[ 8.80805410e-01 -4.73193783e-01 1.64156254e-02 4.33241051e+01] [ 4.73096732e-01 8.80958091e-01 9.60855835e-03 1.06220925e+01] [-1.90081881e-02 -6.97091435e-04 9.99819085e-01 -7.72832678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44592 meters Centerline goodness [0,1] 0.9999505611311613 Centerline is valid? [True, True] Translation: X:43.35, Y:10.64, Z:-0.77 [[ 8.82597047e-01 -4.69904731e-01 1.45601013e-02 4.33467785e+01] [ 4.69827801e-01 8.82716869e-01 8.53034589e-03 1.06402971e+01] [-1.68608969e-02 -6.88117716e-04 9.99857608e-01 -7.72046982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:10.66, Z:-0.77 [[ 8.82642222e-01 -4.69814746e-01 1.47245640e-02 4.33701359e+01] [ 4.69735928e-01 8.82764753e-01 8.63419224e-03 1.06575573e+01] [-1.70547969e-02 -7.04245892e-04 9.99854308e-01 -7.72648087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505919999999996 meters Centerline goodness [0,1] 0.9997030291031479 Centerline is valid? [True, True] Translation: X:43.39, Y:10.67, Z:-0.77 [[ 8.82438502e-01 -4.70144508e-01 1.63227279e-02 4.33940042e+01] [ 4.70047536e-01 8.82589106e-01 9.58037413e-03 1.06747186e+01] [-1.89104221e-02 -7.81632961e-04 9.99820876e-01 -7.73787423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.53592 meters Centerline goodness [0,1] 0.9997024104751513 Centerline is valid? [True, True] Translation: X:43.42, Y:10.69, Z:-0.77 [[ 8.81784171e-01 -4.71441556e-01 1.41256715e-02 4.34172382e+01] [ 4.71369032e-01 8.81897062e-01 8.29500250e-03 1.06919304e+01] [-1.63679971e-02 -6.55997798e-04 9.99865820e-01 -7.72453161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56592 meters Centerline goodness [0,1] 0.9996525882177776 Centerline is valid? [True, True] Translation: X:43.44, Y:10.71, Z:-0.77 [[ 8.80837931e-01 -4.73222252e-01 1.36102422e-02 4.34411086e+01] [ 4.73155020e-01 8.80942865e-01 7.99972198e-03 1.07086621e+01] [-1.57754922e-02 -6.06704141e-04 9.99875375e-01 -7.74355816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59592 meters Centerline goodness [0,1] 0.9997521070897373 Centerline is valid? [True, True] Translation: X:43.46, Y:10.73, Z:-0.77 [[ 8.80348417e-01 -4.74166301e-01 1.23686568e-02 4.34648543e+01] [ 4.74110818e-01 8.80435136e-01 7.27351464e-03 1.07261841e+01] [-1.43386556e-02 -5.39113116e-04 9.99897051e-01 -7.73959891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:10.75, Z:-0.77 [[ 8.79526088e-01 -4.75717913e-01 1.12395845e-02 4.34874491e+01] [ 4.75672145e-01 8.79597774e-01 6.61560091e-03 1.07456680e+01] [-1.30334734e-02 -4.72236309e-04 9.99914949e-01 -7.74273087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655919999999995 meters Centerline goodness [0,1] 0.9999505048505246 Centerline is valid? [True, True] Translation: X:43.51, Y:10.76, Z:-0.77 [[ 8.79187952e-01 -4.76331158e-01 1.17121223e-02 4.35115072e+01] [ 4.76281414e-01 8.79265824e-01 6.90118821e-03 1.07607473e+01] [-1.35853198e-02 -4.89175364e-04 9.99907596e-01 -7.74304460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685919999999996 meters Centerline goodness [0,1] 0.9999504263335316 Centerline is valid? [True, True] Translation: X:43.54, Y:10.78, Z:-0.77 [[ 8.78353011e-01 -4.77825652e-01 1.33654320e-02 4.35363181e+01] [ 4.77760926e-01 8.78454527e-01 7.88291705e-03 1.07764643e+01] [-1.55075843e-02 -5.38502729e-04 9.99879605e-01 -7.71963218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.56, Y:10.79, Z:-0.77 [[ 8.77468600e-01 -4.79441229e-01 1.36001320e-02 4.35603307e+01] [ 4.79374285e-01 8.77573833e-01 8.02888364e-03 1.07934142e+01] [-1.57844978e-02 -5.25539730e-04 9.99875279e-01 -7.71269864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:10.82, Z:-0.77 [[ 8.75670751e-01 -4.82666838e-01 1.52793803e-02 4.35812928e+01] [ 4.82582676e-01 8.75803882e-01 9.02888005e-03 1.08153473e+01] [-1.77396816e-02 -5.32761934e-04 9.99842498e-01 -7.72844796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:10.83, Z:-0.77 [[ 8.74226117e-01 -4.85309382e-01 1.42653134e-02 4.36037089e+01] [ 4.85236241e-01 8.74342380e-01 8.43762131e-03 1.08340280e+01] [-1.65676249e-02 -4.54341865e-04 9.99862644e-01 -7.73267241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:10.86, Z:-0.77 [[ 8.71447179e-01 -4.90322427e-01 1.27958172e-02 4.36251441e+01] [ 4.90264064e-01 8.71541056e-01 7.57202109e-03 1.08551792e+01] [-1.48648118e-02 -3.25287094e-04 9.99889460e-01 -7.74212633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.65, Y:10.87, Z:-0.77 [[ 8.69275055e-01 -4.94173633e-01 1.23814057e-02 4.36486033e+01] [ 4.94119288e-01 8.69363189e-01 7.33317474e-03 1.08721362e+01] [-1.43877999e-02 -2.56654521e-04 9.99896457e-01 -7.73522681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.67, Y:10.89, Z:-0.77 [[ 8.64972234e-01 -5.01664864e-01 1.24658720e-02 4.36715756e+01] [ 5.01610443e-01 8.65062047e-01 7.39047205e-03 1.08898130e+01] [-1.44912929e-02 -1.39541564e-04 9.99894986e-01 -7.71358660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.69, Y:10.91, Z:-0.77 [[ 8.62117787e-01 -5.06505683e-01 1.43148680e-02 4.36943642e+01] [ 5.06434422e-01 8.62236619e-01 8.49639149e-03 1.09063155e+01] [-1.66462739e-02 -7.53483441e-05 9.99861438e-01 -7.71667596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.72, Y:10.92, Z:-0.77 [[ 8.58714808e-01 -5.12264509e-01 1.39266531e-02 4.37168841e+01] [ 5.12197661e-01 8.58827731e-01 8.27549032e-03 1.09237044e+01] [-1.61998359e-02 2.69130696e-05 9.99868774e-01 -7.70951411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:10.94, Z:-0.77 [[ 8.57352503e-01 -5.14494740e-01 1.55514956e-02 4.37417341e+01] [ 5.14411577e-01 8.57493532e-01 9.25047117e-03 1.09385662e+01] [-1.80946256e-02 6.89547513e-05 9.99836276e-01 -7.73518741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.77, Y:10.95, Z:-0.77 [[ 8.55266328e-01 -5.17990695e-01 1.43229964e-02 4.37663779e+01] [ 5.17920486e-01 8.55386243e-01 8.52911445e-03 1.09522476e+01] [-1.66696960e-02 1.23508880e-04 9.99861043e-01 -7.73546932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:10.97, Z:-0.77 [[ 8.54996164e-01 -5.18437752e-01 1.42778194e-02 4.37913303e+01] [ 5.18367878e-01 8.55115362e-01 8.51240740e-03 1.09656468e+01] [-1.66223361e-02 1.23087281e-04 9.99861832e-01 -7.74127491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:10.98, Z:-0.77 [[ 8.55666145e-01 -5.17380570e-01 1.23609767e-02 4.38185241e+01] [ 5.17327989e-01 8.55755420e-01 7.37656218e-03 1.09775282e+01] [-1.43944627e-02 8.28046909e-05 9.99896391e-01 -7.73790375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.84, Y:10.99, Z:-0.77 [[ 8.55960192e-01 -5.16907179e-01 1.17948254e-02 4.38439693e+01] [ 5.16859148e-01 8.56041450e-01 7.04678358e-03 1.09901871e+01] [-1.37393925e-02 6.44972056e-05 9.99905608e-01 -7.73125783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.87, Y:11.00, Z:-0.77 [[ 8.56256735e-01 -5.16404884e-01 1.22637324e-02 4.38687182e+01] [ 5.16352784e-01 8.56344553e-01 7.33549592e-03 1.10033891e+01] [-1.42900664e-02 5.13445856e-05 9.99897890e-01 -7.74408528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.89, Y:11.02, Z:-0.77 [[ 8.56794900e-01 -5.15487720e-01 1.32253090e-02 4.38945313e+01] [ 5.15426878e-01 8.56896965e-01 7.91987431e-03 1.10158206e+01] [-1.54153251e-02 3.09718090e-05 9.99881176e-01 -7.73698950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.92, Y:11.03, Z:-0.77 [[ 8.56274781e-01 -5.16316960e-01 1.45015806e-02 4.39206520e+01] [ 5.16243775e-01 8.56397568e-01 8.69308766e-03 1.10294888e+01] [-1.69075070e-02 4.26789950e-05 9.99857057e-01 -7.72689764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.95, Y:11.04, Z:-0.77 [[ 8.56527889e-01 -5.15920881e-01 1.36242408e-02 4.39457662e+01] [ 5.15856084e-01 8.56636238e-01 8.17655015e-03 1.10417826e+01] [-1.58894714e-02 2.47042932e-05 9.99873754e-01 -7.73297049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.97, Y:11.05, Z:-0.77 [[ 8.56668145e-01 -5.15710063e-01 1.27601167e-02 4.39717982e+01] [ 5.15653072e-01 8.56763171e-01 7.66671443e-03 1.10524859e+01] [-1.48861998e-02 1.19633551e-05 9.99889194e-01 -7.74276211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.00, Y:11.07, Z:-0.77 [[ 8.57049546e-01 -5.15076488e-01 1.27392208e-02 4.39971962e+01] [ 5.15019482e-01 8.57144219e-01 7.66297393e-03 1.10656188e+01] [-1.48663672e-02 -6.60140771e-06 9.99889489e-01 -7.74754005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.02, Y:11.08, Z:-0.77 [[ 8.57858754e-01 -5.13770818e-01 1.08583984e-02 4.40233233e+01] [ 5.13729216e-01 8.57927471e-01 6.53817185e-03 1.10791484e+01] [-1.26748401e-02 -3.05514801e-05 9.99919671e-01 -7.73864387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.05, Y:11.09, Z:-0.77 [[ 8.58265543e-01 -5.13126204e-01 9.04192136e-03 4.40490587e+01] [ 5.13097267e-01 8.58313170e-01 5.44945132e-03 1.10934957e+01] [-1.05570565e-02 -3.76911607e-05 9.99944272e-01 -7.72411427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.07, Y:11.11, Z:-0.77 [[ 8.59553868e-01 -5.10929993e-01 1.08485398e-02 4.40749446e+01] [ 5.10888079e-01 8.59622321e-01 6.54483783e-03 1.11071822e+01] [-1.26696009e-02 -8.32509931e-05 9.99919734e-01 -7.73232461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.10, Y:11.12, Z:-0.77 [[ 8.60847406e-01 -5.08735722e-01 1.13890016e-02 4.41001866e+01] [ 5.08689245e-01 8.60922731e-01 6.87770113e-03 1.11215096e+01] [-1.33039826e-02 -1.27188545e-04 9.99911490e-01 -7.73103161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.13, Y:11.14, Z:-0.77 [[ 8.62028464e-01 -5.06683907e-01 1.33545885e-02 4.41254624e+01] [ 5.06619631e-01 8.62131881e-01 8.07270130e-03 1.11354955e+01] [-1.56037244e-02 -1.93201589e-04 9.99878236e-01 -7.73777166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.15, Y:11.15, Z:-0.77 [[ 8.63966710e-01 -5.03348135e-01 1.42190010e-02 4.41508368e+01] [ 5.03274677e-01 8.64083664e-01 8.60357807e-03 1.11497368e+01] [-1.66170015e-02 -2.77141898e-04 9.99861890e-01 -7.73184872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.17, Y:11.16, Z:-0.77 [[ 8.64885674e-01 -5.01813469e-01 1.24904863e-02 4.41747029e+01] [ 5.01756505e-01 8.64975818e-01 7.56600442e-03 1.11638001e+01] [-1.46006915e-02 -2.76546082e-04 9.99893366e-01 -7.71774778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.20, Y:11.18, Z:-0.77 [[ 8.65369846e-01 -5.00987905e-01 1.20891868e-02 4.41977421e+01] [ 5.00934362e-01 8.65454237e-01 7.33000372e-03 1.11814288e+01] [-1.41348811e-02 -2.87275127e-04 9.99900056e-01 -7.72344386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.22, Y:11.20, Z:-0.77 [[ 8.66180498e-01 -4.99618273e-01 1.06266690e-02 4.42226171e+01] [ 4.99576722e-01 8.66245638e-01 6.44938336e-03 1.11969425e+01] [-1.24275355e-02 -2.77493607e-04 9.99922737e-01 -7.71521184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.25, Y:11.21, Z:-0.77 [[ 8.66806017e-01 -4.98536680e-01 1.04167137e-02 4.42477146e+01] [ 4.98496603e-01 8.66868556e-01 6.32804705e-03 1.12114916e+01] [-1.21846851e-02 -2.92492872e-04 9.99925721e-01 -7.70724208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:11.23, Z:-0.77 [[ 8.66897168e-01 -4.98378595e-01 1.03959751e-02 4.42720779e+01] [ 4.98338592e-01 8.66959449e-01 6.32145935e-03 1.12264137e+01] [-1.21633689e-02 -2.99339606e-04 9.99925979e-01 -7.70207293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:11.24, Z:-0.77 [[ 8.68445903e-01 -4.95696838e-01 9.29293613e-03 4.42952838e+01] [ 4.95664697e-01 8.68495569e-01 5.65287147e-03 1.12430167e+01] [-1.08729844e-02 -3.03032697e-04 9.99940841e-01 -7.70194100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:11.26, Z:-0.77 [[ 8.70279427e-01 -4.92490947e-01 8.14772885e-03 4.43184799e+01] [ 4.92466058e-01 8.70317514e-01 4.96059939e-03 1.12608873e+01] [-9.53416141e-03 -3.04627695e-04 9.99954502e-01 -7.70324730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.34, Y:11.28, Z:-0.77 [[ 8.71192102e-01 -4.90852432e-01 9.39205217e-03 4.43412019e+01] [ 4.90819231e-01 8.71242647e-01 5.72128759e-03 1.12781475e+01] [-1.09910643e-02 -3.74540739e-04 9.99939526e-01 -7.70288852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.36, Y:11.30, Z:-0.77 [[ 8.72464703e-01 -4.88464228e-01 1.44235761e-02 4.43641581e+01] [ 4.88385561e-01 8.72583698e-01 8.78831154e-03 1.12969136e+01] [-1.68785532e-02 -6.23225289e-04 9.99857353e-01 -7.71241999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.39, Y:11.31, Z:-0.77 [[ 8.72180134e-01 -4.88987087e-01 1.39083958e-02 4.43877594e+01] [ 4.88913866e-01 8.72290818e-01 8.48295243e-03 1.13130711e+01] [-1.62802201e-02 -5.98655033e-04 9.99867289e-01 -7.70263911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:11.33, Z:-0.77 [[ 8.72052814e-01 -4.89298870e-01 1.05121347e-02 4.44104728e+01] [ 4.89256994e-01 8.72116053e-01 6.41742075e-03 1.13306419e+01] [-1.23078381e-02 -4.53194421e-04 9.99924153e-01 -7.69731193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.43, Y:11.35, Z:-0.77 [[ 8.71078599e-01 -4.91042511e-01 9.96625574e-03 4.44335847e+01] [ 4.91004919e-01 8.71135514e-01 6.08981782e-03 1.13483285e+01] [-1.16723187e-02 -4.11229383e-04 9.99931792e-01 -7.70411925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.46, Y:11.37, Z:-0.77 [[ 8.70631506e-01 -4.91831211e-01 1.01410740e-02 4.44557643e+01] [ 4.91792264e-01 8.70690467e-01 6.20318561e-03 1.13665149e+01] [-1.18806568e-02 -4.13387064e-04 9.99929337e-01 -7.70016212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.48, Y:11.38, Z:-0.77 [[ 8.70277069e-01 -4.92455176e-01 1.02822013e-02 4.44792872e+01] [ 4.92415101e-01 8.70337708e-01 6.29622728e-03 1.13828126e+01] [-1.20495973e-02 -4.16351010e-04 9.99927314e-01 -7.68654752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:11.40, Z:-0.77 [[ 8.70588328e-01 -4.91901232e-01 1.04470437e-02 4.45024446e+01] [ 4.91859747e-01 8.70650899e-01 6.40325776e-03 1.13998802e+01] [-1.22454984e-02 -4.36121206e-04 9.99924926e-01 -7.67461583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:11.42, Z:-0.77 [[ 8.70715006e-01 -4.91680603e-01 1.02743689e-02 4.45258411e+01] [ 4.91640393e-01 8.70775513e-01 6.30324521e-03 1.14169356e+01] [-1.20458523e-02 -4.37035430e-04 9.99927351e-01 -7.68112030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.55, Y:11.43, Z:-0.77 [[ 8.71555604e-01 -4.90182926e-01 1.05607088e-02 4.45486337e+01] [ 4.90140259e-01 8.71619454e-01 6.48490675e-03 1.14348601e+01] [-1.23837098e-02 -4.75728274e-04 9.99923206e-01 -7.70538736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975919999999995 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:44.57, Y:11.45, Z:-0.77 [[ 8.71349770e-01 -4.90511866e-01 1.21526927e-02 4.45721360e+01] [ 4.90455297e-01 8.71434340e-01 7.46945231e-03 1.14511352e+01] [-1.42541288e-02 -5.48153023e-04 9.99898254e-01 -7.70913250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:11.47, Z:-0.77 [[ 8.71174668e-01 -4.90853907e-01 1.08231012e-02 4.45947756e+01] [ 4.90808989e-01 8.71241759e-01 6.65833338e-03 1.14698253e+01] [-1.26978067e-02 -4.88496022e-04 9.99919260e-01 -7.69729997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:11.49, Z:-0.77 [[ 8.70324962e-01 -4.92342564e-01 1.15437924e-02 4.46178788e+01] [ 4.92291506e-01 8.70401370e-01 7.10830220e-03 1.14872574e+01] [-1.35474525e-02 -5.03621880e-04 9.99908102e-01 -7.69560739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:11.51, Z:-0.77 [[ 8.69846267e-01 -4.93195355e-01 1.12166504e-02 4.46386076e+01] [ 4.93147135e-01 8.69918450e-01 6.91324859e-03 1.15081276e+01] [-1.31671532e-02 -4.82004453e-04 9.99913193e-01 -7.69438896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.66, Y:11.52, Z:-0.77 [[ 8.69804063e-01 -4.93245844e-01 1.22241254e-02 4.46626235e+01] [ 4.93188477e-01 8.69889795e-01 7.54126492e-03 1.15241150e+01] [-1.43533395e-02 -5.30625109e-04 9.99896845e-01 -7.70444618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:11.54, Z:-0.77 [[ 8.69440617e-01 -4.93909296e-01 1.12526365e-02 4.46861943e+01] [ 4.93860656e-01 8.69513297e-01 6.94835046e-03 1.15415157e+01] [-1.32161720e-02 -4.83943650e-04 9.99912545e-01 -7.69856575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.71, Y:11.56, Z:-0.77 [[ 8.68962629e-01 -4.94743583e-01 1.15211340e-02 4.47088686e+01] [ 4.94692566e-01 8.69038864e-01 7.12164472e-03 1.15581462e+01] [-1.35357012e-02 -4.89023793e-04 9.99908269e-01 -7.68871227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.73, Y:11.58, Z:-0.77 [[ 8.68065160e-01 -4.96242606e-01 1.43580992e-02 4.47301912e+01] [ 4.96163410e-01 8.68183696e-01 8.88488274e-03 1.15777457e+01] [-1.68745250e-02 -5.88693700e-04 9.99857442e-01 -7.70670149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.75, Y:11.59, Z:-0.77 [[ 8.67580274e-01 -4.97074149e-01 1.48915494e-02 4.47536360e+01] [ 4.96988908e-01 8.67707859e-01 9.22483653e-03 1.15930060e+01] [-1.75069422e-02 -6.02351345e-04 9.99846560e-01 -7.70967269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.78, Y:11.61, Z:-0.77 [[ 8.66546604e-01 -4.98912700e-01 1.35314701e-02 4.47781793e+01] [ 4.98842427e-01 8.66652092e-01 8.38959171e-03 1.16090191e+01] [-1.59127508e-02 -5.19900798e-04 9.99873249e-01 -7.69714578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.27592 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:44.80, Y:11.62, Z:-0.77 [[ 8.65546084e-01 -5.00650475e-01 1.33819921e-02 4.48019016e+01] [ 5.00581831e-01 8.65649388e-01 8.30469998e-03 1.16249177e+01] [-1.57418652e-02 -4.89318468e-04 9.99875969e-01 -7.69791987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:11.64, Z:-0.77 [[ 8.64176575e-01 -5.02996405e-01 1.39090878e-02 4.48244608e+01] [ 5.02922416e-01 8.64288374e-01 8.63996528e-03 1.16435210e+01] [-1.63673344e-02 -4.71263567e-04 9.99865935e-01 -7.69652208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.335919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:11.66, Z:-0.77 [[ 8.63932635e-01 -5.03415390e-01 1.39049256e-02 4.48480981e+01] [ 5.03341347e-01 8.64044399e-01 8.64666210e-03 1.16578294e+01] [-1.63673358e-02 -4.71209614e-04 9.99865935e-01 -7.69675973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.87, Y:11.67, Z:-0.77 [[ 8.63092890e-01 -5.04817449e-01 1.51659851e-02 4.48717713e+01] [ 5.04729399e-01 8.63225984e-01 9.44109609e-03 1.16723813e+01] [-1.78577025e-02 -4.93824340e-04 9.99840417e-01 -7.70315514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.90, Y:11.69, Z:-0.77 [[ 8.62412874e-01 -5.06020164e-01 1.36977409e-02 4.48970108e+01] [ 5.05948359e-01 8.62521541e-01 8.53518657e-03 1.16869409e+01] [-1.61335731e-02 -4.30505230e-04 9.99869753e-01 -7.69512636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.92, Y:11.70, Z:-0.77 [[ 8.62151040e-01 -5.06424802e-01 1.51494002e-02 4.49216532e+01] [ 5.06336871e-01 8.62283998e-01 9.44879114e-03 1.17027110e+01] [-1.78481875e-02 -4.75585228e-04 9.99840595e-01 -7.70120172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.95, Y:11.72, Z:-0.77 [[ 8.61939923e-01 -5.06816677e-01 1.40151594e-02 4.49457821e+01] [ 5.06741335e-01 8.62053747e-01 8.74961841e-03 1.17192942e+01] [-1.65162732e-02 -4.39584817e-04 9.99863500e-01 -7.69488606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:11.74, Z:-0.77 [[ 8.61802511e-01 -5.06985457e-01 1.61919512e-02 4.49693796e+01] [ 5.06884738e-01 8.61954456e-01 1.01182197e-02 1.17353945e+01] [-1.90865147e-02 -5.12454192e-04 9.99817705e-01 -7.69398685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.515919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:11.75, Z:-0.77 [[ 8.62442142e-01 -5.05879467e-01 1.67187581e-02 4.49954577e+01] [ 5.05771685e-01 8.62603992e-01 1.04573170e-02 1.17483089e+01] [-1.97118095e-02 -5.62956437e-04 9.99805545e-01 -7.68293274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:11.76, Z:-0.77 [[ 8.61579550e-01 -5.07385525e-01 1.55115241e-02 4.50198640e+01] [ 5.07292826e-01 8.61719027e-01 9.71123688e-03 1.17635779e+01] [-1.82939164e-02 -4.98118227e-04 9.99832528e-01 -7.68238478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:11.78, Z:-0.77 [[ 8.61293286e-01 -5.07901587e-01 1.44863175e-02 4.50440295e+01] [ 5.07820666e-01 8.61414978e-01 9.07786186e-03 1.17794538e+01] [-1.70893913e-02 -4.62250090e-04 9.99853859e-01 -7.67956802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.07, Y:11.80, Z:-0.77 [[ 8.60833572e-01 -5.08655312e-01 1.53406030e-02 4.50668120e+01] [ 5.08564564e-01 8.60970118e-01 9.61982627e-03 1.17959502e+01] [-1.81009765e-02 -4.79382353e-04 9.99836049e-01 -7.69679736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:11.81, Z:-0.77 [[ 8.60391655e-01 -5.09360562e-01 1.66738691e-02 4.50917095e+01] [ 5.09253289e-01 8.60553051e-01 1.04658317e-02 1.18111358e+01] [-1.96796308e-02 -5.13491525e-04 9.99806205e-01 -7.69131424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.11, Y:11.83, Z:-0.77 [[ 8.60518947e-01 -5.09143665e-01 1.67292972e-02 4.51149794e+01] [ 5.09035455e-01 8.60681387e-01 1.05098286e-02 1.18283763e+01] [-1.97496073e-02 -5.28101224e-04 9.99804818e-01 -7.66937156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.14, Y:11.85, Z:-0.77 [[ 8.61365150e-01 -5.07767417e-01 1.49107068e-02 4.51385043e+01] [ 5.07681105e-01 8.61494048e-01 9.37556256e-03 1.18458740e+01] [-1.76060903e-02 -5.05898738e-04 9.99844873e-01 -7.67801754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:11.86, Z:-0.77 [[ 8.61453927e-01 -5.07656187e-01 1.35028351e-02 4.51618266e+01] [ 5.07585245e-01 8.61559619e-01 8.49954924e-03 1.18609248e+01] [-1.59483462e-02 -4.68130192e-04 9.99872707e-01 -7.69456348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:11.88, Z:-0.77 [[ 8.61028867e-01 -5.08323238e-01 1.53875551e-02 4.51853926e+01] [ 5.08231045e-01 8.61166191e-01 9.69522694e-03 1.18772355e+01] [-1.81795513e-02 -5.27437071e-04 9.99834599e-01 -7.70782817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.21, Y:11.90, Z:-0.77 [[ 8.60465177e-01 -5.09285481e-01 1.50989261e-02 4.52072811e+01] [ 5.09196703e-01 8.60597492e-01 9.52231745e-03 1.18968338e+01] [-1.78436760e-02 -5.05299185e-04 9.99840661e-01 -7.68132567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.23, Y:11.92, Z:-0.77 [[ 8.59513245e-01 -5.10849108e-01 1.64368893e-02 4.52285290e+01] [ 5.10743966e-01 8.59670236e-01 1.03772254e-02 1.19160967e+01] [-1.94315008e-02 -5.24320695e-04 9.99811053e-01 -7.66499862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:11.93, Z:-0.77 [[ 8.58851505e-01 -5.11981150e-01 1.57922317e-02 4.52512792e+01] [ 5.11884121e-01 8.58996545e-01 9.97904925e-03 1.19343052e+01] [-1.86745576e-02 -4.86728813e-04 9.99825497e-01 -7.67181841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:45.27, Y:11.95, Z:-0.77 [[ 8.57649978e-01 -5.14012314e-01 1.50949299e-02 4.52731915e+01] [ 5.13923817e-01 8.57782697e-01 9.54752666e-03 1.19532528e+01] [-1.78557159e-02 -4.30792054e-04 9.99840481e-01 -7.69581506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905919999999995 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:45.30, Y:11.97, Z:-0.77 [[ 8.56370541e-01 -5.16108895e-01 1.61587577e-02 4.52968951e+01] [ 5.16007668e-01 8.56522872e-01 1.02301937e-02 1.19695890e+01] [-1.91202396e-02 -4.22793596e-04 9.99817102e-01 -7.69651303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.32, Y:11.99, Z:-0.77 [[ 8.53984765e-01 -5.20081739e-01 1.50002192e-02 4.53205676e+01] [ 5.19994958e-01 8.54116435e-01 9.50577450e-03 1.19863591e+01] [-1.77557135e-02 -3.17748228e-04 9.99842304e-01 -7.67534412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.34, Y:12.00, Z:-0.77 [[ 8.52963773e-01 -5.21776967e-01 1.41985295e-02 4.53447197e+01] [ 5.21699305e-01 8.53081896e-01 9.00638019e-03 1.20030248e+01] [-1.68118302e-02 -2.74753075e-04 9.99858633e-01 -7.66311732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99592 meters Centerline goodness [0,1] 0.9999008723235527 Centerline is valid? [True, True] Translation: X:45.37, Y:12.02, Z:-0.77 [[ 8.51191936e-01 -5.24651033e-01 1.46144508e-02 4.53683524e+01] [ 5.24569019e-01 8.51317355e-01 9.27923725e-03 1.20202938e+01] [-1.73098970e-02 -2.32123806e-04 9.99850146e-01 -7.66247723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02592 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:45.39, Y:12.04, Z:-0.77 [[ 8.48917274e-01 -5.28300218e-01 1.54382884e-02 4.53923655e+01] [ 5.28209134e-01 8.49057624e-01 9.81128945e-03 1.20371260e+01] [-1.82913028e-02 -1.74328161e-04 9.99832685e-01 -7.68383324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05592 meters Centerline goodness [0,1] 0.9997023218892638 Centerline is valid? [True, True] Translation: X:45.42, Y:12.05, Z:-0.77 [[ 8.47860583e-01 -5.30016823e-01 1.46492203e-02 4.54164956e+01] [ 5.29934909e-01 8.47987116e-01 9.31902724e-03 1.20525171e+01] [-1.73615913e-02 -1.38102640e-04 9.99849267e-01 -7.68869500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085919999999994 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:45.44, Y:12.07, Z:-0.77 [[ 8.47194750e-01 -5.31050753e-01 1.56892829e-02 4.54405999e+01] [ 5.30956786e-01 8.47340003e-01 9.99057282e-03 1.20678577e+01] [-1.85996582e-02 -1.33629642e-04 9.99827002e-01 -7.69896416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115919999999996 meters Centerline goodness [0,1] 0.9997517748101077 Centerline is valid? [True, True] Translation: X:45.47, Y:12.08, Z:-0.77 [[ 8.45894442e-01 -5.33084459e-01 1.68390045e-02 4.54651982e+01] [ 5.32976375e-01 8.46062024e-01 1.07347658e-02 1.20818090e+01] [-1.99693790e-02 -1.05687189e-04 9.99800586e-01 -7.68491279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14592 meters Centerline goodness [0,1] 0.9998014198480862 Centerline is valid? [True, True] Translation: X:45.49, Y:12.10, Z:-0.77 [[ 8.45469250e-01 -5.33738928e-01 1.74500678e-02 4.54896235e+01] [ 5.33622922e-01 8.45649306e-01 1.11278581e-02 1.20963259e+01] [-2.06960088e-02 -9.65056928e-05 9.99785810e-01 -7.68418243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17592 meters Centerline goodness [0,1] 0.9995528616852146 Centerline is valid? [True, True] Translation: X:45.51, Y:12.11, Z:-0.77 [[ 8.44426267e-01 -5.35377503e-01 1.77541183e-02 4.55135312e+01] [ 5.35257682e-01 8.44612885e-01 1.13264633e-02 1.21117004e+01] [-2.10592907e-02 -6.13349349e-05 9.99778227e-01 -7.68797204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20592 meters Centerline goodness [0,1] 0.9995535935717474 Centerline is valid? [True, True] Translation: X:45.54, Y:12.13, Z:-0.77 [[ 8.43069918e-01 -5.37549186e-01 1.65525259e-02 4.55379706e+01] [ 5.37445394e-01 8.43232395e-01 1.05629597e-02 1.21267609e+01] [-1.96357365e-02 -9.23475167e-06 9.99807200e-01 -7.69683057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23592 meters Centerline goodness [0,1] 0.9995528394693695 Centerline is valid? [True, True] Translation: X:45.56, Y:12.14, Z:-0.77 [[ 8.41999887e-01 -5.39202212e-01 1.72384733e-02 4.55629806e+01] [ 5.39089765e-01 8.42176332e-01 1.10114181e-02 1.21404762e+01] [-2.04552152e-02 2.14717615e-05 9.99790770e-01 -7.70221179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265919999999994 meters Centerline goodness [0,1] 0.999751552795031 Centerline is valid? [True, True] Translation: X:45.59, Y:12.15, Z:-0.77 [[ 8.41439516e-01 -5.40072121e-01 1.73679124e-02 4.55884165e+01] [ 5.39957903e-01 8.41618739e-01 1.11067876e-02 1.21527721e+01] [-2.06156269e-02 3.22516152e-05 9.99787475e-01 -7.70852620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295919999999995 meters Centerline goodness [0,1] 0.9997018189046815 Centerline is valid? [True, True] Translation: X:45.61, Y:12.17, Z:-0.77 [[ 8.42573693e-01 -5.38326990e-01 1.65416100e-02 4.56132664e+01] [ 5.38222837e-01 8.42736051e-01 1.05889760e-02 1.21679678e+01] [-1.96405427e-02 -1.89203084e-05 9.99807106e-01 -7.70828852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325919999999996 meters Centerline goodness [0,1] 0.9997517255077213 Centerline is valid? [True, True] Translation: X:45.64, Y:12.18, Z:-0.77 [[ 8.43155446e-01 -5.37392812e-01 1.72585782e-02 4.56381911e+01] [ 5.37279013e-01 8.43332059e-01 1.10589002e-02 1.21821511e+01] [-2.04976858e-02 -5.17000303e-05 9.99789899e-01 -7.70635944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35592 meters Centerline goodness [0,1] 0.9995014209502917 Centerline is valid? [True, True] Translation: X:45.66, Y:12.20, Z:-0.77 [[ 8.43685859e-01 -5.36524438e-01 1.83220773e-02 4.56637899e+01] [ 5.36395720e-01 8.43884779e-01 1.17520968e-02 1.21963374e+01] [-2.17670093e-02 -8.71940594e-05 9.99763067e-01 -7.70267865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38592 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:45.69, Y:12.21, Z:-0.77 [[ 8.44911280e-01 -5.34572080e-01 1.89108489e-02 4.56903617e+01] [ 5.34434197e-01 8.45122871e-01 1.21417446e-02 1.22090068e+01] [-2.24726286e-02 -1.52092647e-04 9.99747447e-01 -7.70288119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41592 meters Centerline goodness [0,1] 0.9998508204873198 Centerline is valid? [True, True] Translation: X:45.72, Y:12.22, Z:-0.77 [[ 8.45388272e-01 -5.33868407e-01 1.74124294e-02 4.57165027e+01] [ 5.33751152e-01 8.45567559e-01 1.11897910e-02 1.22227444e+01] [-2.06972613e-02 -1.65813844e-04 9.99785775e-01 -7.72386091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445919999999994 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:45.74, Y:12.24, Z:-0.77 [[ 8.44468559e-01 -5.35294662e-01 1.82339577e-02 4.57406973e+01] [ 5.35166129e-01 8.44665379e-01 1.17308041e-02 1.22370809e+01] [-2.16810296e-02 -1.48098671e-04 9.99764928e-01 -7.73377439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475919999999995 meters Centerline goodness [0,1] 0.999751873356161 Centerline is valid? [True, True] Translation: X:45.77, Y:12.25, Z:-0.77 [[ 8.43824447e-01 -5.36339786e-01 1.73186893e-02 4.57659291e+01] [ 5.36223828e-01 8.44002144e-01 1.11529097e-02 1.22519035e+01] [-2.05987601e-02 -1.24403980e-04 9.99787815e-01 -7.70404149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505919999999996 meters Centerline goodness [0,1] 0.9998511757118762 Centerline is valid? [True, True] Translation: X:45.79, Y:12.27, Z:-0.77 [[ 8.43532125e-01 -5.36754910e-01 1.86472766e-02 4.57898460e+01] [ 5.36620477e-01 8.43738200e-01 1.20130082e-02 1.22671712e+01] [-2.21814607e-02 -1.26847889e-04 9.99753953e-01 -7.69944822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.53592 meters Centerline goodness [0,1] 0.9996036071747101 Centerline is valid? [True, True] Translation: X:45.81, Y:12.28, Z:-0.77 [[ 8.44192859e-01 -5.35723177e-01 1.84145174e-02 4.58145877e+01] [ 5.35591551e-01 8.44393659e-01 1.18759745e-02 1.22801118e+01] [-2.19113365e-02 -1.62952893e-04 9.99759905e-01 -7.69924662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56592 meters Centerline goodness [0,1] 0.9997016854770546 Centerline is valid? [True, True] Translation: X:45.84, Y:12.29, Z:-0.77 [[ 8.44616187e-01 -5.35065686e-01 1.81165457e-02 4.58385049e+01] [ 5.34937855e-01 8.44810438e-01 1.16967826e-02 1.22941492e+01] [-2.15635939e-02 -1.88065759e-04 9.99767461e-01 -7.70632341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59592 meters Centerline goodness [0,1] 0.9993548707260186 Centerline is valid? [True, True] Translation: X:45.86, Y:12.31, Z:-0.77 [[ 8.45236760e-01 -5.34118916e-01 1.70822294e-02 4.58626587e+01] [ 5.34004823e-01 8.45409332e-01 1.10412619e-02 1.23078721e+01] [-2.03388230e-02 -2.10487580e-04 9.99793123e-01 -7.71054517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62592 meters Centerline goodness [0,1] 0.9997022628026995 Centerline is valid? [True, True] Translation: X:45.89, Y:12.32, Z:-0.77 [[ 8.46767650e-01 -5.31695801e-01 1.68559023e-02 4.58894052e+01] [ 5.31584019e-01 8.46935358e-01 1.09055330e-02 1.23195770e+01] [-2.00742857e-02 -2.74124297e-04 9.99798454e-01 -7.70573087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655919999999995 meters Centerline goodness [0,1] 0.9992063098367975 Centerline is valid? [True, True] Translation: X:45.92, Y:12.33, Z:-0.77 [[ 8.48226517e-01 -5.29397028e-01 1.58291605e-02 4.59160305e+01] [ 5.29297864e-01 8.48374143e-01 1.02510759e-02 1.23318697e+01] [-1.88559396e-02 -3.16893581e-04 9.99822161e-01 -7.68658951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685919999999996 meters Centerline goodness [0,1] 0.9993043478260869 Centerline is valid? [True, True] Translation: X:45.94, Y:12.35, Z:-0.77 [[ 8.48865046e-01 -5.28372490e-01 1.58318085e-02 4.59410102e+01] [ 5.28272930e-01 8.49012598e-01 1.02625924e-02 1.23472111e+01] [-1.88638763e-02 -3.48040126e-04 9.99822001e-01 -7.69393615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71592 meters Centerline goodness [0,1] 0.999301884910741 Centerline is valid? [True, True] Translation: X:45.97, Y:12.36, Z:-0.77 [[ 8.48715344e-01 -5.28591592e-01 1.65285728e-02 4.59652958e+01] [ 5.28482915e-01 8.48876195e-01 1.07244392e-02 1.23623753e+01] [-1.96995604e-02 -3.66927761e-04 9.99805878e-01 -7.69742883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74592 meters Centerline goodness [0,1] 0.9990029910269193 Centerline is valid? [True, True] Translation: X:45.99, Y:12.37, Z:-0.77 [[ 8.50481311e-01 -5.25737826e-01 1.67713425e-02 4.59925522e+01] [ 5.25625170e-01 8.50646541e-01 1.08923380e-02 1.23743019e+01] [-1.99929986e-02 -4.48290092e-04 9.99800020e-01 -7.69883768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77592 meters Centerline goodness [0,1] 0.9989586432609342 Centerline is valid? [True, True] Translation: X:46.02, Y:12.39, Z:-0.77 [[ 8.51471107e-01 -5.24147697e-01 1.63139893e-02 4.60186436e+01] [ 5.24040615e-01 8.51627243e-01 1.06053073e-02 1.23875227e+01] [-1.94521851e-02 -4.80919730e-04 9.99810673e-01 -7.69147300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80592 meters Centerline goodness [0,1] 0.9981106746880127 Centerline is valid? [True, True] Translation: X:46.04, Y:12.40, Z:-0.77 [[ 8.53704945e-01 -5.20550919e-01 1.46495205e-02 4.60427219e+01] [ 5.20463985e-01 8.53830477e-01 9.52667443e-03 1.24026707e+01] [-1.74673262e-02 -5.08421274e-04 9.99847305e-01 -7.69944033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835919999999994 meters Centerline goodness [0,1] 0.9981134885568187 Centerline is valid? [True, True] Translation: X:46.07, Y:12.42, Z:-0.77 [[ 8.55125029e-01 -5.18207028e-01 1.49218694e-02 4.60670914e+01] [ 5.18116319e-01 8.55255019e-01 9.71253764e-03 1.24188935e+01] [-1.77951089e-02 -5.74170004e-04 9.99841490e-01 -7.69942562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865919999999996 meters Centerline goodness [0,1] 0.9972654502063342 Centerline is valid? [True, True] Translation: X:46.09, Y:12.44, Z:-0.77 [[ 8.58508981e-01 -5.12578885e-01 1.50072004e-02 4.60917659e+01] [ 5.12486245e-01 8.58639856e-01 9.76972752e-03 1.24355299e+01] [-1.78935364e-02 -6.96415030e-04 9.99839655e-01 -7.67966491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89592 meters Centerline goodness [0,1] 0.9971671388101983 Centerline is valid? [True, True] Translation: X:46.12, Y:12.45, Z:-0.77 [[ 8.59408986e-01 -5.11042655e-01 1.58618863e-02 4.61164811e+01] [ 5.10938728e-01 8.59555001e-01 1.03351732e-02 1.24508718e+01] [-1.89158781e-02 -7.77688720e-04 9.99820776e-01 -7.67577636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92592 meters Centerline goodness [0,1] 0.9965258821777756 Centerline is valid? [True, True] Translation: X:46.14, Y:12.47, Z:-0.77 [[ 8.60522212e-01 -5.09213418e-01 1.42554107e-02 4.61395711e+01] [ 5.09129173e-01 8.60639966e-01 9.29165805e-03 1.24673603e+01] [-1.70002131e-02 -7.37832706e-04 9.99855214e-01 -7.65442646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95592 meters Centerline goodness [0,1] 0.9971138535031847 Centerline is valid? [True, True] Translation: X:46.16, Y:12.48, Z:-0.77 [[ 8.60814689e-01 -5.08771534e-01 1.22309767e-02 4.61629823e+01] [ 5.08709360e-01 8.60901334e-01 7.97997035e-03 1.24828277e+01] [-1.45896459e-02 -6.47263372e-04 9.99893356e-01 -7.65903186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98592 meters Centerline goodness [0,1] 0.9966222928670773 Centerline is valid? [True, True] Translation: X:46.19, Y:12.50, Z:-0.77 [[ 8.61052321e-01 -5.08368012e-01 1.22826915e-02 4.61877476e+01] [ 5.08305163e-01 8.61139666e-01 8.02097525e-03 1.24983857e+01] [-1.46547201e-02 -6.63123863e-04 9.99892394e-01 -7.65980154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015919999999994 meters Centerline goodness [0,1] 0.9964711729622266 Centerline is valid? [True, True] Translation: X:46.21, Y:12.52, Z:-0.76 [[ 8.60960611e-01 -5.08537802e-01 1.16675178e-02 4.62100587e+01] [ 5.08481000e-01 8.61039431e-01 7.62694910e-03 1.25153140e+01] [-1.39247849e-02 -6.33791619e-04 9.99902845e-01 -7.64865437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045919999999995 meters Centerline goodness [0,1] 0.9958275382475661 Centerline is valid? [True, True] Translation: X:46.23, Y:12.53, Z:-0.76 [[ 8.60667308e-01 -5.09014215e-01 1.25025041e-02 4.62309285e+01] [ 5.08948917e-01 8.60757845e-01 8.18118723e-03 1.25340655e+01] [-1.49259691e-02 -6.78144470e-04 9.99888372e-01 -7.64679142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075919999999996 meters Centerline goodness [0,1] 0.9955301713434318 Centerline is valid? [True, True] Translation: X:46.25, Y:12.55, Z:-0.76 [[ 8.61788805e-01 -5.07129300e-01 1.18291572e-02 4.62519533e+01] [ 5.07070570e-01 8.61869719e-01 7.74756771e-03 1.25543112e+01] [-1.41242110e-02 -6.78549634e-04 9.99900018e-01 -7.63332453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10592 meters Centerline goodness [0,1] 0.9959240481161149 Centerline is valid? [True, True] Translation: X:46.28, Y:12.57, Z:-0.76 [[ 8.62318639e-01 -5.06196790e-01 1.30910057e-02 4.62765161e+01] [ 5.06124633e-01 8.62417654e-01 8.58171264e-03 1.25697548e+01] [-1.56339498e-02 -7.74490338e-04 9.99877482e-01 -7.63410989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.13592 meters Centerline goodness [0,1] 0.9957740877001093 Centerline is valid? [True, True] Translation: X:46.30, Y:12.59, Z:-0.76 [[ 8.62719054e-01 -5.05508613e-01 1.32995202e-02 4.63011446e+01] [ 5.05433934e-01 8.62821182e-01 8.72615813e-03 1.25852235e+01] [-1.58862558e-02 -8.06194074e-04 9.99873480e-01 -7.63676254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16592 meters Centerline goodness [0,1] 0.9950841650528824 Centerline is valid? [True, True] Translation: X:46.32, Y:12.61, Z:-0.76 [[ 8.61966397e-01 -5.06837069e-01 1.14068449e-02 4.63218705e+01] [ 5.06782160e-01 8.62041605e-01 7.49088839e-03 1.26056250e+01] [-1.36298348e-02 -6.76108556e-04 9.99906881e-01 -7.63358648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195919999999994 meters Centerline goodness [0,1] 0.995821934842079 Centerline is valid? [True, True] Translation: X:46.34, Y:12.62, Z:-0.76 [[ 8.60501531e-01 -5.09328324e-01 1.10351270e-02 4.63444182e+01] [ 5.09277058e-01 8.60572061e-01 7.25301808e-03 1.26240176e+01] [-1.31906895e-02 -6.21296166e-04 9.99912806e-01 -7.63350157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225919999999995 meters Centerline goodness [0,1] 0.995821934842079 Centerline is valid? [True, True] Translation: X:46.37, Y:12.64, Z:-0.76 [[ 8.60262366e-01 -5.09732245e-01 1.10317562e-02 4.63676776e+01] [ 5.09680946e-01 8.60332873e-01 7.25814372e-03 1.26389360e+01] [-1.31906924e-02 -6.21231923e-04 9.99912806e-01 -7.63373939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255919999999996 meters Centerline goodness [0,1] 0.9952319459620542 Centerline is valid? [True, True] Translation: X:46.39, Y:12.66, Z:-0.76 [[ 8.58927062e-01 -5.11970011e-01 1.14459815e-02 4.63914585e+01] [ 5.11914892e-01 8.59003102e-01 7.53750859e-03 1.26559341e+01] [-1.36911119e-02 -6.14801738e-04 9.99906083e-01 -7.64036368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28592 meters Centerline goodness [0,1] 0.9963198726874876 Centerline is valid? [True, True] Translation: X:46.42, Y:12.67, Z:-0.76 [[ 8.57099831e-01 -5.15008981e-01 1.20676994e-02 4.64155844e+01] [ 5.14947907e-01 8.57184569e-01 7.95406416e-03 1.26720226e+01] [-1.44406602e-02 -6.03190516e-04 9.99895546e-01 -7.63044476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31592 meters Centerline goodness [0,1] 0.9959735547049758 Centerline is valid? [True, True] Translation: X:46.44, Y:12.69, Z:-0.76 [[ 8.55984077e-01 -5.16837513e-01 1.30478470e-02 4.64394340e+01] [ 5.16766205e-01 8.56083287e-01 8.60784721e-03 1.26886101e+01] [-1.56189021e-02 -6.25493756e-04 9.99877822e-01 -7.62656013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34592 meters Centerline goodness [0,1] 0.9956288495926883 Centerline is valid? [True, True] Translation: X:46.46, Y:12.71, Z:-0.76 [[ 8.55517194e-01 -5.17674729e-01 1.01590511e-02 4.64630382e+01] [ 5.17631488e-01 8.55577375e-01 6.70803627e-03 1.27051082e+01] [-1.21644351e-02 -4.80195645e-04 9.99925895e-01 -7.60705209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37592 meters Centerline goodness [0,1] 0.9955747812251392 Centerline is valid? [True, True] Translation: X:46.49, Y:12.72, Z:-0.76 [[ 8.55501076e-01 -5.17692886e-01 1.05822394e-02 4.64857993e+01] [ 5.17645890e-01 8.55566374e-01 6.99377569e-03 1.27226754e+01] [-1.26744361e-02 -5.05329894e-04 9.99919548e-01 -7.62498229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405919999999995 meters Centerline goodness [0,1] 0.9962708830548926 Centerline is valid? [True, True] Translation: X:46.51, Y:12.74, Z:-0.76 [[ 8.55231994e-01 -5.18099097e-01 1.23110657e-02 4.65101720e+01] [ 5.18035421e-01 8.55320397e-01 8.14383821e-03 1.27389248e+01] [-1.47492208e-02 -5.87302904e-04 9.99891052e-01 -7.62535546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435919999999996 meters Centerline goodness [0,1] 0.9964267990074441 Centerline is valid? [True, True] Translation: X:46.53, Y:12.75, Z:-0.76 [[ 8.55102358e-01 -5.18278893e-01 1.36728299e-02 4.65344720e+01] [ 5.18200237e-01 8.55211412e-01 9.05289471e-03 1.27544123e+01] [-1.63850844e-02 -6.55887911e-04 9.99865540e-01 -7.62225870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46592 meters Centerline goodness [0,1] 0.9977120119373291 Centerline is valid? [True, True] Translation: X:46.56, Y:12.77, Z:-0.76 [[ 8.54649383e-01 -5.19031222e-01 1.34544775e-02 4.65580298e+01] [ 5.18955022e-01 8.54755043e-01 8.91637652e-03 1.27714031e+01] [-1.61281603e-02 -6.38107025e-04 9.99869729e-01 -7.60397417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49592 meters Centerline goodness [0,1] 0.9976641320013916 Centerline is valid? [True, True] Translation: X:46.58, Y:12.79, Z:-0.76 [[ 8.53647414e-01 -5.20682496e-01 1.32601030e-02 4.65815460e+01] [ 5.20608554e-01 8.53750182e-01 8.79552634e-03 1.27882895e+01] [-1.59004920e-02 -6.04955261e-04 9.99873396e-01 -7.60255310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52592 meters Centerline goodness [0,1] 0.998064227924753 Centerline is valid? [True, True] Translation: X:46.61, Y:12.81, Z:-0.76 [[ 8.51375801e-01 -5.24356389e-01 1.44783818e-02 4.66051321e+01] [ 5.24268611e-01 8.51498694e-01 9.61240833e-03 1.28051314e+01] [-1.73686509e-02 -5.93210704e-04 9.99848978e-01 -7.61060484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55592 meters Centerline goodness [0,1] 0.9981146117588687 Centerline is valid? [True, True] Translation: X:46.63, Y:12.82, Z:-0.76 [[ 8.48921015e-01 -5.28295520e-01 1.53933165e-02 4.66286374e+01] [ 5.28196850e-01 8.49060388e-01 1.02247767e-02 1.28226548e+01] [-1.84715590e-02 -5.49326500e-04 9.99829235e-01 -7.61108975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585919999999994 meters Centerline goodness [0,1] 0.9981550735477437 Centerline is valid? [True, True] Translation: X:46.65, Y:12.84, Z:-0.76 [[ 8.48064173e-01 -5.29621377e-01 1.69810212e-02 4.66510933e+01] [ 5.29501474e-01 8.48233967e-01 1.12838849e-02 1.28390696e+01] [-2.03800656e-02 -5.77982749e-04 9.99792138e-01 -7.61059604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615919999999996 meters Centerline goodness [0,1] 0.997914287133138 Centerline is valid? [True, True] Translation: X:46.68, Y:12.86, Z:-0.76 [[ 8.47084559e-01 -5.31255655e-01 1.46689977e-02 4.66756858e+01] [ 5.31166283e-01 8.47211429e-01 9.75574102e-03 1.28550381e+01] [-1.76105351e-02 -4.72260587e-04 9.99844811e-01 -7.61931891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64592 meters Centerline goodness [0,1] 0.9979607062919672 Centerline is valid? [True, True] Translation: X:46.70, Y:12.87, Z:-0.76 [[ 8.47031236e-01 -5.31363512e-01 1.38167577e-02 4.66996655e+01] [ 5.31284193e-01 8.47143801e-01 9.19163600e-03 1.28717068e+01] [-1.65888806e-02 -4.44977860e-04 9.99862296e-01 -7.61540599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67592 meters Centerline goodness [0,1] 0.9981590207980894 Centerline is valid? [True, True] Translation: X:46.72, Y:12.89, Z:-0.76 [[ 8.47180181e-01 -5.31139350e-01 1.32940990e-02 4.67228461e+01] [ 5.31065747e-01 8.47284367e-01 8.85295442e-03 1.28884205e+01] [-1.59660347e-02 -4.40006932e-04 9.99872438e-01 -7.60975797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70592 meters Centerline goodness [0,1] 0.9979147013554441 Centerline is valid? [True, True] Translation: X:46.74, Y:12.91, Z:-0.76 [[ 8.46845748e-01 -5.31664760e-01 1.35963742e-02 4.67445605e+01] [ 5.31587681e-01 8.46954770e-01 9.06396482e-03 1.29058795e+01] [-1.63345046e-02 -4.48115049e-04 9.99866483e-01 -7.60600293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73592 meters Centerline goodness [0,1] 0.9986583850931677 Centerline is valid? [True, True] Translation: X:46.77, Y:12.92, Z:-0.76 [[ 8.46413757e-01 -5.32354312e-01 1.35144137e-02 4.67681714e+01] [ 5.32278202e-01 8.46521528e-01 9.01210097e-03 1.29222627e+01] [-1.62378730e-02 -4.34538404e-04 9.99868063e-01 -7.61357055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765919999999994 meters Centerline goodness [0,1] 0.9984100168935705 Centerline is valid? [True, True] Translation: X:46.79, Y:12.94, Z:-0.76 [[ 8.45932163e-01 -5.33095539e-01 1.44194813e-02 4.67913514e+01] [ 5.33008935e-01 8.46054928e-01 9.61942202e-03 1.29375706e+01] [-1.73277442e-02 -4.51666127e-04 9.99849761e-01 -7.61848289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795919999999995 meters Centerline goodness [0,1] 0.9991059454626732 Centerline is valid? [True, True] Translation: X:46.81, Y:12.96, Z:-0.76 [[ 8.44251406e-01 -5.35724197e-01 1.54644108e-02 4.68145988e+01] [ 5.35624972e-01 8.44392918e-01 1.03193273e-02 1.29550730e+01] [-1.85863523e-02 -4.28981936e-04 9.99827167e-01 -7.62012327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825919999999996 meters Centerline goodness [0,1] 0.999354293945264 Centerline is valid? [True, True] Translation: X:46.84, Y:12.97, Z:-0.76 [[ 8.42897818e-01 -5.37879526e-01 1.44528453e-02 4.68379763e+01] [ 5.37793130e-01 8.43021641e-01 9.64689974e-03 1.29726563e+01] [-1.73729312e-02 -3.58709840e-04 9.99849015e-01 -7.61683404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.85592 meters Centerline goodness [0,1] 0.999700254783434 Centerline is valid? [True, True] Translation: X:46.86, Y:12.99, Z:-0.76 [[ 8.40775233e-01 -5.41233973e-01 1.27590950e-02 4.68609435e+01] [ 5.41166913e-01 8.40871999e-01 8.52369339e-03 1.29896606e+01] [-1.53420781e-02 -2.61710268e-04 9.99882269e-01 -7.61200891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88592 meters Centerline goodness [0,1] 0.9998013705432516 Centerline is valid? [True, True] Translation: X:46.89, Y:13.00, Z:-0.76 [[ 8.40386371e-01 -5.41817769e-01 1.35739939e-02 4.68850406e+01] [ 5.41741781e-01 8.40495942e-01 9.07817786e-03 1.30037456e+01] [-1.63276049e-02 -2.75577292e-04 9.99866658e-01 -7.61608747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91592 meters Centerline goodness [0,1] 0.9998510796723753 Centerline is valid? [True, True] Translation: X:46.91, Y:13.02, Z:-0.76 [[ 8.40287117e-01 -5.41915835e-01 1.56457102e-02 4.69099155e+01] [ 5.41814706e-01 8.40432700e-01 1.04738645e-02 1.30179363e+01] [-1.88251195e-02 -3.23977530e-04 9.99822739e-01 -7.60745908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945919999999994 meters Centerline goodness [0,1] 0.9998014888337469 Centerline is valid? [True, True] Translation: X:46.94, Y:13.03, Z:-0.76 [[ 8.40982001e-01 -5.40830974e-01 1.58470966e-02 4.69352848e+01] [ 5.40726838e-01 8.41131218e-01 1.06188325e-02 1.30328020e+01] [-1.90724812e-02 -3.61296578e-04 9.99818038e-01 -7.60791106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975919999999995 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:46.96, Y:13.05, Z:-0.76 [[ 8.42734488e-01 -5.38132413e-01 1.45632642e-02 4.69606420e+01] [ 5.38044014e-01 8.42860222e-01 9.76145865e-03 1.30475776e+01] [-1.75277534e-02 -3.90640749e-04 9.99846301e-01 -7.61622951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005919999999996 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:46.99, Y:13.06, Z:-0.76 [[ 8.43174798e-01 -5.37453542e-01 1.41404052e-02 4.69856608e+01] [ 5.37369960e-01 8.43293265e-01 9.48662210e-03 1.30621818e+01] [-1.70231271e-02 -4.00251678e-04 9.99855016e-01 -7.61559154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.03592 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:47.01, Y:13.08, Z:-0.76 [[ 8.43108013e-01 -5.37555953e-01 1.42294044e-02 4.70103642e+01] [ 5.37471155e-01 8.43227982e-01 9.55655271e-03 1.30766018e+01] [-1.71358138e-02 -4.09311738e-04 9.99853087e-01 -7.62059561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:13.09, Z:-0.76 [[ 8.42800095e-01 -5.38035477e-01 1.43466228e-02 4.70344232e+01] [ 5.37949168e-01 8.42922094e-01 9.64554193e-03 1.30904306e+01] [-1.72827291e-02 -4.11509875e-04 9.99850558e-01 -7.61163852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.06, Y:13.11, Z:-0.76 [[ 8.41927021e-01 -5.39390131e-01 1.47369394e-02 4.70585099e+01] [ 5.39299102e-01 8.42055892e-01 9.91737424e-03 1.31066103e+01] [-1.77586605e-02 -4.02087157e-04 9.99842222e-01 -7.61619530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:13.12, Z:-0.76 [[ 8.40135193e-01 -5.42148806e-01 1.57330850e-02 4.70823117e+01] [ 5.42045346e-01 8.40282411e-01 1.05977316e-02 1.31222579e+01] [-1.89657822e-02 -3.75481786e-04 9.99820063e-01 -7.61525244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.11, Y:13.14, Z:-0.76 [[ 8.39569910e-01 -5.43043097e-01 1.50519657e-02 4.71071705e+01] [ 5.42948490e-01 8.39704756e-01 1.01419499e-02 1.31373048e+01] [-1.81467231e-02 -3.42433953e-04 9.99835276e-01 -7.62114305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:13.15, Z:-0.76 [[ 8.38119942e-01 -5.45296487e-01 1.43772098e-02 4.71315500e+01] [ 5.45210459e-01 8.38243200e-01 9.68988946e-03 1.31531008e+01] [-1.73354611e-02 -2.82684422e-04 9.99849690e-01 -7.63307589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.16, Y:13.17, Z:-0.76 [[ 8.37705399e-01 -5.45975063e-01 1.26844869e-02 4.71561169e+01] [ 5.45908059e-01 8.37801392e-01 8.55683000e-03 1.31689573e+01] [-1.52988965e-02 -2.43539086e-04 9.99882935e-01 -7.62572195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:13.18, Z:-0.76 [[ 8.37740761e-01 -5.45909236e-01 1.31727903e-02 4.71813793e+01] [ 5.45836832e-01 8.37844280e-01 8.89468848e-03 1.31828005e+01] [-1.58924396e-02 -2.61249007e-04 9.99873673e-01 -7.62223541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:13.20, Z:-0.76 [[ 8.37684478e-01 -5.45948238e-01 1.50078920e-02 4.72064772e+01] [ 5.45854084e-01 8.37818852e-01 1.01435241e-02 1.31971272e+01] [-1.81117340e-02 -3.04953572e-04 9.99835923e-01 -7.60717286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:13.21, Z:-0.76 [[ 8.37234179e-01 -5.46605842e-01 1.61549624e-02 4.72303037e+01] [ 5.46496664e-01 8.37389963e-01 1.09291205e-02 1.32138118e+01] [-1.95019245e-02 -3.21600227e-04 9.99809768e-01 -7.61544363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.335919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:13.23, Z:-0.76 [[ 8.37037207e-01 -5.46897987e-01 1.64713794e-02 4.72537529e+01] [ 5.46784309e-01 8.37199189e-01 1.11551092e-02 1.32296730e+01] [-1.98905322e-02 -3.30949605e-04 9.99802109e-01 -7.61878690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.28, Y:13.24, Z:-0.76 [[ 8.36219759e-01 -5.48188627e-01 1.50247748e-02 4.72780061e+01] [ 5.48094075e-01 8.36354680e-01 1.01850205e-02 1.32446705e+01] [-1.81493531e-02 -2.81925364e-04 9.99835247e-01 -7.63198535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.30, Y:13.26, Z:-0.76 [[ 8.35920579e-01 -5.48661871e-01 1.43852680e-02 4.73015676e+01] [ 5.48575089e-01 8.36044304e-01 9.76184573e-03 1.32594052e+01] [-1.73826739e-02 -2.68728081e-04 9.99848874e-01 -7.62968568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.33, Y:13.28, Z:-0.76 [[ 8.34980773e-01 -5.50097385e-01 1.41412797e-02 4.73255177e+01] [ 5.50013572e-01 8.35100478e-01 9.60536221e-03 1.32760592e+01] [-1.70932740e-02 -2.42397025e-04 9.99853870e-01 -7.62542908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.45592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:47.35, Y:13.29, Z:-0.76 [[ 8.34328073e-01 -5.51065469e-01 1.49504611e-02 4.73486061e+01] [ 5.50971746e-01 8.34461976e-01 1.01659040e-02 1.32914174e+01] [-1.80776699e-02 -2.44417460e-04 9.99836556e-01 -7.63117102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.37, Y:13.31, Z:-0.76 [[ 8.33440990e-01 -5.52376083e-01 1.60243377e-02 4.73734359e+01] [ 5.52268437e-01 8.33594988e-01 1.09072587e-02 1.33056218e+01] [-1.93827164e-02 -2.40820495e-04 9.99812109e-01 -7.63156396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.40, Y:13.32, Z:-0.76 [[ 8.32388772e-01 -5.53973890e-01 1.55518959e-02 4.73977270e+01] [ 5.53872585e-01 8.32534015e-01 1.05958841e-02 1.33210070e+01] [-1.88173255e-02 -2.06126130e-04 9.99822917e-01 -7.62741965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.42, Y:13.34, Z:-0.76 [[ 8.31859301e-01 -5.54778151e-01 1.52087578e-02 4.74205385e+01] [ 5.54681195e-01 8.31998297e-01 1.03733518e-02 1.33367324e+01] [-1.84085696e-02 -1.93157200e-04 9.99830529e-01 -7.62927994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:13.35, Z:-0.76 [[ 8.31896513e-01 -5.54690755e-01 1.63204737e-02 4.74439673e+01] [ 5.54578874e-01 8.32056560e-01 1.11424113e-02 1.33541245e+01] [-1.97601497e-02 -2.18343166e-04 9.99804725e-01 -7.64149882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.47, Y:13.37, Z:-0.76 [[ 8.33341276e-01 -5.52530630e-01 1.58814885e-02 4.74697341e+01] [ 5.52424097e-01 8.33492549e-01 1.08529657e-02 1.33682144e+01] [-1.92336984e-02 -2.70907336e-04 9.99814979e-01 -7.63650997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:13.38, Z:-0.76 [[ 8.33837735e-01 -5.51784053e-01 1.57794682e-02 4.74943503e+01] [ 5.51678556e-01 8.33986974e-01 1.07934483e-02 1.33835189e+01] [-1.91155236e-02 -2.94790216e-04 9.99817238e-01 -7.63398105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.52, Y:13.40, Z:-0.76 [[ 8.34865406e-01 -5.50197781e-01 1.67974710e-02 4.75172845e+01] [ 5.50077690e-01 8.35034293e-01 1.15006289e-02 1.34005548e+01] [-2.03540848e-02 -3.61563188e-04 9.99792769e-01 -7.64694150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.695919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.54, Y:13.42, Z:-0.76 [[ 8.35938506e-01 -5.48548385e-01 1.73632948e-02 4.75409918e+01] [ 5.48419620e-01 8.36118708e-01 1.18923015e-02 1.34162391e+01] [-2.10412784e-02 -4.18861193e-04 9.99778520e-01 -7.64724397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.57, Y:13.43, Z:-0.76 [[ 8.36587670e-01 -5.47536823e-01 1.80138233e-02 4.75656602e+01] [ 5.47397749e-01 8.36781457e-01 1.23490026e-02 1.34315727e+01] [-2.18351669e-02 -4.70296967e-04 9.99761474e-01 -7.64440149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:13.45, Z:-0.76 [[ 8.36662466e-01 -5.47487332e-01 1.59229289e-02 4.75895027e+01] [ 5.47378471e-01 8.36813862e-01 1.09256454e-02 1.34485537e+01] [-1.93061801e-02 -4.25208914e-04 9.99813528e-01 -7.63168303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.61, Y:13.47, Z:-0.76 [[ 8.36464396e-01 -5.47807009e-01 1.53230325e-02 4.76112375e+01] [ 5.47706042e-01 8.36604633e-01 1.05251873e-02 1.34669305e+01] [-1.85850913e-02 -4.11426926e-04 9.99827198e-01 -7.62672861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.63, Y:13.48, Z:-0.76 [[ 8.36335704e-01 -5.48043502e-01 1.38170354e-02 4.76346617e+01] [ 5.47961294e-01 8.36449748e-01 9.49947934e-03 1.34843780e+01] [-1.67633837e-02 -3.73553158e-04 9.99859415e-01 -7.60945864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:13.50, Z:-0.76 [[ 8.36256404e-01 -5.48124718e-01 1.53140532e-02 4.76580258e+01] [ 5.48023560e-01 8.36396507e-01 1.05385536e-02 1.35011002e+01] [-1.85850623e-02 -4.20470994e-04 9.99827194e-01 -7.61620186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.68, Y:13.52, Z:-0.76 [[ 8.36112399e-01 -5.48330893e-01 1.57888515e-02 4.76801439e+01] [ 5.48223339e-01 8.36261350e-01 1.08684980e-02 1.35192149e+01] [-1.91631395e-02 -4.31469064e-04 9.99816277e-01 -7.62285005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.70, Y:13.54, Z:-0.76 [[ 8.36361100e-01 -5.47941058e-01 1.61464090e-02 4.77008249e+01] [ 5.47828394e-01 8.36516820e-01 1.11203054e-02 1.35401977e+01] [-1.96000146e-02 -4.55129595e-04 9.99807798e-01 -7.63287935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.72, Y:13.56, Z:-0.76 [[ 8.36657239e-01 -5.47494058e-01 1.59662345e-02 4.77244796e+01] [ 5.47383754e-01 8.36809442e-01 1.09992766e-02 1.35568029e+01] [-1.93827344e-02 -4.62967039e-04 9.99812030e-01 -7.62570431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96592 meters Centerline goodness [0,1] 0.9999007247096198 Centerline is valid? [True, True] Translation: X:47.75, Y:13.57, Z:-0.76 [[ 8.36181270e-01 -5.48247170e-01 1.50307626e-02 4.77477197e+01] [ 5.48149485e-01 8.36316246e-01 1.03575482e-02 1.35747267e+01] [-1.82489674e-02 -4.21683077e-04 9.99833385e-01 -7.61783393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:47.77, Y:13.59, Z:-0.76 [[ 8.35655219e-01 -5.49074458e-01 1.40567898e-02 4.77705513e+01] [ 5.48989098e-01 8.35773352e-01 9.68893847e-03 1.35925957e+01] [-1.70682390e-02 -3.79587657e-04 9.99854255e-01 -7.62497787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.79, Y:13.61, Z:-0.76 [[ 8.35552219e-01 -5.49226912e-01 1.42227865e-02 4.77935194e+01] [ 5.49139479e-01 8.35673173e-01 9.80719473e-03 1.36090424e+01] [-1.72719764e-02 -3.84129752e-04 9.99850755e-01 -7.62576732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05592 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:47.82, Y:13.63, Z:-0.76 [[ 8.34330195e-01 -5.51061309e-01 1.49852856e-02 4.78171404e+01] [ 5.50964493e-01 8.34464678e-01 1.03357792e-02 1.36258142e+01] [-1.82003395e-02 -3.67092371e-04 9.99834293e-01 -7.61243531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085919999999994 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:47.84, Y:13.64, Z:-0.76 [[ 8.34275213e-01 -5.51143003e-01 1.50419082e-02 4.78399417e+01] [ 5.51045392e-01 8.34410722e-01 1.03789337e-02 1.36423200e+01] [-1.82714061e-02 -3.70112946e-04 9.99832995e-01 -7.62279387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.86, Y:13.66, Z:-0.76 [[ 8.33787582e-01 -5.51875055e-01 1.52378031e-02 4.78633087e+01] [ 5.51774955e-01 8.33926731e-01 1.05169526e-02 1.36594105e+01] [-1.85112552e-02 -3.61066342e-04 9.99828587e-01 -7.62921053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.89, Y:13.68, Z:-0.76 [[ 8.33685130e-01 -5.52029865e-01 1.52358808e-02 4.78860109e+01] [ 5.51929739e-01 8.33824261e-01 1.05197373e-02 1.36750106e+01] [-1.85112562e-02 -3.61012800e-04 9.99828587e-01 -7.62944820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:13.69, Z:-0.76 [[ 8.33644657e-01 -5.52076588e-01 1.57488518e-02 4.79095725e+01] [ 5.51969558e-01 8.33793320e-01 1.08768702e-02 1.36911639e+01] [-1.91361528e-02 -3.74557980e-04 9.99816817e-01 -7.63028500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.93, Y:13.71, Z:-0.76 [[ 8.33515082e-01 -5.52236408e-01 1.69575084e-02 4.79335905e+01] [ 5.52112287e-01 8.33687464e-01 1.17147378e-02 1.37076725e+01] [-2.06065669e-02 -4.01961947e-04 9.99787581e-01 -7.62457829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.96, Y:13.72, Z:-0.76 [[ 8.33416417e-01 -5.52402497e-01 1.63877044e-02 4.79575789e+01] [ 5.52286550e-01 8.33577430e-01 1.13240908e-02 1.37244728e+01] [-1.99158765e-02 -3.86974434e-04 9.99801584e-01 -7.61204897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:13.74, Z:-0.76 [[ 8.32995700e-01 -5.53029657e-01 1.66241439e-02 4.79812763e+01] [ 5.52910372e-01 8.33161481e-01 1.14920134e-02 1.37401922e+01] [-2.02060206e-02 -3.81136133e-04 9.99795765e-01 -7.61411701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:13.76, Z:-0.76 [[ 8.33037717e-01 -5.53004999e-01 1.52850225e-02 4.80048901e+01] [ 5.52904103e-01 8.33177860e-01 1.05691522e-02 1.37573048e+01] [-1.85799363e-02 -3.53350777e-04 9.99827316e-01 -7.61286404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:13.77, Z:-0.76 [[ 8.33046970e-01 -5.52932579e-01 1.72716193e-02 4.80276142e+01] [ 5.52803665e-01 8.33225900e-01 1.19460108e-02 1.37746293e+01] [-2.09964991e-02 -4.03773635e-04 9.99779468e-01 -7.62273726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:13.79, Z:-0.76 [[ 8.33217532e-01 -5.52685904e-01 1.69362196e-02 4.80493107e+01] [ 5.52561744e-01 8.33389540e-01 1.17215357e-02 1.37923671e+01] [-2.05927958e-02 -4.08281981e-04 9.99787863e-01 -7.61427555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:13.81, Z:-0.76 [[ 8.34390409e-01 -5.50921378e-01 1.66817271e-02 4.80711605e+01] [ 5.50800503e-01 8.34557029e-01 1.15486622e-02 1.38117064e+01] [-2.02842575e-02 -4.47789350e-04 9.99794153e-01 -7.62238032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:13.83, Z:-0.76 [[ 8.35010985e-01 -5.49992224e-01 1.62852251e-02 4.80922181e+01] [ 5.49876791e-01 8.35169648e-01 1.12771591e-02 1.38314994e+01] [-1.98032756e-02 -4.61684444e-04 9.99803789e-01 -7.62263920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:13.85, Z:-0.76 [[ 8.34692252e-01 -5.50463739e-01 1.66888386e-02 4.81129523e+01] [ 5.50342515e-01 8.34858943e-01 1.15611649e-02 1.38504694e+01] [-2.02968282e-02 -4.65437348e-04 9.99793890e-01 -7.61955480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:13.87, Z:-0.76 [[ 8.32677692e-01 -5.53508472e-01 1.66202722e-02 4.81328245e+01] [ 5.53388783e-01 8.32843453e-01 1.15168063e-02 1.38727724e+01] [-2.02167348e-02 -3.92315484e-04 9.99795544e-01 -7.62540327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:13.89, Z:-0.76 [[ 8.30829483e-01 -5.56293728e-01 1.61138916e-02 4.81548825e+01] [ 5.56181686e-01 8.30985672e-01 1.11689250e-02 1.38909350e+01] [-1.96036159e-02 -3.17220788e-04 9.99807780e-01 -7.62585924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.18, Y:13.91, Z:-0.76 [[ 8.26580982e-01 -5.62608322e-01 1.53543805e-02 4.81770874e+01] [ 5.62507649e-01 8.26723563e-01 1.06439922e-02 1.39110613e+01] [-1.86822267e-02 -1.61165018e-04 9.99825459e-01 -7.61712637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.20, Y:13.93, Z:-0.76 [[ 8.24666870e-01 -5.65325679e-01 1.82052108e-02 4.82000093e+01] [ 5.65184732e-01 8.24867784e-01 1.26236668e-02 1.39286193e+01] [-2.21533749e-02 -1.21012617e-04 9.99754577e-01 -7.62678953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:13.95, Z:-0.76 [[ 8.22166322e-01 -5.68964920e-01 1.79292593e-02 4.82248699e+01] [ 5.68829074e-01 8.22361793e-01 1.24324528e-02 1.39470569e+01] [-2.18179673e-02 -2.28599868e-05 9.99761960e-01 -7.62097912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:13.96, Z:-0.76 [[ 8.21327983e-01 -5.70199995e-01 1.70970665e-02 4.82484290e+01] [ 5.70076669e-01 8.21505913e-01 1.18585747e-02 1.39630030e+01] [-2.08071005e-02 6.85942825e-06 9.99783509e-01 -7.61590329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:13.98, Z:-0.76 [[ 8.20737670e-01 -5.71021143e-01 1.80147347e-02 4.82718399e+01] [ 5.70884343e-01 8.20935353e-01 1.24985718e-02 1.39800476e+01] [-2.19258813e-02 2.62812994e-05 9.99759599e-01 -7.61780681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.30, Y:14.00, Z:-0.76 [[ 8.21308301e-01 -5.70191286e-01 1.82913080e-02 4.82961316e+01] [ 5.70049967e-01 8.21511958e-01 1.26940233e-02 1.39950914e+01] [-2.22645497e-02 1.25284971e-06 9.99752114e-01 -7.62875617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:14.01, Z:-0.76 [[ 8.21559357e-01 -5.69797159e-01 1.92722637e-02 4.83209318e+01] [ 5.69640077e-01 8.21785372e-01 1.33785470e-02 1.40093144e+01] [-2.34607224e-02 -1.30166756e-05 9.99724759e-01 -7.61755853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.35, Y:14.02, Z:-0.76 [[ 8.19876063e-01 -5.72124405e-01 2.18381900e-02 4.83468778e+01] [ 5.71923413e-01 8.20166850e-01 1.51640194e-02 1.40229740e+01] [-2.65866651e-02 5.71556589e-05 9.99646511e-01 -7.61258990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77592 meters Centerline goodness [0,1] 0.9999008133306884 Centerline is valid? [True, True] Translation: X:48.37, Y:14.04, Z:-0.76 [[ 8.19110251e-01 -5.73235883e-01 2.14247210e-02 4.83711398e+01] [ 5.73042704e-01 8.19390392e-01 1.48810408e-02 1.40381628e+01] [-2.60855571e-02 8.80669919e-05 9.99659710e-01 -7.60910007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.39, Y:14.05, Z:-0.76 [[ 8.16632266e-01 -5.76807232e-01 2.01285798e-02 4.83944992e+01] [ 5.76637731e-01 8.16880274e-01 1.39837434e-02 1.40545776e+01] [-2.45085642e-02 1.87322528e-04 9.99699602e-01 -7.61782013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.42, Y:14.07, Z:-0.76 [[ 8.16273958e-01 -5.77372912e-01 1.83669566e-02 4.84181704e+01] [ 5.77231848e-01 8.16480549e-01 1.27634921e-02 1.40712726e+01] [-2.23655575e-02 1.83486104e-04 9.99749843e-01 -7.61432334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.44, Y:14.09, Z:-0.76 [[ 8.15900040e-01 -5.77952343e-01 1.66797482e-02 4.84418736e+01] [ 5.77836064e-01 8.16070497e-01 1.15942564e-02 1.40869361e+01] [-2.03127780e-02 1.78405795e-04 9.99793658e-01 -7.60288429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.47, Y:14.10, Z:-0.76 [[ 8.16015984e-01 -5.77793855e-01 1.64977379e-02 4.84665259e+01] [ 5.77680002e-01 8.16182720e-01 1.14709383e-02 1.41024099e+01] [-2.00930062e-02 1.69944306e-04 9.99798101e-01 -7.60320142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:14.12, Z:-0.76 [[ 8.15412269e-01 -5.78567961e-01 1.90248989e-02 4.84914540e+01] [ 5.78416696e-01 8.15634151e-01 1.32309326e-02 1.41173502e+01] [-2.31723509e-02 2.15654412e-04 9.99731462e-01 -7.59869750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95592 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:48.52, Y:14.13, Z:-0.76 [[ 8.14044841e-01 -5.80436629e-01 2.05989348e-02 4.85164545e+01] [ 5.80259765e-01 8.14305371e-01 1.43306668e-02 1.41311537e+01] [-2.50918672e-02 2.86927658e-04 9.99685108e-01 -7.60422017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.54, Y:14.15, Z:-0.76 [[ 8.13807831e-01 -5.80814948e-01 1.92564355e-02 4.85412130e+01] [ 5.80660406e-01 8.14035577e-01 1.34004759e-02 1.41465072e+01] [-2.34586203e-02 2.76037463e-04 9.99724771e-01 -7.60093946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.57, Y:14.16, Z:-0.76 [[ 8.12459934e-01 -5.82722481e-01 1.85301267e-02 4.85652749e+01] [ 5.82579793e-01 8.12671158e-01 1.28986331e-02 1.41619590e+01] [-2.25752230e-02 3.15654772e-04 9.99745097e-01 -7.61289875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045919999999995 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:48.59, Y:14.18, Z:-0.76 [[ 8.12013502e-01 -5.83332830e-01 1.88913307e-02 4.85893597e+01] [ 5.83184604e-01 8.12233154e-01 1.31537484e-02 1.41778222e+01] [-2.30171784e-02 3.36111941e-04 9.99735013e-01 -7.61677374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.61, Y:14.19, Z:-0.76 [[ 8.11057506e-01 -5.84581465e-01 2.12186831e-02 4.86143326e+01] [ 5.84394755e-01 8.11334913e-01 1.47793872e-02 1.41917713e+01] [-2.58552142e-02 4.13154219e-04 9.99665613e-01 -7.59317545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.64, Y:14.21, Z:-0.76 [[ 8.11262307e-01 -5.84256497e-01 2.23117633e-02 4.86398022e+01] [ 5.84049810e-01 8.11568956e-01 1.55450962e-02 1.42050673e+01] [-2.71898579e-02 4.20030490e-04 9.99630199e-01 -7.60231350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:48.66, Y:14.22, Z:-0.76 [[ 8.11168331e-01 -5.84431120e-01 2.11235760e-02 4.86648936e+01] [ 5.84245818e-01 8.11443224e-01 1.47213282e-02 1.42200306e+01] [-2.57441849e-02 3.99885686e-04 9.99668484e-01 -7.60048790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.69, Y:14.23, Z:-0.76 [[ 8.10950144e-01 -5.84757176e-01 2.04672786e-02 4.86894992e+01] [ 5.84583216e-01 8.11208290e-01 1.42679197e-02 1.42347855e+01] [-2.49464945e-02 3.94256041e-04 9.99688710e-01 -7.61164111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195919999999994 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:48.72, Y:14.25, Z:-0.76 [[ 8.11007363e-01 -5.84660653e-01 2.09518185e-02 4.87156312e+01] [ 5.84478222e-01 8.11277858e-01 1.46097546e-02 1.42480973e+01] [-2.55394951e-02 3.97263106e-04 9.99673735e-01 -7.63020291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.74, Y:14.26, Z:-0.76 [[ 8.11405756e-01 -5.84054486e-01 2.23843082e-02 4.87403189e+01] [ 5.83845903e-01 8.11714357e-01 1.56129615e-02 1.42623944e+01] [-2.72884845e-02 4.00539758e-04 9.99627520e-01 -7.62059073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255919999999996 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:48.77, Y:14.28, Z:-0.76 [[ 8.11570705e-01 -5.83682684e-01 2.58363299e-02 4.87667352e+01] [ 5.83404444e-01 8.11981729e-01 1.80257297e-02 1.42755874e+01] [-3.14999341e-02 4.43875554e-04 9.99503655e-01 -7.61251478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.79, Y:14.29, Z:-0.76 [[ 8.12585507e-01 -5.82359951e-01 2.36998240e-02 4.87925964e+01] [ 5.82125139e-01 8.12930969e-01 1.65397108e-02 1.42895123e+01] [-2.88983860e-02 3.56334001e-04 9.99582291e-01 -7.61731689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.82, Y:14.30, Z:-0.76 [[ 8.12574020e-01 -5.82413068e-01 2.27701588e-02 4.88175527e+01] [ 5.82196220e-01 8.12892922e-01 1.58952584e-02 1.43040553e+01] [-2.77673071e-02 3.40626367e-04 9.99614356e-01 -7.62165286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:48.84, Y:14.32, Z:-0.76 [[ 8.13239032e-01 -5.81506497e-01 2.21916731e-02 4.88449813e+01] [ 5.81299792e-01 8.13541708e-01 1.55061693e-02 1.43160373e+01] [-2.70707898e-02 2.89792835e-04 9.99633477e-01 -7.63975612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37592 meters Centerline goodness [0,1] 0.9999008133306884 Centerline is valid? [True, True] Translation: X:48.87, Y:14.33, Z:-0.77 [[ 8.12995739e-01 -5.81795621e-01 2.34900857e-02 4.88703323e+01] [ 5.81563682e-01 8.13334964e-01 1.64292485e-02 1.43308604e+01] [-2.86637728e-02 3.04071651e-04 9.99589063e-01 -7.65093537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.90, Y:14.34, Z:-0.77 [[ 8.13905617e-01 -5.80377479e-01 2.68259135e-02 4.88964620e+01] [ 5.80073605e-01 8.14347534e-01 1.87804838e-02 1.43445996e+01] [-3.27453864e-02 2.75463051e-04 9.99463688e-01 -7.67107017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:14.36, Z:-0.77 [[ 8.14299079e-01 -5.79780521e-01 2.77769164e-02 4.89213013e+01] [ 5.79454175e-01 8.14772657e-01 1.94519040e-02 1.43595709e+01] [-3.39097070e-02 2.55782636e-04 9.99424868e-01 -7.67106718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:14.37, Z:-0.77 [[ 8.15657610e-01 -5.77911613e-01 2.68483015e-02 4.89475279e+01] [ 5.77605547e-01 8.16099344e-01 1.88066931e-02 1.43716783e+01] [-3.27794876e-02 1.67905520e-04 9.99462594e-01 -7.67080082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49592 meters Centerline goodness [0,1] 0.9999009999009999 Centerline is valid? [True, True] Translation: X:48.97, Y:14.39, Z:-0.77 [[ 8.16436461e-01 -5.76831188e-01 2.64061812e-02 4.89726521e+01] [ 5.76534393e-01 8.16863371e-01 1.85020762e-02 1.43867675e+01] [-3.22428168e-02 1.18302020e-04 9.99480058e-01 -7.67356908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52592 meters Centerline goodness [0,1] 0.9998016364988842 Centerline is valid? [True, True] Translation: X:49.00, Y:14.40, Z:-0.77 [[ 8.18306922e-01 -5.74220379e-01 2.53916814e-02 4.89979225e+01] [ 5.73944181e-01 8.18700774e-01 1.78078683e-02 1.44003976e+01] [-3.10138301e-02 1.10586637e-06 9.99518955e-01 -7.65739368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:14.42, Z:-0.77 [[ 8.19120968e-01 -5.73112373e-01 2.41463642e-02 4.90220840e+01] [ 5.72861653e-01 8.19476787e-01 1.69505758e-02 1.44159133e+01] [-2.95019697e-02 -5.20459789e-05 9.99564721e-01 -7.65523610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.05, Y:14.43, Z:-0.77 [[ 8.21962754e-01 -5.69073150e-01 2.30864018e-02 4.90466819e+01] [ 5.68841872e-01 8.22286878e-01 1.62239235e-02 1.44297843e+01] [-2.82162446e-02 -2.02948820e-04 9.99601822e-01 -7.66958812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:14.45, Z:-0.77 [[ 8.23090542e-01 -5.67396195e-01 2.41560978e-02 4.90701864e+01] [ 5.67142082e-01 8.23444886e-01 1.69816967e-02 1.44456272e+01] [-2.95265653e-02 -2.77534364e-04 9.99563957e-01 -7.68467978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.09, Y:14.46, Z:-0.77 [[ 8.26857167e-01 -5.61927013e-01 2.33507667e-02 4.90948967e+01] [ 5.61686950e-01 8.27186685e-01 1.64304232e-02 1.44609824e+01] [-2.85481419e-02 -4.69792202e-04 9.99592308e-01 -7.68292444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.12, Y:14.48, Z:-0.77 [[ 8.28181982e-01 -5.59979337e-01 2.31893744e-02 4.91188597e+01] [ 5.59741395e-01 8.28506394e-01 1.63317579e-02 1.44775556e+01] [-2.83579919e-02 -5.45614824e-04 9.99597682e-01 -7.67839453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.14, Y:14.50, Z:-0.77 [[ 8.30779528e-01 -5.56152714e-01 2.23502471e-02 4.91416748e+01] [ 5.55929907e-01 8.31079850e-01 1.57550291e-02 1.44960624e+01] [-2.73370422e-02 -6.63784899e-04 9.99626053e-01 -7.65111299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:49.16, Y:14.51, Z:-0.76 [[ 8.32196299e-01 -5.54082656e-01 2.10174112e-02 4.91643250e+01] [ 5.53884631e-01 8.32461364e-01 1.48288065e-02 1.45136411e+01] [-2.57125673e-02 -6.99256818e-04 9.99669133e-01 -7.64690876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:14.53, Z:-0.76 [[ 8.32464382e-01 -5.53662500e-01 2.14683342e-02 4.91852529e+01] [ 5.53455393e-01 8.32740830e-01 1.51603962e-02 1.45335312e+01] [-2.62713013e-02 -7.38724480e-04 9.99654577e-01 -7.64932034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.21, Y:14.55, Z:-0.77 [[ 8.31614857e-01 -5.54921631e-01 2.18795381e-02 4.92073184e+01] [ 5.54706833e-01 8.31902321e-01 1.54550355e-02 1.45520828e+01] [-2.67779721e-02 -7.15907844e-04 9.99641149e-01 -7.66562182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825919999999996 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:49.23, Y:14.57, Z:-0.77 [[ 8.30276768e-01 -5.56901852e-01 2.23789248e-02 4.92301048e+01] [ 5.56677500e-01 8.30578033e-01 1.58206592e-02 1.45708540e+01] [-2.73979977e-02 -6.77681900e-04 9.99624375e-01 -7.66743575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:14.59, Z:-0.77 [[ 8.25797779e-01 -5.63579217e-01 2.08924452e-02 4.92507980e+01] [ 5.63385680e-01 8.26061911e-01 1.47747997e-02 1.45935467e+01] [-2.55852233e-02 -4.30492300e-04 9.99672552e-01 -7.66896093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:14.61, Z:-0.77 [[ 8.23704952e-01 -5.66673288e-01 1.97872787e-02 4.92723630e+01] [ 5.66500488e-01 8.23942523e-01 1.39969529e-02 1.46133099e+01] [-2.42352797e-02 -3.19856360e-04 9.99706231e-01 -7.65563979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:14.63, Z:-0.77 [[ 8.19538415e-01 -5.72716833e-01 1.87673869e-02 4.92925543e+01] [ 5.72562885e-01 8.19753262e-01 1.32790454e-02 1.46345633e+01] [-2.29897594e-02 -1.37178607e-04 9.99735691e-01 -7.65553377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.32, Y:14.65, Z:-0.76 [[ 8.18292899e-01 -5.74489204e-01 1.89442694e-02 4.93156043e+01] [ 5.74332730e-01 8.18512154e-01 1.34078291e-02 1.46525838e+01] [-2.32087678e-02 -9.12173498e-05 9.99730636e-01 -7.64402004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:14.67, Z:-0.77 [[ 8.16422325e-01 -5.77093306e-01 2.04427014e-02 4.93385568e+01] [ 5.76911810e-01 8.16678220e-01 1.44723214e-02 1.46707936e+01] [-2.50469888e-02 -2.18904231e-05 9.99686275e-01 -7.65080660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.36, Y:14.69, Z:-0.76 [[ 8.15299533e-01 -5.78719918e-01 1.92335051e-02 4.93623292e+01] [ 5.78559645e-01 8.15526368e-01 1.36191252e-02 1.46878920e+01] [-2.35670896e-02 2.40635155e-05 9.99722257e-01 -7.64852383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.38, Y:14.70, Z:-0.76 [[ 8.15184604e-01 -5.78881884e-01 1.92308501e-02 4.93848442e+01] [ 5.78721568e-01 8.15411408e-01 1.36228739e-02 1.47037657e+01] [-2.35670894e-02 2.41505956e-05 9.99722257e-01 -7.64876156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.41, Y:14.72, Z:-0.77 [[ 8.13707940e-01 -5.80934050e-01 1.98750571e-02 4.94084377e+01] [ 5.80763325e-01 8.13950627e-01 1.40832414e-02 1.47198874e+01] [-2.43587497e-02 8.30589214e-05 9.99703278e-01 -7.65548188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:14.74, Z:-0.76 [[ 8.13339655e-01 -5.81460507e-01 1.95520906e-02 4.94317870e+01] [ 5.81295126e-01 8.13574625e-01 1.38674304e-02 1.47363826e+01] [-2.39704479e-02 8.66039136e-05 9.99712664e-01 -7.64611285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.45, Y:14.76, Z:-0.76 [[ 8.11163828e-01 -5.84489723e-01 1.96216353e-02 4.94532983e+01] [ 5.84323945e-01 8.11401093e-01 1.39209696e-02 1.47561578e+01] [-2.40576800e-02 1.73204373e-04 9.99710557e-01 -7.64838018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.48, Y:14.77, Z:-0.77 [[ 8.10467472e-01 -5.85478571e-01 1.89029180e-02 4.94764292e+01] [ 5.85324899e-01 8.10687860e-01 1.34147756e-02 1.47736839e+01] [-2.31784298e-02 1.92109279e-04 9.99731326e-01 -7.65464619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.50, Y:14.79, Z:-0.77 [[ 8.08496565e-01 -5.88160741e-01 2.00061655e-02 4.95005503e+01] [ 5.87989328e-01 8.08744004e-01 1.42016396e-02 1.47897061e+01] [-2.45327133e-02 2.81434932e-04 9.99698988e-01 -7.66944845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.52, Y:14.81, Z:-0.77 [[ 8.07930759e-01 -5.88951481e-01 1.95970122e-02 4.95233723e+01] [ 5.88787104e-01 8.08168341e-01 1.39168651e-02 1.48051707e+01] [-2.40340431e-02 2.94604694e-04 9.99711097e-01 -7.66716545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.55, Y:14.82, Z:-0.77 [[ 8.05820994e-01 -5.91786677e-01 2.10012902e-02 4.95474326e+01] [ 5.91598748e-01 8.06094515e-01 1.49182943e-02 1.48208163e+01] [-2.57574726e-02 4.02862219e-04 9.99668140e-01 -7.67071810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.57, Y:14.83, Z:-0.77 [[ 8.04042988e-01 -5.94207765e-01 2.07847421e-02 4.95722669e+01] [ 5.94024369e-01 8.04311451e-01 1.47695234e-02 1.48348462e+01] [-2.54935716e-02 4.71311613e-04 9.99674875e-01 -7.68444339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.60, Y:14.85, Z:-0.77 [[ 8.03479307e-01 -5.95035227e-01 1.88170752e-02 4.95968368e+01] [ 5.94885057e-01 8.03699495e-01 1.33749927e-02 1.48494447e+01] [-2.30818656e-02 4.47466980e-04 9.99733478e-01 -7.67577073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335919999999994 meters Centerline goodness [0,1] 0.9999008034917171 Centerline is valid? [True, True] Translation: X:49.62, Y:14.87, Z:-0.77 [[ 8.02491647e-01 -5.96322275e-01 2.01717734e-02 4.96213215e+01] [ 5.96149771e-01 8.02744970e-01 1.43514735e-02 1.48653772e+01] [-2.47508930e-02 5.08460455e-04 9.99693520e-01 -7.67966338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365919999999996 meters Centerline goodness [0,1] 0.999950411583854 Centerline is valid? [True, True] Translation: X:49.65, Y:14.88, Z:-0.77 [[ 8.02538668e-01 -5.96230103e-01 2.10083509e-02 4.96470557e+01] [ 5.96042532e-01 8.02813428e-01 1.49632668e-02 1.48780695e+01] [-2.57873364e-02 5.13270488e-04 9.99667320e-01 -7.67261957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39592 meters Centerline goodness [0,1] 0.9996032139668684 Centerline is valid? [True, True] Translation: X:49.67, Y:14.89, Z:-0.77 [[ 8.03116045e-01 -5.95476003e-01 2.03211274e-02 4.96746049e+01] [ 5.95299910e-01 8.03372963e-01 1.44879242e-02 1.48887811e+01] [-2.49526556e-02 4.61680915e-04 9.99688527e-01 -7.67764892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42592 meters Centerline goodness [0,1] 0.9999007985714994 Centerline is valid? [True, True] Translation: X:49.70, Y:14.90, Z:-0.77 [[ 8.03071521e-01 -5.95553201e-01 1.98120104e-02 4.97008999e+01] [ 5.95385515e-01 8.03315747e-01 1.41385827e-02 1.49024238e+01] [-2.43355782e-02 4.41490868e-04 9.99703748e-01 -7.68088726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.45592 meters Centerline goodness [0,1] 0.9999008034917171 Centerline is valid? [True, True] Translation: X:49.73, Y:14.92, Z:-0.77 [[ 8.03168859e-01 -5.95460859e-01 1.86050855e-02 4.97257368e+01] [ 5.95312662e-01 8.03384220e-01 1.32902267e-02 1.49166571e+01] [-2.28608419e-02 4.01546710e-04 9.99738576e-01 -7.69341598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.75, Y:14.93, Z:-0.77 [[ 8.02842111e-01 -5.95893855e-01 1.88429797e-02 4.97520254e+01] [ 5.95741621e-01 8.03063103e-01 1.34749041e-02 1.49286917e+01] [-2.31617143e-02 4.07326851e-04 9.99731649e-01 -7.70545743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.78, Y:14.94, Z:-0.77 [[ 8.02761758e-01 -5.95991175e-01 1.91853979e-02 4.97770432e+01] [ 5.95833030e-01 8.02990881e-01 1.37348230e-02 1.49421999e+01] [-2.35915329e-02 4.05503093e-04 9.99721599e-01 -7.70917079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.80, Y:14.95, Z:-0.77 [[ 8.04245990e-01 -5.93962036e-01 1.99370794e-02 4.98039214e+01] [ 5.93790290e-01 8.04492994e-01 1.42868441e-02 1.49537208e+01] [-2.45250837e-02 3.48307079e-04 9.99699154e-01 -7.68724053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575919999999996 meters Centerline goodness [0,1] 0.9999504508968388 Centerline is valid? [True, True] Translation: X:49.83, Y:14.97, Z:-0.77 [[ 8.05106339e-01 -5.92783431e-01 2.02876071e-02 4.98282930e+01] [ 5.92604820e-01 8.05361851e-01 1.45539074e-02 1.49678670e+01] [-2.49661800e-02 3.05090692e-04 9.99688250e-01 -7.69587839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:14.98, Z:-0.77 [[ 8.07431542e-01 -5.89648491e-01 1.92083722e-02 4.98548725e+01] [ 5.89487178e-01 8.07659967e-01 1.37929155e-02 1.49807081e+01] [-2.36468051e-02 1.86254103e-04 9.99720358e-01 -7.70117231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.88, Y:15.00, Z:-0.77 [[ 8.07899242e-01 -5.89026442e-01 1.86189523e-02 4.98801844e+01] [ 5.88874422e-01 8.08113747e-01 1.33823438e-02 1.49952235e+01] [-2.29287856e-02 1.52639391e-04 9.99737089e-01 -7.69598885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.91, Y:15.01, Z:-0.77 [[ 8.08808952e-01 -5.87803373e-01 1.77559488e-02 4.99069851e+01] [ 5.87664561e-01 8.09003822e-01 1.27741942e-02 1.50075495e+01] [-2.18733449e-02 1.02659296e-04 9.99760745e-01 -7.70013890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695919999999994 meters Centerline goodness [0,1] 0.9999504778883772 Centerline is valid? [True, True] Translation: X:49.93, Y:15.02, Z:-0.77 [[ 8.08936569e-01 -5.87639381e-01 1.73662293e-02 4.99302215e+01] [ 5.87506268e-01 8.09122952e-01 1.25073397e-02 1.50226313e+01] [-2.14012200e-02 8.51241109e-05 9.99770964e-01 -7.70283772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.96, Y:15.04, Z:-0.77 [[ 8.09072135e-01 -5.87422245e-01 1.83680730e-02 4.99553802e+01] [ 5.87272986e-01 8.09280607e-01 1.32415870e-02 1.50379807e+01] [-2.26433281e-02 7.36740183e-05 9.99743604e-01 -7.70276580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.98, Y:15.05, Z:-0.77 [[ 8.09486056e-01 -5.86808191e-01 1.97096909e-02 4.99802860e+01] [ 5.86635818e-01 8.09725969e-01 1.42222620e-02 1.50532610e+01] [-2.43051883e-02 4.96878823e-05 9.99704584e-01 -7.71384267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.01, Y:15.07, Z:-0.77 [[ 8.09965627e-01 -5.86183995e-01 1.85474101e-02 5.00065342e+01] [ 5.86030903e-01 8.10177958e-01 1.33961583e-02 1.50665796e+01] [-2.28793165e-02 1.89277620e-05 9.99738234e-01 -7.70813068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.03, Y:15.08, Z:-0.77 [[ 8.10465173e-01 -5.85569353e-01 1.59604304e-02 5.00311892e+01] [ 5.85455662e-01 8.10622312e-01 1.15384245e-02 1.50820171e+01] [-1.96944288e-02 -7.36682710e-06 9.99806046e-01 -7.69732746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.06, Y:15.10, Z:-0.77 [[ 8.10993827e-01 -5.84825478e-01 1.63759903e-02 5.00561646e+01] [ 5.84705380e-01 8.11159145e-01 1.18515292e-02 1.50952081e+01] [-2.02146106e-02 -3.63873711e-05 9.99795663e-01 -7.70589588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.08, Y:15.11, Z:-0.77 [[ 8.11034983e-01 -5.84756423e-01 1.67982502e-02 5.00806949e+01] [ 5.84629765e-01 8.11208927e-01 1.21702335e-02 1.51095872e+01] [-2.07435127e-02 -4.97279830e-05 9.99784829e-01 -7.69793876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.11, Y:15.12, Z:-0.77 [[ 8.11713985e-01 -5.83805051e-01 1.70900101e-02 5.01052919e+01] [ 5.83673460e-01 8.11893869e-01 1.23950805e-02 1.51240979e+01] [-2.11115851e-02 -8.62748633e-05 9.99777122e-01 -7.69309077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.13, Y:15.14, Z:-0.77 [[ 8.11718739e-01 -5.83814467e-01 1.65335125e-02 5.01281142e+01] [ 5.83691046e-01 8.11887098e-01 1.20042986e-02 1.51400643e+01] [-2.04316286e-02 -9.36508942e-05 9.99791248e-01 -7.70180220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.15, Y:15.16, Z:-0.77 [[ 8.11928790e-01 -5.83532210e-01 1.61802262e-02 5.01515905e+01] [ 5.83413702e-01 8.12089988e-01 1.17602661e-02 1.51563231e+01] [-2.00022938e-02 -1.08732997e-04 9.99799928e-01 -7.72264911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.18, Y:15.17, Z:-0.77 [[ 8.11486049e-01 -5.84115631e-01 1.73009224e-02 5.01754121e+01] [ 5.83980017e-01 8.11670449e-01 1.25865818e-02 1.51734567e+01] [-2.13946666e-02 -1.10442563e-04 9.99771102e-01 -7.71397935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.20, Y:15.19, Z:-0.77 [[ 8.11363619e-01 -5.84316934e-01 1.62110970e-02 5.01984667e+01] [ 5.84197689e-01 8.11525545e-01 1.18046932e-02 1.51903834e+01] [-2.00534015e-02 -1.07413218e-04 9.99798905e-01 -7.70060116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.22, Y:15.21, Z:-0.77 [[ 8.10332411e-01 -5.85726279e-01 1.69147659e-02 5.02206997e+01] [ 5.85596489e-01 8.10508926e-01 1.23301742e-02 1.52076894e+01] [-2.09316758e-02 -8.63123118e-05 9.99780905e-01 -7.70040764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085919999999994 meters Centerline goodness [0,1] 0.999950495049505 Centerline is valid? [True, True] Translation: X:50.24, Y:15.22, Z:-0.77 [[ 8.09769041e-01 -5.86519152e-01 1.64129622e-02 5.02432321e+01] [ 5.86396853e-01 8.09935355e-01 1.19771100e-02 1.52237653e+01] [-2.03182427e-02 -7.41834663e-05 9.99793560e-01 -7.69697307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115919999999996 meters Centerline goodness [0,1] 0.9999504631693664 Centerline is valid? [True, True] Translation: X:50.27, Y:15.24, Z:-0.77 [[ 8.08634124e-01 -5.88092743e-01 1.60555256e-02 5.02656020e+01] [ 5.87975773e-01 8.08793499e-01 1.17288480e-02 1.52403664e+01] [-1.98832551e-02 -4.40866967e-05 9.99802308e-01 -7.71089234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14592 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:50.29, Y:15.26, Z:-0.77 [[ 8.08024026e-01 -5.88937018e-01 1.58228142e-02 5.02881502e+01] [ 5.88823334e-01 8.08178933e-01 1.15712480e-02 1.52573831e+01] [-1.96024014e-02 -3.30041493e-05 9.99807854e-01 -7.71170363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.17592 meters Centerline goodness [0,1] 0.9998513747832549 Centerline is valid? [True, True] Translation: X:50.31, Y:15.27, Z:-0.77 [[ 8.07110819e-01 -5.90173560e-01 1.63491471e-02 5.03102504e+01] [ 5.90052194e-01 8.07276389e-01 1.19682707e-02 1.52745843e+01] [-2.02616374e-02 -1.28706813e-05 9.99794712e-01 -7.70266502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20592 meters Centerline goodness [0,1] 0.9999009361533508 Centerline is valid? [True, True] Translation: X:50.33, Y:15.29, Z:-0.77 [[ 8.06633888e-01 -5.90824289e-01 1.63838473e-02 5.03332482e+01] [ 5.90702276e-01 8.06800260e-01 1.20067213e-02 1.52904249e+01] [-2.03123549e-02 -7.05238894e-06 9.99793683e-01 -7.70731624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23592 meters Centerline goodness [0,1] 0.9998513453248105 Centerline is valid? [True, True] Translation: X:50.36, Y:15.31, Z:-0.77 [[ 8.05554169e-01 -5.92265518e-01 1.74366354e-02 5.03564203e+01] [ 5.92127395e-01 8.05742859e-01 1.27903503e-02 1.53070849e+01] [-2.16247279e-02 2.13894773e-05 9.99766158e-01 -7.71320024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265919999999994 meters Centerline goodness [0,1] 0.99980176429775 Centerline is valid? [True, True] Translation: X:50.38, Y:15.33, Z:-0.77 [[ 8.05489944e-01 -5.92412243e-01 1.52867405e-02 5.03788352e+01] [ 5.92305925e-01 8.05634988e-01 1.12230495e-02 1.53250265e+01] [-1.89642049e-02 1.43734676e-05 9.99820163e-01 -7.68797624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295919999999995 meters Centerline goodness [0,1] 0.9998019801980198 Centerline is valid? [True, True] Translation: X:50.40, Y:15.34, Z:-0.77 [[ 8.05537863e-01 -5.92312160e-01 1.65848082e-02 5.04013394e+01] [ 5.92186759e-01 8.05708573e-01 1.21876169e-02 1.53429289e+01] [-2.05813958e-02 3.71694152e-06 9.99788181e-01 -7.70103799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325919999999996 meters Centerline goodness [0,1] 0.9995535492831986 Centerline is valid? [True, True] Translation: X:50.42, Y:15.36, Z:-0.77 [[ 8.04560064e-01 -5.93596308e-01 1.80700363e-02 5.04244859e+01] [ 5.93447480e-01 8.04762960e-01 1.32915958e-02 1.53604695e+01] [-2.24319381e-02 2.97302887e-05 9.99748372e-01 -7.70515253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.35592 meters Centerline goodness [0,1] 0.9999007049945388 Centerline is valid? [True, True] Translation: X:50.45, Y:15.38, Z:-0.77 [[ 8.04036241e-01 -5.94359258e-01 1.62109686e-02 5.04480787e+01] [ 5.94239410e-01 8.04199646e-01 1.19353437e-02 1.53766314e+01] [-2.01307372e-02 3.67475041e-05 9.99797356e-01 -7.70429973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38592 meters Centerline goodness [0,1] 0.9997510827898641 Centerline is valid? [True, True] Translation: X:50.47, Y:15.39, Z:-0.77 [[ 8.03975244e-01 -5.94495044e-01 1.41226765e-02 5.04710437e+01] [ 5.94403937e-01 8.04099273e-01 1.04076089e-02 1.53936132e+01] [-1.75433058e-02 2.71146317e-05 9.99846104e-01 -7.70682888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41592 meters Centerline goodness [0,1] 0.9995535492831986 Centerline is valid? [True, True] Translation: X:50.49, Y:15.41, Z:-0.77 [[ 8.04140960e-01 -5.94301046e-01 1.27899734e-02 5.04937214e+01] [ 5.94226158e-01 8.04242667e-01 9.43435395e-03 1.54119429e+01] [-1.58930887e-02 1.35863179e-05 9.99873697e-01 -7.69952276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445919999999994 meters Centerline goodness [0,1] 0.9999504680766754 Centerline is valid? [True, True] Translation: X:50.51, Y:15.43, Z:-0.77 [[ 8.04475137e-01 -5.93799748e-01 1.48866718e-02 5.05144950e+01] [ 5.93698012e-01 8.04612863e-01 1.09914132e-02 1.54319420e+01] [-1.85047060e-02 -4.13115854e-06 9.99828773e-01 -7.70641836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475919999999995 meters Centerline goodness [0,1] 0.9996530187369882 Centerline is valid? [True, True] Translation: X:50.54, Y:15.45, Z:-0.77 [[ 8.04082021e-01 -5.94318541e-01 1.54134507e-02 5.05366983e+01] [ 5.94209339e-01 8.04229738e-01 1.13925545e-02 1.54492670e+01] [-1.91667618e-02 -1.73193454e-06 9.99816301e-01 -7.69646203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505919999999996 meters Centerline goodness [0,1] 0.9995048279277049 Centerline is valid? [True, True] Translation: X:50.56, Y:15.47, Z:-0.77 [[ 8.03662426e-01 -5.94807190e-01 1.81964801e-02 5.05595492e+01] [ 5.94654822e-01 8.03868402e-01 1.34623626e-02 1.54668583e+01] [-2.26350855e-02 1.42967349e-06 9.99743794e-01 -7.71857995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.53592 meters Centerline goodness [0,1] 0.9996534653465347 Centerline is valid? [True, True] Translation: X:50.58, Y:15.49, Z:-0.77 [[ 8.04074710e-01 -5.94284663e-01 1.70176589e-02 5.05820073e+01] [ 5.94151032e-01 8.04254773e-01 1.26020474e-02 1.54850527e+01] [-2.11757369e-02 -2.19279432e-05 9.99775769e-01 -7.70861280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56592 meters Centerline goodness [0,1] 0.9998514777959305 Centerline is valid? [True, True] Translation: X:50.60, Y:15.50, Z:-0.77 [[ 8.03467358e-01 -5.95091858e-01 1.74895761e-02 5.06035875e+01] [ 5.94950601e-01 8.03657689e-01 1.29654067e-02 1.55031003e+01] [-2.17712402e-02 -1.18472651e-05 9.99762978e-01 -7.71356210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59592 meters Centerline goodness [0,1] 0.9997524997524998 Centerline is valid? [True, True] Translation: X:50.62, Y:15.52, Z:-0.77 [[ 8.03139740e-01 -5.95538196e-01 1.73440276e-02 5.06249162e+01] [ 5.95399091e-01 8.03326992e-01 1.28711416e-02 1.55209731e+01] [-2.15981820e-02 -1.07070326e-05 9.99766732e-01 -7.70048217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625919999999994 meters Centerline goodness [0,1] 0.9994063520332442 Centerline is valid? [True, True] Translation: X:50.65, Y:15.54, Z:-0.77 [[ 8.02467946e-01 -5.96395505e-01 1.89102276e-02 5.06452020e+01] [ 5.96230065e-01 8.02690726e-01 1.40466598e-02 1.55418968e+01] [-2.35564291e-02 2.85198535e-06 9.99722509e-01 -7.71253093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655919999999995 meters Centerline goodness [0,1] 0.9995050485052465 Centerline is valid? [True, True] Translation: X:50.67, Y:15.56, Z:-0.77 [[ 8.01920516e-01 -5.97119573e-01 1.92795619e-02 5.06664671e+01] [ 5.96947449e-01 8.02152240e-01 1.43361986e-02 1.55601786e+01] [-2.40255685e-02 1.23935409e-05 9.99711344e-01 -7.71523557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685919999999996 meters Centerline goodness [0,1] 0.9996037446134033 Centerline is valid? [True, True] Translation: X:50.69, Y:15.58, Z:-0.77 [[ 8.01211362e-01 -5.98121466e-01 1.76370359e-02 5.06890753e+01] [ 5.97977415e-01 8.01405460e-01 1.31263310e-02 1.55791460e+01] [-2.19855572e-02 2.95836282e-05 9.99758288e-01 -7.70802323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71592 meters Centerline goodness [0,1] 0.9995539254559873 Centerline is valid? [True, True] Translation: X:50.71, Y:15.60, Z:-0.77 [[ 8.00593674e-01 -5.98902176e-01 1.91299030e-02 5.07119018e+01] [ 5.98732609e-01 8.00822191e-01 1.42506597e-02 1.55962402e+01] [-2.38544020e-02 4.47087361e-05 9.99715442e-01 -7.71748075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74592 meters Centerline goodness [0,1] 0.9988111160647942 Centerline is valid? [True, True] Translation: X:50.73, Y:15.62, Z:-0.77 [[ 7.98733434e-01 -6.01356829e-01 1.98712494e-02 5.07332407e+01] [ 6.01174277e-01 7.98980570e-01 1.48167610e-02 1.56153010e+01] [-2.47869026e-02 1.11441566e-04 9.99692751e-01 -7.71894637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77592 meters Centerline goodness [0,1] 0.9991082045184304 Centerline is valid? [True, True] Translation: X:50.76, Y:15.63, Z:-0.77 [[ 7.97329180e-01 -6.03222262e-01 1.97251468e-02 5.07554524e+01] [ 6.03042570e-01 7.97573118e-01 1.47234885e-02 1.56332313e+01] [-2.46137828e-02 1.55636170e-04 9.99697023e-01 -7.73316163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80592 meters Centerline goodness [0,1] 0.9988602011992666 Centerline is valid? [True, True] Translation: X:50.78, Y:15.65, Z:-0.77 [[ 7.94897416e-01 -6.06444216e-01 1.90659695e-02 5.07778083e+01] [ 6.06276896e-01 7.95126001e-01 1.42466559e-02 1.56501181e+01] [-2.37996502e-02 2.34626855e-04 9.99716721e-01 -7.73988311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.835919999999994 meters Centerline goodness [0,1] 0.9988111160647942 Centerline is valid? [True, True] Translation: X:50.80, Y:15.67, Z:-0.77 [[ 7.94096515e-01 -6.07509993e-01 1.85022648e-02 5.08009073e+01] [ 6.07352368e-01 7.94311996e-01 1.38402709e-02 1.56668457e+01] [-2.31046737e-02 2.46883485e-04 9.99733021e-01 -7.72165561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865919999999996 meters Centerline goodness [0,1] 0.9989097576688637 Centerline is valid? [True, True] Translation: X:50.82, Y:15.68, Z:-0.77 [[ 7.93286643e-01 -6.08608256e-01 1.70965795e-02 5.08241503e+01] [ 6.08473670e-01 7.93470812e-01 1.28009144e-02 1.56841356e+01] [-2.13563790e-02 2.48024077e-04 9.99771896e-01 -7.71179094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89592 meters Centerline goodness [0,1] 0.9989602416200426 Centerline is valid? [True, True] Translation: X:50.85, Y:15.70, Z:-0.77 [[ 7.92571911e-01 -6.09529604e-01 1.74191524e-02 5.08488242e+01] [ 6.09389846e-01 7.92763262e-01 1.30547426e-02 1.56996566e+01] [-2.17665162e-02 2.68232322e-04 9.99763045e-01 -7.70680705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92592 meters Centerline goodness [0,1] 0.9990592196474549 Centerline is valid? [True, True] Translation: X:50.88, Y:15.71, Z:-0.77 [[ 7.92118020e-01 -6.10088901e-01 1.84546746e-02 5.08751223e+01] [ 6.09931880e-01 7.92332915e-01 1.38438686e-02 1.57125842e+01] [-2.30682367e-02 2.90116578e-04 9.99733851e-01 -7.71582094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95592 meters Centerline goodness [0,1] 0.9990592196474549 Centerline is valid? [True, True] Translation: X:50.90, Y:15.73, Z:-0.77 [[ 7.91803678e-01 -6.10497029e-01 1.84475725e-02 5.08974149e+01] [ 6.10339899e-01 7.92018493e-01 1.38533308e-02 1.57289148e+01] [-2.30682359e-02 2.90171279e-04 9.99733851e-01 -7.71605854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98592 meters Centerline goodness [0,1] 0.9990587069606143 Centerline is valid? [True, True] Translation: X:50.92, Y:15.74, Z:-0.77 [[ 7.91620188e-01 -6.10775810e-01 1.70407528e-02 5.09216271e+01] [ 6.10641543e-01 7.91803535e-01 1.28088857e-02 1.57442533e+01] [-2.13162859e-02 2.66019115e-04 9.99772747e-01 -7.71730307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015919999999994 meters Centerline goodness [0,1] 0.9991582491582491 Centerline is valid? [True, True] Translation: X:50.95, Y:15.76, Z:-0.77 [[ 7.92636746e-01 -6.09458186e-01 1.69619912e-02 5.09466572e+01] [ 6.09324599e-01 7.92818183e-01 1.27617350e-02 1.57589491e+01] [-2.12255189e-02 2.19938419e-04 9.99774689e-01 -7.73839786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045919999999995 meters Centerline goodness [0,1] 0.999405705229794 Centerline is valid? [True, True] Translation: X:50.97, Y:15.77, Z:-0.77 [[ 7.93068418e-01 -6.08920274e-01 1.60805454e-02 5.09711429e+01] [ 6.08799874e-01 7.93231407e-01 1.21098395e-02 1.57741659e+01] [-2.01295204e-02 1.85902750e-04 9.99797363e-01 -7.73388361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075919999999996 meters Centerline goodness [0,1] 0.9989596750222927 Centerline is valid? [True, True] Translation: X:50.99, Y:15.79, Z:-0.77 [[ 7.93674322e-01 -6.08133671e-01 1.59533249e-02 5.09949411e+01] [ 6.08014754e-01 7.93834627e-01 1.20268290e-02 1.57894299e+01] [-1.99782214e-02 1.54471554e-04 9.99800403e-01 -7.72267628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10592 meters Centerline goodness [0,1] 0.9993559892995145 Centerline is valid? [True, True] Translation: X:51.02, Y:15.81, Z:-0.77 [[ 7.94439451e-01 -6.07139540e-01 1.57333254e-02 5.10180976e+01] [ 6.07023434e-01 7.94595221e-01 1.18737216e-02 1.58053755e+01] [-1.97106310e-02 1.17544377e-04 9.99805720e-01 -7.72205443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.13592 meters Centerline goodness [0,1] 0.9990580069410014 Centerline is valid? [True, True] Translation: X:51.04, Y:15.82, Z:-0.77 [[ 7.94616645e-01 -6.06928375e-01 1.49109307e-02 5.10437123e+01] [ 6.06823855e-01 7.94756528e-01 1.12636833e-02 1.58197973e+01] [-1.86868085e-02 9.79982583e-05 9.99825382e-01 -7.73450895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16592 meters Centerline goodness [0,1] 0.9989097036376251 Centerline is valid? [True, True] Translation: X:51.07, Y:15.83, Z:-0.77 [[ 7.94269010e-01 -6.07372962e-01 1.53240254e-02 5.10678068e+01] [ 6.07262417e-01 7.94416814e-01 1.15880178e-02 1.58340666e+01] [-1.92119121e-02 1.01701267e-04 9.99815429e-01 -7.73232153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.195919999999994 meters Centerline goodness [0,1] 0.9989101897260614 Centerline is valid? [True, True] Translation: X:51.09, Y:15.85, Z:-0.77 [[ 7.93558957e-01 -6.08292728e-01 1.56249404e-02 5.10913221e+01] [ 6.08177730e-01 7.93712759e-01 1.18281764e-02 1.58500540e+01] [-1.95967083e-02 1.16385420e-04 9.99807959e-01 -7.74389883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225919999999995 meters Centerline goodness [0,1] 0.9995543451349344 Centerline is valid? [True, True] Translation: X:51.11, Y:15.87, Z:-0.77 [[ 7.93681796e-01 -6.08150288e-01 1.49142411e-02 5.11146938e+01] [ 6.08045293e-01 7.93821905e-01 1.13006626e-02 1.58670975e+01] [-1.87117525e-02 9.94039277e-05 9.99824915e-01 -7.74231134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255919999999996 meters Centerline goodness [0,1] 0.9995035496202155 Centerline is valid? [True, True] Translation: X:51.14, Y:15.88, Z:-0.77 [[ 7.93652199e-01 -6.08206977e-01 1.41583838e-02 5.11391426e+01] [ 6.08112199e-01 7.93778473e-01 1.07372722e-02 1.58827605e+01] [-1.77691041e-02 8.82262413e-05 9.99842113e-01 -7.74884675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28592 meters Centerline goodness [0,1] 0.999801793766414 Centerline is valid? [True, True] Translation: X:51.16, Y:15.90, Z:-0.78 [[ 7.93880933e-01 -6.07896336e-01 1.46666079e-02 5.11623586e+01] [ 6.07794356e-01 7.94016397e-01 1.11347025e-02 1.58982680e+01] [-1.84142720e-02 7.46535179e-05 9.99830440e-01 -7.75212300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31592 meters Centerline goodness [0,1] 0.9998514777959305 Centerline is valid? [True, True] Translation: X:51.19, Y:15.91, Z:-0.77 [[ 7.94449976e-01 -6.07143673e-01 1.50264993e-02 5.11850012e+01] [ 6.07036258e-01 7.94592070e-01 1.14203340e-02 1.59142528e+01] [-1.88737207e-02 4.87457823e-05 9.99821874e-01 -7.74455046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34592 meters Centerline goodness [0,1] 0.9999504312481412 Centerline is valid? [True, True] Translation: X:51.21, Y:15.93, Z:-0.77 [[ 7.95182218e-01 -6.06196600e-01 1.45231512e-02 5.12081162e+01] [ 6.06095888e-01 7.95314832e-01 1.10495966e-02 1.59302906e+01] [-1.82487055e-02 1.59794679e-05 9.99833478e-01 -7.74934956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.23, Y:15.94, Z:-0.77 [[ 7.95826984e-01 -6.05348173e-01 1.45945214e-02 5.12326673e+01] [ 6.05246108e-01 7.95960796e-01 1.11157315e-02 1.59449771e+01] [-1.83455547e-02 -1.29218326e-05 9.99831706e-01 -7.74574054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405919999999995 meters Centerline goodness [0,1] 0.9999504729830122 Centerline is valid? [True, True] Translation: X:51.26, Y:15.96, Z:-0.78 [[ 7.96136393e-01 -6.04955385e-01 1.39937412e-02 5.12553101e+01] [ 6.04861292e-01 7.96259368e-01 1.06694516e-02 1.59614100e+01] [-1.75971897e-02 -3.00663301e-05 9.99845157e-01 -7.76707094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.28, Y:15.98, Z:-0.78 [[ 7.96213813e-01 -6.04882134e-01 1.26951960e-02 5.12779225e+01] [ 6.04804541e-01 7.96315015e-01 9.68836264e-03 1.59789433e+01] [-1.59696926e-02 -3.58959934e-05 9.99872476e-01 -7.76705420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.30, Y:16.00, Z:-0.78 [[ 7.96091802e-01 -6.05021529e-01 1.36671824e-02 5.13020878e+01] [ 6.04931453e-01 7.96209111e-01 1.04398296e-02 1.59954969e+01] [-1.71982568e-02 -4.33542622e-05 9.99852098e-01 -7.77359853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.33, Y:16.01, Z:-0.78 [[ 7.95285964e-01 -6.06054953e-01 1.47522529e-02 5.13256734e+01] [ 6.05949989e-01 7.95422776e-01 1.12791097e-02 1.60123383e+01] [-1.85700383e-02 -3.09901766e-05 9.99827561e-01 -7.76770506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.35, Y:16.03, Z:-0.78 [[ 7.94375804e-01 -6.07258907e-01 1.42724450e-02 5.13476468e+01] [ 6.07160646e-01 7.94504009e-01 1.09237883e-02 1.60303895e+01] [-1.79730825e-02 -1.19261761e-05 9.99838471e-01 -7.76897698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:16.05, Z:-0.78 [[ 7.93912684e-01 -6.07857446e-01 1.45593693e-02 5.13698303e+01] [ 6.07755079e-01 7.94046173e-01 1.11552244e-02 1.60474619e+01] [-1.83415977e-02 -7.74351572e-06 9.99831779e-01 -7.77416556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.39, Y:16.06, Z:-0.78 [[ 7.93999280e-01 -6.07723153e-01 1.54179095e-02 5.13944258e+01] [ 6.07608115e-01 7.94148959e-01 1.18241132e-02 1.60637557e+01] [-1.94299042e-02 -2.02904692e-05 9.99811221e-01 -7.78330452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:16.08, Z:-0.78 [[ 7.93444863e-01 -6.08448578e-01 1.53485114e-02 5.14166944e+01] [ 6.08334467e-01 7.93593301e-01 1.17833964e-02 1.60807613e+01] [-1.93500667e-02 -1.24468630e-05 9.99812770e-01 -7.77996002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.44, Y:16.10, Z:-0.78 [[ 7.93430838e-01 -6.08452840e-01 1.58948680e-02 5.14393825e+01] [ 6.08330232e-01 7.93590034e-01 1.22142228e-02 1.60984631e+01] [-2.00457874e-02 -2.18123013e-05 9.99799063e-01 -7.78546619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.46, Y:16.12, Z:-0.78 [[ 7.92412630e-01 -6.09791457e-01 1.53818779e-02 5.14614978e+01] [ 6.09676647e-01 7.92561909e-01 1.18324389e-02 1.61151152e+01] [-1.94064107e-02 1.79772641e-06 9.99811678e-01 -7.77698629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.49, Y:16.13, Z:-0.78 [[ 7.91631047e-01 -6.10840135e-01 1.39504790e-02 5.14854094e+01] [ 6.10745688e-01 7.91753958e-01 1.07412871e-02 1.61309204e+01] [-1.76065562e-02 1.70586057e-05 9.99844992e-01 -7.77026597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.51, Y:16.15, Z:-0.78 [[ 7.91279182e-01 -6.11285089e-01 1.44151052e-02 5.15080083e+01] [ 6.11184211e-01 7.91410475e-01 1.11049805e-02 1.61484243e+01] [-1.81965742e-02 2.31448317e-05 9.99834428e-01 -7.78438556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.53, Y:16.17, Z:-0.78 [[ 7.91900021e-01 -6.10468778e-01 1.49073376e-02 5.15303546e+01] [ 6.10360521e-01 7.92040322e-01 1.14962127e-02 1.61660059e+01] [-1.88252914e-02 -5.00073521e-06 9.99822788e-01 -7.78736123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.55, Y:16.18, Z:-0.78 [[ 7.92678364e-01 -6.09454830e-01 1.50273647e-02 5.15530204e+01] [ 6.09344407e-01 7.92820793e-01 1.16010689e-02 1.61824778e+01] [-1.89843346e-02 -3.90756940e-05 9.99819781e-01 -7.79903319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.58, Y:16.20, Z:-0.78 [[ 7.93251056e-01 -6.08716436e-01 1.47330380e-02 5.15755640e+01] [ 6.08609947e-01 7.93387860e-01 1.13858019e-02 1.61986364e+01] [-1.86197383e-02 -6.51259478e-05 9.99826636e-01 -7.79779675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:16.22, Z:-0.78 [[ 7.94309208e-01 -6.07314963e-01 1.55376311e-02 5.15978207e+01] [ 6.07196037e-01 7.94461153e-01 1.20186958e-02 1.62171522e+01] [-1.96431781e-02 -1.12172662e-04 9.99807048e-01 -7.78695697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.62, Y:16.24, Z:-0.78 [[ 7.94691083e-01 -6.06858188e-01 1.37558340e-02 5.16196313e+01] [ 6.06764740e-01 7.94810120e-01 1.06500826e-02 1.62355669e+01] [-1.73963659e-02 -1.16970675e-04 9.99848665e-01 -7.77693186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.64, Y:16.25, Z:-0.78 [[ 7.94227570e-01 -6.07450723e-01 1.43591913e-02 5.16411260e+01] [ 6.07348795e-01 7.94357354e-01 1.11281721e-02 1.62541487e+01] [-1.81661454e-02 -1.17263519e-04 9.99834975e-01 -7.79327210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:16.27, Z:-0.78 [[ 7.93354603e-01 -6.08570937e-01 1.51620678e-02 5.16634150e+01] [ 6.08457254e-01 7.93499466e-01 1.17629511e-02 1.62716458e+01] [-1.91896829e-02 -1.06721285e-04 9.99815855e-01 -7.79681458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975919999999995 meters Centerline goodness [0,1] 0.9999504189597898 Centerline is valid? [True, True] Translation: X:51.69, Y:16.29, Z:-0.78 [[ 7.92798323e-01 -6.09290771e-01 1.53484545e-02 5.16852959e+01] [ 6.09174166e-01 7.92946875e-01 1.19200930e-02 1.62894389e+01] [-1.94333117e-02 -1.00347757e-04 9.99811150e-01 -7.80061887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:16.31, Z:-0.78 [[ 7.91475294e-01 -6.11008200e-01 1.53569973e-02 5.17056230e+01] [ 6.10891545e-01 7.91624263e-01 1.19392501e-02 1.63083860e+01] [-1.94519514e-02 -6.81616668e-05 9.99810791e-01 -7.78776296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.73, Y:16.33, Z:-0.78 [[ 7.90782910e-01 -6.11896186e-01 1.56667565e-02 5.17274753e+01] [ 6.11774694e-01 7.90938085e-01 1.21929866e-02 1.63267157e+01] [-1.98522764e-02 -5.74802436e-05 9.99802922e-01 -7.78852891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06592 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:51.75, Y:16.35, Z:-0.78 [[ 7.89540370e-01 -6.13461695e-01 1.70514727e-02 5.17488185e+01] [ 6.13317873e-01 7.89724476e-01 1.32830199e-02 1.63471269e+01] [-2.16145893e-02 -2.95075025e-05 9.99766377e-01 -7.79507331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.77, Y:16.36, Z:-0.78 [[ 7.88758416e-01 -6.14443706e-01 1.78631768e-02 5.17713297e+01] [ 6.14286003e-01 7.88960666e-01 1.39202598e-02 1.63643980e+01] [-2.26465599e-02 -6.62264389e-06 9.99743534e-01 -7.79692057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.79, Y:16.38, Z:-0.78 [[ 7.87885516e-01 -6.15587313e-01 1.69904067e-02 5.17943966e+01] [ 6.15444656e-01 7.88068690e-01 1.32520016e-02 1.63817218e+01] [-2.15473716e-02 1.55948955e-05 9.99767828e-01 -7.78368947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:16.40, Z:-0.78 [[ 7.87920522e-01 -6.15567175e-01 1.60718392e-02 5.18169282e+01] [ 6.15439287e-01 7.88084420e-01 1.25471574e-02 1.64004352e+01] [-2.03895843e-02 5.07843732e-06 9.99792111e-01 -7.77886072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.84, Y:16.42, Z:-0.78 [[ 7.86822209e-01 -6.16968340e-01 1.61517789e-02 5.18381547e+01] [ 6.16839201e-01 7.86987971e-01 1.26227509e-02 1.64194816e+01] [-2.04990934e-02 3.11896607e-05 9.99789871e-01 -7.79435019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:16.44, Z:-0.78 [[ 7.85063643e-01 -6.19177077e-01 1.71704589e-02 5.18595191e+01] [ 6.19031554e-01 7.85251386e-01 1.34236808e-02 1.64382088e+01] [-2.17947621e-02 9.06121543e-05 9.99762462e-01 -7.79211839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:16.46, Z:-0.78 [[ 7.83610722e-01 -6.21045152e-01 1.60360642e-02 5.18824493e+01] [ 6.20918386e-01 7.83774779e-01 1.25480559e-02 1.64554304e+01] [-2.03615720e-02 1.24295973e-04 9.99792674e-01 -7.76412696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.90, Y:16.47, Z:-0.78 [[ 7.82815011e-01 -6.21995277e-01 1.79592416e-02 5.19047750e+01] [ 6.21836227e-01 7.83020978e-01 1.40660857e-02 1.64732540e+01] [-2.28115017e-02 1.56564007e-04 9.99739772e-01 -7.76439310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.93, Y:16.49, Z:-0.78 [[ 7.81867460e-01 -6.23227928e-01 1.64385225e-02 5.19285657e+01] [ 6.23094719e-01 7.82040230e-01 1.28860355e-02 1.64906165e+01] [-2.08865231e-02 1.67584744e-04 9.99781839e-01 -7.75904706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.95, Y:16.51, Z:-0.78 [[ 7.81336625e-01 -6.23903451e-01 1.60487145e-02 5.19513542e+01] [ 6.23776359e-01 7.81501410e-01 1.25936448e-02 1.65073137e+01] [-2.03993114e-02 1.70932760e-04 9.99791898e-01 -7.77503049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:16.52, Z:-0.78 [[ 7.81655280e-01 -6.23505677e-01 1.59904512e-02 5.19741118e+01] [ 6.23379153e-01 7.81818808e-01 1.25611860e-02 1.65240116e+01] [-2.03336063e-02 1.49596606e-04 9.99793240e-01 -7.77836116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.00, Y:16.54, Z:-0.78 [[ 7.82942921e-01 -6.21903185e-01 1.53886998e-02 5.19979003e+01] [ 6.21785475e-01 7.83094132e-01 1.20997395e-02 1.65400936e+01] [-1.95756670e-02 9.50646538e-05 9.99808374e-01 -7.77049091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.02, Y:16.56, Z:-0.78 [[ 7.85340891e-01 -6.18818789e-01 1.74066243e-02 5.20226820e+01] [ 6.18667137e-01 7.85533771e-01 1.36992026e-02 1.65558870e+01] [-2.21508152e-02 1.03624567e-05 9.99754641e-01 -7.75183246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.04, Y:16.57, Z:-0.78 [[ 7.87401473e-01 -6.16191763e-01 1.75108831e-02 5.20434981e+01] [ 6.16037315e-01 7.87596157e-01 1.37956593e-02 1.65748586e+01] [-2.22922759e-02 -7.53650042e-05 9.99751494e-01 -7.76707426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.07, Y:16.59, Z:-0.78 [[ 7.88079793e-01 -6.15322639e-01 1.75582088e-02 5.20650188e+01] [ 6.15166813e-01 7.88275357e-01 1.38475562e-02 1.65928906e+01] [-2.23614181e-02 -1.11751924e-04 9.99749946e-01 -7.76851031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515919999999994 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:52.09, Y:16.61, Z:-0.78 [[ 7.89128693e-01 -6.13960791e-01 1.81122218e-02 5.20878296e+01] [ 6.13794307e-01 7.89336506e-01 1.42978682e-02 1.66102217e+01] [-2.30749684e-02 -1.65679463e-04 9.99733724e-01 -7.77731374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545919999999995 meters Centerline goodness [0,1] 0.9998511978572492 Centerline is valid? [True, True] Translation: X:52.11, Y:16.63, Z:-0.78 [[ 7.89168591e-01 -6.13916017e-01 1.78902154e-02 5.21090670e+01] [ 6.13753242e-01 7.89371328e-01 1.41373322e-02 1.66282495e+01] [-2.28011578e-02 -1.76560772e-04 9.99740004e-01 -7.76863737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.13, Y:16.65, Z:-0.78 [[ 7.88985707e-01 -6.14141570e-01 1.82122318e-02 5.21302396e+01] [ 6.13972589e-01 7.89195855e-01 1.44070272e-02 1.66472984e+01] [-2.32209722e-02 -1.85127378e-04 9.99730340e-01 -7.77132899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60592 meters Centerline goodness [0,1] 0.9998507611182967 Centerline is valid? [True, True] Translation: X:52.15, Y:16.67, Z:-0.78 [[ 7.88342326e-01 -6.14983326e-01 1.76602847e-02 5.21500189e+01] [ 6.14824357e-01 7.88540095e-01 1.39831760e-02 1.66690174e+01] [-2.25252627e-02 -1.65556317e-04 9.99746260e-01 -7.77308486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63592 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:52.17, Y:16.69, Z:-0.78 [[ 7.88329557e-01 -6.14985620e-01 1.81437790e-02 5.21718554e+01] [ 6.14817520e-01 7.88538303e-01 1.43792368e-02 1.66876819e+01] [-2.31500886e-02 -1.80464126e-04 9.99731985e-01 -7.78452331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66592 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:52.19, Y:16.71, Z:-0.78 [[ 7.87613253e-01 -6.15967700e-01 1.57846916e-02 5.21919518e+01] [ 6.15840459e-01 7.87771396e-01 1.25202472e-02 1.67097744e+01] [-2.01467964e-02 -1.40260949e-04 9.99797023e-01 -7.79161503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695919999999994 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:52.21, Y:16.73, Z:-0.78 [[ 7.87240397e-01 -6.16451012e-01 1.55147492e-02 5.22123301e+01] [ 6.16327924e-01 7.87393251e-01 1.23190629e-02 1.67287852e+01] [-1.98103076e-02 -1.35890803e-04 9.99803747e-01 -7.80298705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725919999999995 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:52.23, Y:16.75, Z:-0.78 [[ 7.86782385e-01 -6.17032514e-01 1.56318580e-02 5.22328263e+01] [ 6.16907411e-01 7.86937646e-01 1.24252342e-02 1.67475918e+01] [-1.99680710e-02 -1.32546416e-04 9.99800609e-01 -7.80473805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755919999999996 meters Centerline goodness [0,1] 0.9996508554042596 Centerline is valid? [True, True] Translation: X:52.26, Y:16.77, Z:-0.78 [[ 7.86142254e-01 -6.17891667e-01 1.37928685e-02 5.22550443e+01] [ 6.17794301e-01 7.86263236e-01 1.09692751e-02 1.67658420e+01] [-1.76226491e-02 -1.02255086e-04 9.99844704e-01 -7.78732612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78592 meters Centerline goodness [0,1] 0.999453931691819 Centerline is valid? [True, True] Translation: X:52.28, Y:16.78, Z:-0.78 [[ 7.85799687e-01 -6.18315988e-01 1.42895296e-02 5.22764393e+01] [ 6.18211332e-01 7.85929595e-01 1.13763403e-02 1.67848457e+01] [-1.82647373e-02 -1.05575508e-04 9.99833180e-01 -7.80399805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.81592 meters Centerline goodness [0,1] 0.9990558067882522 Centerline is valid? [True, True] Translation: X:52.30, Y:16.80, Z:-0.78 [[ 7.84961397e-01 -6.19360330e-01 1.51124620e-02 5.22983912e+01] [ 6.19243249e-01 7.85106854e-01 1.20426672e-02 1.68038644e+01] [-1.93236478e-02 -9.47387615e-05 9.99813276e-01 -7.80368191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84592 meters Centerline goodness [0,1] 0.9990558067882522 Centerline is valid? [True, True] Translation: X:52.32, Y:16.82, Z:-0.78 [[ 7.84644031e-01 -6.19762490e-01 1.51063253e-02 5.23201962e+01] [ 6.19645335e-01 7.84789428e-01 1.20503641e-02 1.68208248e+01] [-1.93236480e-02 -9.46822458e-05 9.99813276e-01 -7.80391948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875919999999994 meters Centerline goodness [0,1] 0.9988089921095727 Centerline is valid? [True, True] Translation: X:52.34, Y:16.84, Z:-0.78 [[ 7.83924468e-01 -6.20677862e-01 1.48802058e-02 5.23420970e+01] [ 6.20564116e-01 7.84065676e-01 1.18824728e-02 1.68388049e+01] [-1.90422465e-02 -8.08393954e-05 9.99818677e-01 -7.79430897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905919999999995 meters Centerline goodness [0,1] 0.9988067419082186 Centerline is valid? [True, True] Translation: X:52.36, Y:16.86, Z:-0.78 [[ 7.81509541e-01 -6.23695105e-01 1.57243008e-02 5.23642915e+01] [ 6.23568444e-01 7.81667715e-01 1.25689722e-02 1.68562158e+01] [-2.01303847e-02 -1.75938855e-05 9.99797363e-01 -7.80761177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935919999999996 meters Centerline goodness [0,1] 0.9986089030206677 Centerline is valid? [True, True] Translation: X:52.39, Y:16.87, Z:-0.78 [[ 7.80654883e-01 -6.24770211e-01 1.54963321e-02 5.23869408e+01] [ 6.24647147e-01 7.80808673e-01 1.23999353e-02 1.68733991e+01] [-1.98467807e-02 -3.30426663e-07 9.99803033e-01 -7.81119322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96592 meters Centerline goodness [0,1] 0.9987585658953223 Centerline is valid? [True, True] Translation: X:52.41, Y:16.89, Z:-0.78 [[ 7.79979592e-01 -6.25619228e-01 1.52452631e-02 5.24095420e+01] [ 6.25500029e-01 7.80128568e-01 1.22119308e-02 1.68900153e+01] [-1.95332840e-02 1.08556943e-05 9.99809207e-01 -7.81360689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.99592 meters Centerline goodness [0,1] 0.9990077396308792 Centerline is valid? [True, True] Translation: X:52.43, Y:16.91, Z:-0.78 [[ 7.79762032e-01 -6.25882002e-01 1.55850100e-02 5.24324010e+01] [ 6.25757220e-01 7.79917764e-01 1.24972790e-02 1.69058886e+01] [-1.99768481e-02 7.52884635e-06 9.99800443e-01 -7.80331763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02592 meters Centerline goodness [0,1] 0.9985107967237528 Centerline is valid? [True, True] Translation: X:52.46, Y:16.92, Z:-0.78 [[ 7.79573656e-01 -6.26081263e-01 1.69460038e-02 5.24551463e+01] [ 6.25933674e-01 7.79757816e-01 1.35935355e-02 1.69229205e+01] [-2.17244368e-02 9.91223468e-06 9.99763997e-01 -7.79757810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05592 meters Centerline goodness [0,1] 0.9994050275174773 Centerline is valid? [True, True] Translation: X:52.48, Y:16.94, Z:-0.78 [[ 7.79828064e-01 -6.25666979e-01 2.02242960e-02 5.24778391e+01] [ 6.25456472e-01 7.80090272e-01 1.62286623e-02 1.69398500e+01] [-2.59305146e-02 -6.14951544e-06 9.99663748e-01 -7.79802656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085919999999994 meters Centerline goodness [0,1] 0.9994542838716078 Centerline is valid? [True, True] Translation: X:52.50, Y:16.96, Z:-0.78 [[ 7.80603229e-01 -6.24646002e-01 2.18167546e-02 5.25010763e+01] [ 6.24400198e-01 7.80908041e-01 1.75221237e-02 1.69572596e+01] [-2.79820036e-02 -5.54404008e-05 9.99608426e-01 -7.82268383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115919999999996 meters Centerline goodness [0,1] 0.9997026611824174 Centerline is valid? [True, True] Translation: X:52.52, Y:16.97, Z:-0.78 [[ 7.80939049e-01 -6.24203202e-01 2.24625161e-02 5.25244631e+01] [ 6.23941970e-01 7.81262027e-01 1.80572006e-02 1.69748086e+01] [-2.88204733e-02 -8.62664907e-05 9.99584600e-01 -7.83749495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14592 meters Centerline goodness [0,1] 0.9996028988384791 Centerline is valid? [True, True] Translation: X:52.55, Y:16.99, Z:-0.79 [[ 7.81638591e-01 -6.23353894e-01 2.17033477e-02 5.25458136e+01] [ 6.23109258e-01 7.81939836e-01 1.74626922e-02 1.69937300e+01] [-2.78561493e-02 -1.25957238e-04 9.99611934e-01 -7.85073693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17592 meters Centerline goodness [0,1] 0.9997519595197937 Centerline is valid? [True, True] Translation: X:52.57, Y:17.01, Z:-0.78 [[ 7.81624344e-01 -6.23402410e-01 2.08043414e-02 5.25677667e+01] [ 6.23177269e-01 7.81901156e-01 1.67532981e-02 1.70134210e+01] [-2.67109850e-02 -1.29992944e-04 9.99643190e-01 -7.83575082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20592 meters Centerline goodness [0,1] 0.9995533498759305 Centerline is valid? [True, True] Translation: X:52.59, Y:17.03, Z:-0.78 [[ 7.82046686e-01 -6.22832915e-01 2.19577039e-02 5.25886406e+01] [ 6.22581438e-01 7.82354863e-01 1.76980748e-02 1.70331166e+01] [-2.82016600e-02 -1.70261912e-04 9.99602240e-01 -7.84034305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23592 meters Centerline goodness [0,1] 0.9994530084535057 Centerline is valid? [True, True] Translation: X:52.61, Y:17.06, Z:-0.78 [[ 7.82401574e-01 -6.22434899e-01 2.05566064e-02 5.26086311e+01] [ 6.22213992e-01 7.82671555e-01 1.65826672e-02 1.70551989e+01] [-2.64107019e-02 -1.83696786e-04 9.99651160e-01 -7.83069307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265919999999994 meters Centerline goodness [0,1] 0.9992552874590408 Centerline is valid? [True, True] Translation: X:52.63, Y:17.08, Z:-0.79 [[ 7.81318342e-01 -6.23809675e-01 2.00782778e-02 5.26289283e+01] [ 6.23599268e-01 7.81576273e-01 1.62012917e-02 1.70767490e+01] [-2.57992280e-02 -1.37567055e-04 9.99667135e-01 -7.85362362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295919999999995 meters Centerline goodness [0,1] 0.999006359300477 Centerline is valid? [True, True] Translation: X:52.65, Y:17.10, Z:-0.79 [[ 7.80026934e-01 -6.25456619e-01 1.90262880e-02 5.26503439e+01] [ 6.25268079e-01 7.80258938e-01 1.53563965e-02 1.70963071e+01] [-2.44501911e-02 -8.18723500e-05 9.99701046e-01 -7.85535892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325919999999996 meters Centerline goodness [0,1] 0.9986067572274469 Centerline is valid? [True, True] Translation: X:52.67, Y:17.12, Z:-0.78 [[ 7.78495278e-01 -6.27391215e-01 1.80379233e-02 5.26711054e+01] [ 6.27222186e-01 7.78704221e-01 1.45624706e-02 1.71170481e+01] [-2.31825731e-02 -2.30289579e-05 9.99731248e-01 -7.84721614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35592 meters Centerline goodness [0,1] 0.9986071037707691 Centerline is valid? [True, True] Translation: X:52.69, Y:17.14, Z:-0.78 [[ 7.78055651e-01 -6.27946133e-01 1.76934410e-02 5.26923896e+01] [ 6.27783559e-01 7.78256804e-01 1.42881050e-02 1.71372713e+01] [-2.27422011e-02 -9.28946903e-06 9.99741363e-01 -7.83672719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38592 meters Centerline goodness [0,1] 0.9987042758895645 Centerline is valid? [True, True] Translation: X:52.71, Y:17.16, Z:-0.78 [[ 7.77444533e-01 -6.28707257e-01 1.75266203e-02 5.27128831e+01] [ 6.28547803e-01 7.77642067e-01 1.41589272e-02 1.71567464e+01] [-2.25312575e-02 8.53809239e-06 9.99746139e-01 -7.83741580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41592 meters Centerline goodness [0,1] 0.9986105597459309 Centerline is valid? [True, True] Translation: X:52.73, Y:17.18, Z:-0.78 [[ 7.78628130e-01 -6.27266088e-01 1.65979242e-02 5.27341530e+01] [ 6.27122681e-01 7.78805017e-01 1.34122811e-02 1.71760613e+01] [-2.13396158e-02 -3.42446436e-05 9.99772284e-01 -7.83537167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445919999999994 meters Centerline goodness [0,1] 0.9985055295406994 Centerline is valid? [True, True] Translation: X:52.76, Y:17.19, Z:-0.78 [[ 7.78686551e-01 -6.27186595e-01 1.68591025e-02 5.27564115e+01] [ 6.27038471e-01 7.78869035e-01 1.36302053e-02 1.71947726e+01] [-2.16797149e-02 -4.23517475e-05 9.99764966e-01 -7.82029287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475919999999995 meters Centerline goodness [0,1] 0.9984086727336019 Centerline is valid? [True, True] Translation: X:52.78, Y:17.21, Z:-0.78 [[ 7.81853734e-01 -6.23240814e-01 1.66019687e-02 5.27787172e+01] [ 6.23096203e-01 7.82029964e-01 1.34260073e-02 1.72133084e+01] [-2.13508727e-02 -1.52550249e-04 9.99772032e-01 -7.80813959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505919999999996 meters Centerline goodness [0,1] 0.9988072163411361 Centerline is valid? [True, True] Translation: X:52.80, Y:17.23, Z:-0.78 [[ 7.83595293e-01 -6.20992720e-01 1.86133821e-02 5.28001400e+01] [ 6.20810210e-01 7.83816294e-01 1.50565684e-02 1.72331681e+01] [-2.39394916e-02 -2.42878502e-04 9.99713380e-01 -7.82075273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53592 meters Centerline goodness [0,1] 0.9994528996319506 Centerline is valid? [True, True] Translation: X:52.82, Y:17.25, Z:-0.78 [[ 7.83926652e-01 -6.20483918e-01 2.14175277e-02 5.28221543e+01] [ 6.20241951e-01 7.84219112e-01 1.73293439e-02 1.72524837e+01] [-2.75486138e-02 -3.00885419e-04 9.99620420e-01 -7.82075830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56592 meters Centerline goodness [0,1] 0.9991543971348985 Centerline is valid? [True, True] Translation: X:52.84, Y:17.27, Z:-0.78 [[ 7.83595148e-01 -6.20880475e-01 2.20472057e-02 5.28430888e+01] [ 6.20624094e-01 7.83905190e-01 1.78434272e-02 1.72722070e+01] [-2.83615545e-02 -2.98995880e-04 9.99597685e-01 -7.80948866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59592 meters Centerline goodness [0,1] 0.9990572591048923 Centerline is valid? [True, True] Translation: X:52.86, Y:17.29, Z:-0.78 [[ 7.83741897e-01 -6.20700236e-01 2.19056115e-02 5.28626923e+01] [ 6.20446939e-01 7.84047909e-01 1.77333921e-02 1.72942949e+01] [-2.81821696e-02 -3.07132729e-04 9.99602757e-01 -7.80244703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625919999999994 meters Centerline goodness [0,1] 0.9989560548816863 Centerline is valid? [True, True] Translation: X:52.88, Y:17.32, Z:-0.78 [[ 7.82583294e-01 -6.22161685e-01 2.18683616e-02 5.28822930e+01] [ 6.21909691e-01 7.82888735e-01 1.77077786e-02 1.73158120e+01] [-2.81375954e-02 -2.57665732e-04 9.99604026e-01 -7.82155258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655919999999995 meters Centerline goodness [0,1] 0.9985084273852732 Centerline is valid? [True, True] Translation: X:52.90, Y:17.34, Z:-0.78 [[ 7.81897290e-01 -6.23056888e-01 2.08983972e-02 5.29040615e+01] [ 6.22827015e-01 7.82176494e-01 1.69245960e-02 1.73361894e+01] [-2.68912212e-02 -2.17209340e-04 9.99638342e-01 -7.81459344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685919999999996 meters Centerline goodness [0,1] 0.998357555245869 Centerline is valid? [True, True] Translation: X:52.92, Y:17.36, Z:-0.78 [[ 7.78987565e-01 -6.26607658e-01 2.32640641e-02 5.29228161e+01] [ 6.26324324e-01 7.79334865e-01 1.88417046e-02 1.73606493e+01] [-2.99368526e-02 -1.06604404e-04 9.99551786e-01 -7.81325008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71592 meters Centerline goodness [0,1] 0.9979161498387497 Centerline is valid? [True, True] Translation: X:52.94, Y:17.38, Z:-0.78 [[ 7.77755917e-01 -6.28154674e-01 2.27472681e-02 5.29443514e+01] [ 6.27884450e-01 7.78088493e-01 1.84231831e-02 1.73822510e+01] [-2.92719961e-02 -4.60837539e-05 9.99571482e-01 -7.81261648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74592 meters Centerline goodness [0,1] 0.9968235060551915 Centerline is valid? [True, True] Translation: X:52.97, Y:17.40, Z:-0.78 [[ 7.74330507e-01 -6.32439783e-01 2.07891028e-02 5.29671585e+01] [ 6.32215742e-01 7.74609520e-01 1.68329318e-02 1.74045246e+01] [-2.67492526e-02 1.08945450e-04 9.99642169e-01 -7.80253256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77592 meters Centerline goodness [0,1] 0.9963237120572309 Centerline is valid? [True, True] Translation: X:52.99, Y:17.42, Z:-0.78 [[ 7.72093211e-01 -6.35179560e-01 2.04694938e-02 5.29889237e+01] [ 6.34963262e-01 7.72364478e-01 1.65761458e-02 1.74241037e+01] [-2.63387389e-02 1.99046909e-04 9.99653055e-01 -7.80198018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80592 meters Centerline goodness [0,1] 0.9946356727760394 Centerline is valid? [True, True] Translation: X:53.01, Y:17.45, Z:-0.78 [[ 7.67773653e-01 -6.40409586e-01 1.99794839e-02 5.30086688e+01] [ 6.40205226e-01 7.68033481e-01 1.61815120e-02 1.74463313e+01] [-2.57077080e-02 3.67231379e-04 9.99669435e-01 -7.80443791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835919999999994 meters Centerline goodness [0,1] 0.9939812972542778 Centerline is valid? [True, True] Translation: X:53.03, Y:17.47, Z:-0.78 [[ 7.65891650e-01 -6.42664694e-01 1.98007805e-02 5.30305229e+01] [ 6.42464671e-01 7.66147440e-01 1.60389207e-02 1.74657014e+01] [-2.54779654e-02 4.37226447e-04 9.99675288e-01 -7.79765195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865919999999996 meters Centerline goodness [0,1] 0.9924939106228563 Centerline is valid? [True, True] Translation: X:53.05, Y:17.48, Z:-0.78 [[ 7.63190289e-01 -6.45900240e-01 1.88005981e-02 5.30537884e+01] [ 6.45720796e-01 7.63421650e-01 1.52327938e-02 1.74824553e+01] [-2.41916487e-02 5.14416850e-04 9.99707207e-01 -7.77773421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89592 meters Centerline goodness [0,1] 0.9913004573473851 Centerline is valid? [True, True] Translation: X:53.08, Y:17.50, Z:-0.78 [[ 7.61591106e-01 -6.47845760e-01 1.65788870e-02 5.30758497e+01] [ 6.47706608e-01 7.61771368e-01 1.34362830e-02 1.75015223e+01] [-2.13339604e-02 5.05301003e-04 9.99772277e-01 -7.77630224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92592 meters Centerline goodness [0,1] 0.9909619109102646 Centerline is valid? [True, True] Translation: X:53.10, Y:17.52, Z:-0.78 [[ 7.60755692e-01 -6.48832423e-01 1.63482398e-02 5.30977698e+01] [ 6.48697269e-01 7.60931149e-01 1.32528996e-02 1.75201469e+01] [-2.10387959e-02 5.22839768e-04 9.99778523e-01 -7.77536617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95592 meters Centerline goodness [0,1] 0.9907034551329853 Centerline is valid? [True, True] Translation: X:53.12, Y:17.54, Z:-0.78 [[ 7.60335683e-01 -6.49321105e-01 1.64848834e-02 5.31194913e+01] [ 6.49183702e-01 7.60514177e-01 1.33681271e-02 1.75384071e+01] [-2.12171946e-02 5.37453540e-04 9.99774746e-01 -7.78132068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98592 meters Centerline goodness [0,1] 0.991604153211784 Centerline is valid? [True, True] Translation: X:53.14, Y:17.56, Z:-0.78 [[ 7.59742764e-01 -6.49980547e-01 1.77826094e-02 5.31418294e+01] [ 6.49820728e-01 7.59950612e-01 1.44252872e-02 1.75558347e+01] [-2.28900610e-02 5.96000593e-04 9.99737811e-01 -7.78841292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015919999999994 meters Centerline goodness [0,1] 0.9918472857426924 Centerline is valid? [True, True] Translation: X:53.16, Y:17.57, Z:-0.78 [[ 7.59422474e-01 -6.50352321e-01 1.78707446e-02 5.31646662e+01] [ 6.50190926e-01 7.59632470e-01 1.45006864e-02 1.75731773e+01] [-2.30057529e-02 6.07248840e-04 9.99735148e-01 -7.78724020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045919999999995 meters Centerline goodness [0,1] 0.9911024952778607 Centerline is valid? [True, True] Translation: X:53.19, Y:17.59, Z:-0.78 [[ 7.60042332e-01 -6.49669420e-01 1.62879784e-02 5.31878351e+01] [ 6.49535120e-01 7.60216655e-01 1.32199057e-02 1.75908290e+01] [-2.09709609e-02 5.31926080e-04 9.99779944e-01 -7.77981826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075919999999996 meters Centerline goodness [0,1] 0.9914614773629865 Centerline is valid? [True, True] Translation: X:53.21, Y:17.61, Z:-0.78 [[ 7.60466487e-01 -6.49183023e-01 1.58784719e-02 5.32099258e+01] [ 6.49055215e-01 7.60632073e-01 1.28909812e-02 1.76088242e+01] [-2.04462811e-02 5.02845816e-04 9.99790826e-01 -7.78604686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10592 meters Centerline goodness [0,1] 0.9923504867872045 Centerline is valid? [True, True] Translation: X:53.23, Y:17.63, Z:-0.78 [[ 7.62295105e-01 -6.47004473e-01 1.70699942e-02 5.32316913e+01] [ 6.46856133e-01 7.62486057e-01 1.38620604e-02 1.76274264e+01] [-2.19844477e-02 4.74849615e-04 9.99758200e-01 -7.80008048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13592 meters Centerline goodness [0,1] 0.993786040962418 Centerline is valid? [True, True] Translation: X:53.25, Y:17.65, Z:-0.78 [[ 7.63084779e-01 -6.46059024e-01 1.75885377e-02 5.32536798e+01] [ 6.45901195e-01 7.63287316e-01 1.42870019e-02 1.76455223e+01] [-2.26553543e-02 4.58263862e-04 9.99743229e-01 -7.80850934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16592 meters Centerline goodness [0,1] 0.9942460317460318 Centerline is valid? [True, True] Translation: X:53.28, Y:17.66, Z:-0.78 [[ 7.64741174e-01 -6.44094419e-01 1.77007382e-02 5.32780567e+01] [ 6.43933955e-01 7.64945894e-01 1.43819701e-02 1.76615227e+01] [-2.28034536e-02 3.99621657e-04 9.99739888e-01 -7.77968135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195919999999994 meters Centerline goodness [0,1] 0.9947339659198172 Centerline is valid? [True, True] Translation: X:53.30, Y:17.68, Z:-0.78 [[ 7.65406583e-01 -6.43362819e-01 1.53963090e-02 5.33013842e+01] [ 6.43241206e-01 7.65561348e-01 1.25129421e-02 1.76785361e+01] [-1.98371808e-02 3.26052076e-04 9.99803171e-01 -7.76349554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225919999999995 meters Centerline goodness [0,1] 0.9952757471778806 Centerline is valid? [True, True] Translation: X:53.32, Y:17.70, Z:-0.78 [[ 7.66748302e-01 -6.41794389e-01 1.40357985e-02 5.33238439e+01] [ 6.41693002e-01 7.66876715e-01 1.14103051e-02 1.76972095e+01] [-1.80867968e-02 2.57841624e-04 9.99836387e-01 -7.77045610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255919999999996 meters Centerline goodness [0,1] 0.996819243576363 Centerline is valid? [True, True] Translation: X:53.35, Y:17.72, Z:-0.78 [[ 7.68055076e-01 -6.40183063e-01 1.60326503e-02 5.33459776e+01] [ 6.40050348e-01 7.68222353e-01 1.30371710e-02 1.77153819e+01] [-2.06628164e-02 2.48438106e-04 9.99786470e-01 -7.77592368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28592 meters Centerline goodness [0,1] 0.9979107595881211 Centerline is valid? [True, True] Translation: X:53.37, Y:17.73, Z:-0.78 [[ 7.68465033e-01 -6.39628269e-01 1.83622087e-02 5.33688916e+01] [ 6.39453926e-01 7.68684336e-01 1.49354885e-02 1.77331090e+01] [-2.36679029e-02 2.64385796e-04 9.99719841e-01 -7.78311247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31592 meters Centerline goodness [0,1] 0.9980134094859697 Centerline is valid? [True, True] Translation: X:53.39, Y:17.75, Z:-0.78 [[ 7.68953975e-01 -6.39052820e-01 1.79242458e-02 5.33915431e+01] [ 6.38886448e-01 7.69162816e-01 1.45831699e-02 1.77514413e+01] [-2.31060792e-02 2.37771324e-04 9.99732991e-01 -7.77286982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34592 meters Centerline goodness [0,1] 0.9990051730998806 Centerline is valid? [True, True] Translation: X:53.41, Y:17.77, Z:-0.78 [[ 7.69342371e-01 -6.38575322e-01 1.82722433e-02 5.34127166e+01] [ 6.38402198e-01 7.69559295e-01 1.48702975e-02 1.77715848e+01] [-2.35573797e-02 2.24690383e-04 9.99722461e-01 -7.79367251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375919999999994 meters Centerline goodness [0,1] 0.99935413354531 Centerline is valid? [True, True] Translation: X:53.44, Y:17.79, Z:-0.78 [[ 7.68845613e-01 -6.39147378e-01 1.91586207e-02 5.34352145e+01] [ 6.38957122e-01 7.69084239e-01 1.55958205e-02 1.77901081e+01] [-2.47026210e-02 2.50758948e-04 9.99694812e-01 -7.79890683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405919999999995 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:53.46, Y:17.81, Z:-0.78 [[ 7.67579792e-01 -6.40626650e-01 2.04635738e-02 5.34577413e+01] [ 6.40410053e-01 7.67852456e-01 1.66604022e-02 1.78092816e+01] [-2.63861031e-02 3.16890294e-04 9.99651776e-01 -7.80729896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:17.83, Z:-0.78 [[ 7.66961206e-01 -6.41390155e-01 1.97275830e-02 5.34803741e+01] [ 6.41189058e-01 7.67214807e-01 1.60633344e-02 1.78287496e+01] [-2.54381583e-02 3.29156027e-04 9.99676344e-01 -7.80015782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:53.50, Y:17.85, Z:-0.78 [[ 7.67326629e-01 -6.40945950e-01 1.99533105e-02 5.35014740e+01] [ 6.40739963e-01 7.67585950e-01 1.62514195e-02 1.78486815e+01] [-2.57321623e-02 3.14736516e-04 9.99668824e-01 -7.80620155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.52, Y:17.87, Z:-0.78 [[ 7.67252624e-01 -6.41035184e-01 1.99324750e-02 5.35247022e+01] [ 6.40829600e-01 7.67511428e-01 1.62367065e-02 1.78677957e+01] [-2.57067025e-02 3.15664369e-04 9.99669478e-01 -7.80268475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.55, Y:17.89, Z:-0.78 [[ 7.67161676e-01 -6.41139963e-01 2.00626565e-02 5.35466075e+01] [ 6.40931608e-01 7.67423903e-01 1.63470681e-02 1.78862853e+01] [-2.58773208e-02 3.17946526e-04 9.99665076e-01 -7.80300659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.57, Y:17.91, Z:-0.78 [[ 7.66700430e-01 -6.41705103e-01 1.96217025e-02 5.35693263e+01] [ 6.41505989e-01 7.66951401e-01 1.59879217e-02 1.79059270e+01] [-2.53084231e-02 3.29493224e-04 9.99679636e-01 -7.81294814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.59, Y:17.93, Z:-0.78 [[ 7.64929184e-01 -6.43837483e-01 1.88849044e-02 5.35925820e+01] [ 6.43653692e-01 7.65162171e-01 1.53875727e-02 1.79252034e+01] [-2.43571105e-02 3.84935037e-04 9.99703247e-01 -7.81459773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:17.94, Z:-0.78 [[ 7.63783142e-01 -6.45236228e-01 1.74791713e-02 5.36157678e+01] [ 6.45079088e-01 7.63983019e-01 1.42449128e-02 1.79419803e+01] [-2.25451239e-02 3.95423611e-04 9.99745748e-01 -7.79484330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.64, Y:17.96, Z:-0.78 [[ 7.62058815e-01 -6.47236285e-01 1.87497555e-02 5.36390132e+01] [ 6.47055946e-01 7.62289287e-01 1.52855015e-02 1.79584653e+01] [-2.41860690e-02 4.83689609e-04 9.99707357e-01 -7.79430578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.66, Y:17.98, Z:-0.78 [[ 7.61465688e-01 -6.47872516e-01 2.07655492e-02 5.36629467e+01] [ 6.47651421e-01 7.61748577e-01 1.69334426e-02 1.79750671e+01] [-2.67888396e-02 5.54601935e-04 9.99640961e-01 -7.80157486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.69, Y:17.99, Z:-0.78 [[ 7.61910910e-01 -6.47348096e-01 2.07896055e-02 5.36867663e+01] [ 6.47126172e-01 7.62194305e-01 1.69575686e-02 1.79917092e+01] [-2.68231686e-02 5.33341252e-04 9.99640052e-01 -7.80698958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.71, Y:18.01, Z:-0.78 [[ 7.62202243e-01 -6.47018669e-01 2.03613077e-02 5.37109461e+01] [ 6.46805562e-01 7.62473989e-01 1.66126405e-02 1.80082614e+01] [-2.62736560e-02 5.07615275e-04 9.99654659e-01 -7.80842583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:18.03, Z:-0.78 [[ 7.62117030e-01 -6.47119107e-01 2.03591197e-02 5.37329499e+01] [ 6.46905965e-01 7.62388748e-01 1.66153218e-02 1.80261718e+01] [-2.62736560e-02 5.07616301e-04 9.99654659e-01 -7.80867063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:18.04, Z:-0.78 [[ 7.61861958e-01 -6.47415862e-01 2.04709174e-02 5.37550538e+01] [ 6.47200361e-01 7.62136755e-01 1.67110486e-02 1.80439619e+01] [-2.64206365e-02 5.17272891e-04 9.99650780e-01 -7.80770624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825919999999996 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:53.78, Y:18.06, Z:-0.78 [[ 7.61765357e-01 -6.47460069e-01 2.25610265e-02 5.37776924e+01] [ 6.47198147e-01 7.62099165e-01 1.84234104e-02 1.80610001e+01] [-2.91221620e-02 5.67138769e-04 9.99575699e-01 -7.81814711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85592 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:53.80, Y:18.08, Z:-0.78 [[ 7.61377210e-01 -6.47945234e-01 2.17190733e-02 5.38029866e+01] [ 6.47702564e-01 7.61686720e-01 1.77405992e-02 1.80758931e+01] [-2.80380664e-02 5.60211507e-04 9.99606699e-01 -7.82092295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.83, Y:18.09, Z:-0.79 [[ 7.60539883e-01 -6.48915496e-01 2.20854017e-02 5.38255022e+01] [ 6.48664841e-01 7.60860248e-01 1.80446063e-02 1.80934779e+01] [-2.85133288e-02 6.02380798e-04 9.99593231e-01 -7.85294261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.85, Y:18.11, Z:-0.79 [[ 7.60489154e-01 -6.49048901e-01 1.97932002e-02 5.38482139e+01] [ 6.48847519e-01 7.60746496e-01 1.61760736e-02 1.81108241e+01] [-2.55566705e-02 5.41040372e-04 9.99673229e-01 -7.85437807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:18.13, Z:-0.79 [[ 7.60872217e-01 -6.48586173e-01 2.02347309e-02 5.38711314e+01] [ 6.48375371e-01 7.61141046e-01 1.65434666e-02 1.81272658e+01] [-2.61313479e-02 5.32237005e-04 9.99658376e-01 -7.86103210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.90, Y:18.14, Z:-0.78 [[ 7.61246892e-01 -6.48182799e-01 1.90322861e-02 5.38952171e+01] [ 6.47996080e-01 7.61484619e-01 1.55645637e-02 1.81430809e+01] [-2.45814756e-02 4.84371070e-04 9.99697713e-01 -7.84576780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.92, Y:18.16, Z:-0.78 [[ 7.62665136e-01 -6.46517658e-01 1.88893725e-02 5.39178323e+01] [ 6.46333145e-01 7.62898904e-01 1.54508225e-02 1.81618498e+01] [-2.43999112e-02 4.25023941e-04 9.99702187e-01 -7.84600037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.94, Y:18.18, Z:-0.79 [[ 7.63373830e-01 -6.45714092e-01 1.77117808e-02 5.39404461e+01] [ 6.45551567e-01 7.63579186e-01 1.44914090e-02 1.81793557e+01] [-2.28816542e-02 3.71505401e-04 9.99738112e-01 -7.85847515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.96, Y:18.20, Z:-0.79 [[ 7.63768933e-01 -6.45225027e-01 1.84846044e-02 5.39634685e+01] [ 6.45047767e-01 7.63992492e-01 1.51277976e-02 1.81961590e+01] [-2.38829326e-02 3.69310976e-04 9.99714694e-01 -7.86259556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:18.21, Z:-0.79 [[ 7.64497568e-01 -6.44404257e-01 1.69299361e-02 5.39874072e+01] [ 6.44255281e-01 7.64684939e-01 1.38591524e-02 1.82121172e+01] [-2.18769640e-02 3.11912414e-04 9.99760622e-01 -7.85193766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125919999999994 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:54.01, Y:18.23, Z:-0.78 [[ 7.64200424e-01 -6.44739200e-01 1.75805540e-02 5.40105917e+01] [ 6.44578555e-01 7.64402547e-01 1.43955815e-02 1.82299584e+01] [-2.27200159e-02 3.30938602e-04 9.99741812e-01 -7.84886780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.03, Y:18.25, Z:-0.79 [[ 7.63568357e-01 -6.45459399e-01 1.85883867e-02 5.40335912e+01] [ 6.45279920e-01 7.63794493e-01 1.52248857e-02 1.82474516e+01] [-2.40247529e-02 3.69471717e-04 9.99711296e-01 -7.85295531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:18.26, Z:-0.79 [[ 7.63068538e-01 -6.46052615e-01 1.85047346e-02 5.40568980e+01] [ 6.45874827e-01 7.63292782e-01 1.51603580e-02 1.82641622e+01] [-2.39189193e-02 3.83349989e-04 9.99713828e-01 -7.85003748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.08, Y:18.28, Z:-0.79 [[ 7.61996642e-01 -6.47245157e-01 2.08524402e-02 5.40813905e+01] [ 6.47019680e-01 7.62281763e-01 1.70893966e-02 1.82790459e+01] [-2.69564640e-02 4.69876344e-04 9.99636498e-01 -7.86734437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.10, Y:18.30, Z:-0.79 [[ 7.62049544e-01 -6.47185408e-01 2.07735574e-02 5.41047305e+01] [ 6.46961490e-01 7.62332496e-01 1.70292884e-02 1.82962358e+01] [-2.68574648e-02 4.62530222e-04 9.99639166e-01 -7.85815339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:18.31, Z:-0.79 [[ 7.62445311e-01 -6.46712325e-01 2.09837177e-02 5.41274185e+01] [ 6.46483551e-01 7.62733878e-01 1.72060807e-02 1.83147005e+01] [-2.71323768e-02 4.46932821e-04 9.99631749e-01 -7.85965220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:18.33, Z:-0.78 [[ 7.61978570e-01 -6.47294091e-01 1.99754771e-02 5.41501692e+01] [ 6.47086619e-01 7.62240232e-01 1.63931716e-02 1.83328709e+01] [-2.58373154e-02 4.34618453e-04 9.99666066e-01 -7.84545302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:18.35, Z:-0.79 [[ 7.63233733e-01 -6.45827245e-01 1.95304458e-02 5.41741139e+01] [ 6.45628053e-01 7.63483488e-01 1.60430990e-02 1.83498407e+01] [-2.52722433e-02 3.64769402e-04 9.99680539e-01 -7.86599589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.20, Y:18.37, Z:-0.79 [[ 7.63376512e-01 -6.45672940e-01 1.90461465e-02 5.41976936e+01] [ 6.45483347e-01 7.63613995e-01 1.56497777e-02 1.83671359e+01] [-2.46485420e-02 3.47297660e-04 9.99696118e-01 -7.86766041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.22, Y:18.39, Z:-0.79 [[ 7.62851101e-01 -6.46311573e-01 1.84268237e-02 5.42194731e+01] [ 6.46134202e-01 7.63073539e-01 1.51448836e-02 1.83865023e+01] [-2.38493351e-02 3.52909880e-04 9.99715502e-01 -7.87163783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:18.41, Z:-0.79 [[ 7.61901479e-01 -6.47483651e-01 1.64638292e-02 5.42406604e+01] [ 6.47342259e-01 7.62079263e-01 1.35350512e-02 1.84067336e+01] [-2.13104671e-02 3.45356858e-04 9.99772847e-01 -7.86044159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.26, Y:18.42, Z:-0.79 [[ 7.60962081e-01 -6.48618600e-01 1.51862813e-02 5.42631896e+01] [ 6.48498462e-01 7.61113521e-01 1.24880678e-02 1.84246495e+01] [-1.96584770e-02 3.45334020e-04 9.99806694e-01 -7.85525984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.29, Y:18.44, Z:-0.78 [[ 7.59779994e-01 -6.50007442e-01 1.49895530e-02 5.42866611e+01] [ 6.49890449e-01 7.59927754e-01 1.23374841e-02 1.84423610e+01] [-1.94104338e-02 3.67793702e-04 9.99811532e-01 -7.84638470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.31, Y:18.46, Z:-0.78 [[ 7.59308093e-01 -6.50555823e-01 1.51109754e-02 5.43078085e+01] [ 6.50436777e-01 7.59458347e-01 1.24506615e-02 1.84603265e+01] [-1.95760068e-02 3.74846135e-04 9.99808301e-01 -7.83916073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:18.48, Z:-0.78 [[ 7.58934967e-01 -6.50944784e-01 1.69883407e-02 5.43294267e+01] [ 6.50794124e-01 7.59124963e-01 1.40106685e-02 1.84789943e+01] [-2.20164451e-02 4.22726060e-04 9.99757519e-01 -7.84669909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.35, Y:18.50, Z:-0.79 [[ 7.59840843e-01 -6.49892458e-01 1.67835209e-02 5.43507422e+01] [ 6.49745064e-01 7.60026082e-01 1.38457792e-02 1.84981730e+01] [-2.17541812e-02 3.84421312e-04 9.99763276e-01 -7.85022325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:54.37, Y:18.52, Z:-0.78 [[ 7.61016809e-01 -6.48498205e-01 1.74210995e-02 5.43726836e+01] [ 6.48338948e-01 7.61216101e-01 1.43755463e-02 1.85167658e+01] [-2.25837374e-02 3.54744920e-04 9.99744892e-01 -7.84899157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.39, Y:18.53, Z:-0.79 [[ 7.61204734e-01 -6.48270158e-01 1.76961915e-02 5.43944702e+01] [ 6.48105441e-01 7.61410326e-01 1.46168737e-02 1.85343918e+01] [-2.29497460e-02 3.42564532e-04 9.99736561e-01 -7.85246023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.42, Y:18.55, Z:-0.78 [[ 7.60796512e-01 -6.48760323e-01 1.72832465e-02 5.44153317e+01] [ 6.48602982e-01 7.60992726e-01 1.42913265e-02 1.85528452e+01] [-2.24240705e-02 3.37173861e-04 9.99748492e-01 -7.84688177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.44, Y:18.57, Z:-0.78 [[ 7.59720935e-01 -6.49981312e-01 1.86653479e-02 5.44357810e+01] [ 6.49798054e-01 7.59950087e-01 1.54387469e-02 1.85733406e+01] [-2.42196298e-02 3.99567519e-04 9.99706582e-01 -7.84946838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.46, Y:18.59, Z:-0.79 [[ 7.59184522e-01 -6.50596802e-01 1.90436818e-02 5.44569835e+01] [ 6.50406154e-01 7.59423215e-01 1.57548229e-02 1.85930068e+01] [-2.47122514e-02 4.25310143e-04 9.99694515e-01 -7.85980711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:18.61, Z:-0.79 [[ 7.56950128e-01 -6.53197898e-01 1.89475442e-02 5.44765195e+01] [ 6.53009881e-01 7.57187065e-01 1.56794169e-02 1.86145139e+01] [-2.45885975e-02 5.04396972e-04 9.99697527e-01 -7.85940130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:18.63, Z:-0.79 [[ 7.55559143e-01 -6.54780553e-01 1.98193949e-02 5.44981771e+01] [ 6.54575262e-01 7.55818823e-01 1.64052929e-02 1.86337092e+01] [-2.57217385e-02 5.78116528e-04 9.99668974e-01 -7.85865869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.52, Y:18.65, Z:-0.79 [[ 7.54321862e-01 -6.56187746e-01 2.04002343e-02 5.45203741e+01] [ 6.55970639e-01 7.54597396e-01 1.68905310e-02 1.86519706e+01] [-2.64773231e-02 6.41057939e-04 9.99649209e-01 -7.85873029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.54, Y:18.67, Z:-0.79 [[ 7.53163400e-01 -6.57520549e-01 2.02884408e-02 5.45417994e+01] [ 6.57306085e-01 7.53436307e-01 1.68060188e-02 1.86706368e+01] [-2.63363506e-02 6.78037342e-04 9.99652908e-01 -7.86014439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875919999999994 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:54.56, Y:18.69, Z:-0.79 [[ 7.51305914e-01 -6.59661284e-01 1.96574092e-02 5.45636145e+01] [ 6.59460573e-01 7.51562681e-01 1.62877281e-02 1.86900705e+01] [-2.55181588e-02 7.26219854e-04 9.99674095e-01 -7.86022043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:18.71, Z:-0.79 [[ 7.49989206e-01 -6.61145196e-01 2.00803550e-02 5.45860220e+01] [ 6.60936169e-01 7.50257559e-01 1.66425828e-02 1.87082881e+01] [-2.60686018e-02 7.90075454e-04 9.99659844e-01 -7.85475595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:18.73, Z:-0.79 [[ 7.48283195e-01 -6.63102026e-01 1.91823924e-02 5.46087065e+01] [ 6.62911814e-01 7.48528581e-01 1.59025265e-02 1.87258062e+01] [-2.49035665e-02 8.16641182e-04 9.99689525e-01 -7.85061003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96592 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:54.63, Y:18.74, Z:-0.79 [[ 7.47569859e-01 -6.63872668e-01 2.03073051e-02 5.46319259e+01] [ 6.63659657e-01 7.47845098e-01 1.68395181e-02 1.87423662e+01] [-2.63660144e-02 8.88423015e-04 9.99651961e-01 -7.85440469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99592 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:54.66, Y:18.76, Z:-0.79 [[ 7.44731094e-01 -6.67021051e-01 2.14129453e-02 5.46569663e+01] [ 6.66785435e-01 7.45038126e-01 1.77587512e-02 1.87587944e+01] [-2.77989216e-02 1.05234584e-03 9.99612981e-01 -7.85476576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:54.68, Y:18.78, Z:-0.79 [[ 7.43710887e-01 -6.68172135e-01 2.09788843e-02 5.46801775e+01] [ 6.67946311e-01 7.44005950e-01 1.74032236e-02 1.87760291e+01] [-2.72367638e-02 1.06980146e-03 9.99628438e-01 -7.85300775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.70, Y:18.79, Z:-0.79 [[ 7.43563295e-01 -6.68375075e-01 1.97075164e-02 5.47044301e+01] [ 6.68175758e-01 7.43823731e-01 1.63527858e-02 1.87925036e+01] [-2.55887128e-02 1.00875341e-03 9.99672046e-01 -7.85581193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085919999999994 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:54.73, Y:18.81, Z:-0.79 [[ 7.43411539e-01 -6.68549269e-01 1.95233050e-02 5.47269023e+01] [ 6.68353564e-01 7.43667179e-01 1.62061490e-02 1.88099142e+01] [-2.53534502e-02 1.00063235e-03 9.99678049e-01 -7.86516110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115919999999996 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:54.75, Y:18.83, Z:-0.79 [[ 7.44379937e-01 -6.67476199e-01 1.93399339e-02 5.47507704e+01] [ 6.67283431e-01 7.44630534e-01 1.60683002e-02 1.88259817e+01] [-2.51263132e-02 9.44297177e-04 9.99683838e-01 -7.87453027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14592 meters Centerline goodness [0,1] 0.9999008477517227 Centerline is valid? [True, True] Translation: X:54.77, Y:18.84, Z:-0.79 [[ 7.45023202e-01 -6.66748429e-01 1.96713420e-02 5.47742016e+01] [ 6.66548360e-01 7.45282281e-01 1.63586450e-02 1.88423479e+01] [-2.55678035e-02 9.24330613e-04 9.99672663e-01 -7.88440592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.80, Y:18.86, Z:-0.79 [[ 7.46233782e-01 -6.65380238e-01 2.01067547e-02 5.47992382e+01] [ 6.65170315e-01 7.46504089e-01 1.67361056e-02 1.88571637e+01] [-2.61456485e-02 8.85368994e-04 9.99657752e-01 -7.87045846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20592 meters Centerline goodness [0,1] 0.999900823167708 Centerline is valid? [True, True] Translation: X:54.82, Y:18.87, Z:-0.79 [[ 7.47007615e-01 -6.64498529e-01 2.05262653e-02 5.48223519e+01] [ 6.64279003e-01 7.47289077e-01 1.71009268e-02 1.88743764e+01] [-2.67025945e-02 8.60644512e-04 9.99643052e-01 -7.86384249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.85, Y:18.89, Z:-0.79 [[ 7.47362183e-01 -6.64101982e-01 2.04530246e-02 5.48450616e+01] [ 6.63883455e-01 7.47641536e-01 1.70555540e-02 1.88926750e+01] [-2.66181580e-02 8.31748583e-04 9.99645328e-01 -7.88733467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265919999999994 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:54.87, Y:18.91, Z:-0.79 [[ 7.47187339e-01 -6.64322971e-01 1.96486943e-02 5.48679310e+01] [ 6.64120988e-01 7.47445221e-01 1.63998516e-02 1.89097832e+01] [-2.55811207e-02 7.95348802e-04 9.99672433e-01 -7.88607354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295919999999995 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:54.89, Y:18.93, Z:-0.79 [[ 7.46889024e-01 -6.64627041e-01 2.06804599e-02 5.48911874e+01] [ 6.64402971e-01 7.47174810e-01 1.72770259e-02 1.89266478e+01] [-2.69346973e-02 8.36137968e-04 9.99636846e-01 -7.89175970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325919999999996 meters Centerline goodness [0,1] 0.9998016955034456 Centerline is valid? [True, True] Translation: X:54.91, Y:18.94, Z:-0.79 [[ 7.46504669e-01 -6.65107171e-01 1.90585914e-02 5.49142446e+01] [ 6.64916661e-01 7.46747514e-01 1.59368583e-02 1.89435240e+01] [-2.48316745e-02 7.75435791e-04 9.99691346e-01 -7.90441793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35592 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:54.94, Y:18.96, Z:-0.79 [[ 7.46386871e-01 -6.65240526e-01 1.90179375e-02 5.49364944e+01] [ 6.65050459e-01 7.46628727e-01 1.59194942e-02 1.89612785e+01] [-2.47896312e-02 7.65786608e-04 9.99692397e-01 -7.90620063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.96, Y:18.98, Z:-0.79 [[ 7.45601311e-01 -6.66116077e-01 1.91848203e-02 5.49598570e+01] [ 6.65922579e-01 7.45847670e-01 1.60739740e-02 1.89785524e+01] [-2.50160860e-02 7.90828936e-04 9.99686736e-01 -7.89605312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.98, Y:18.99, Z:-0.79 [[ 7.46619862e-01 -6.64955474e-01 1.98242070e-02 5.49847924e+01] [ 6.64748053e-01 7.46882609e-01 1.66250852e-02 1.89937914e+01] [-2.58612969e-02 7.65484171e-04 9.99665248e-01 -7.89190671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445919999999994 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:55.01, Y:19.01, Z:-0.79 [[ 7.47402387e-01 -6.64099488e-01 1.90142226e-02 5.50080573e+01] [ 6.63908031e-01 7.47643890e-01 1.59605584e-02 1.90113731e+01] [-2.48152660e-02 6.94735609e-04 9.99691812e-01 -7.89239915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475919999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.03, Y:19.03, Z:-0.79 [[ 7.47480626e-01 -6.64001218e-01 1.93674216e-02 5.50302193e+01] [ 6.63802115e-01 7.47731171e-01 1.62741225e-02 1.90286954e+01] [-2.52876619e-02 6.91544155e-04 9.99679977e-01 -7.90746081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505919999999996 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:55.05, Y:19.05, Z:-0.79 [[ 7.48656668e-01 -6.62703934e-01 1.83490856e-02 5.50535951e+01] [ 6.62524514e-01 7.48881253e-01 1.54316981e-02 1.90465533e+01] [-2.39679332e-02 6.03675322e-04 9.99712546e-01 -7.91286265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53592 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:55.08, Y:19.06, Z:-0.79 [[ 7.50074015e-01 -6.61092838e-01 1.85804234e-02 5.50755498e+01] [ 6.60908021e-01 7.50303911e-01 1.56406170e-02 1.90647384e+01] [-2.42808642e-02 5.48330502e-04 9.99705026e-01 -7.91115294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:55.10, Y:19.08, Z:-0.79 [[ 7.50596490e-01 -6.60493644e-01 1.87897516e-02 5.50984631e+01] [ 6.60304093e-01 7.50831453e-01 1.58314086e-02 1.90829947e+01] [-2.45644813e-02 5.23950164e-04 9.99698110e-01 -7.91010295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:19.10, Z:-0.79 [[ 7.51422993e-01 -6.59539880e-01 1.92518208e-02 5.51223879e+01] [ 6.59340197e-01 7.51669411e-01 1.62358023e-02 1.91002200e+01] [-2.51791639e-02 4.93544149e-04 9.99682833e-01 -7.90793279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.625919999999994 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:55.14, Y:19.12, Z:-0.79 [[ 7.51079071e-01 -6.59915523e-01 1.97921907e-02 5.51449964e+01] [ 6.59704204e-01 7.51339632e-01 1.67068662e-02 1.91188483e+01] [-2.58957776e-02 5.08813810e-04 9.99664519e-01 -7.91762309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655919999999995 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:55.17, Y:19.14, Z:-0.79 [[ 7.50737411e-01 -6.60304438e-01 1.97835744e-02 5.51663065e+01] [ 6.60092985e-01 7.50997863e-01 1.67170682e-02 1.91364381e+01] [-2.58957764e-02 5.08870217e-04 9.99664519e-01 -7.91786073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:19.16, Z:-0.79 [[ 7.50105410e-01 -6.61071574e-01 1.80623357e-02 5.51880375e+01] [ 6.60895210e-01 7.50322694e-01 1.52766498e-02 1.91553624e+01] [-2.36515393e-02 4.78213540e-04 9.99720149e-01 -7.92238929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:55.21, Y:19.17, Z:-0.79 [[ 7.49755802e-01 -6.61492072e-01 1.71602913e-02 5.52097812e+01] [ 6.61332698e-01 7.49952018e-01 1.45269578e-02 1.91744568e+01] [-2.24788626e-02 4.56990845e-04 9.99747214e-01 -7.92023853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:19.19, Z:-0.79 [[ 7.50880711e-01 -6.60232779e-01 1.64570544e-02 5.52322821e+01] [ 6.60085624e-01 7.51060932e-01 1.39443991e-02 1.91931872e+01] [-2.15668000e-02 3.92484739e-04 9.99767332e-01 -7.90627272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.25, Y:19.21, Z:-0.79 [[ 7.51308483e-01 -6.59739906e-01 1.66979100e-02 5.52546004e+01] [ 6.59587983e-01 7.51493924e-01 1.41624639e-02 1.92110885e+01] [-2.18919205e-02 3.73361504e-04 9.99760273e-01 -7.90940537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.28, Y:19.23, Z:-0.79 [[ 7.52852209e-01 -6.58018839e-01 1.49919641e-02 5.52770849e+01] [ 6.57895818e-01 7.53001413e-01 1.27265339e-02 1.92299830e+01] [-1.96632693e-02 2.81951325e-04 9.99806619e-01 -7.90571226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835919999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.30, Y:19.25, Z:-0.79 [[ 7.52722586e-01 -6.58184172e-01 1.42233394e-02 5.52984344e+01] [ 6.58073265e-01 7.52856910e-01 1.20851600e-02 1.92498499e+01] [-1.86624004e-02 2.63226513e-04 9.99825808e-01 -7.90762966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865919999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:19.27, Z:-0.79 [[ 7.53839597e-01 -6.56898903e-01 1.44807955e-02 5.53206371e+01] [ 6.56783490e-01 7.53978634e-01 1.23153240e-02 1.92690976e+01] [-1.90081333e-02 2.26968500e-04 9.99819303e-01 -7.90703365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.34, Y:19.29, Z:-0.79 [[ 7.54826975e-01 -6.55737850e-01 1.56240327e-02 5.53414485e+01] [ 6.55602953e-01 7.54988630e-01 1.33017453e-02 1.92874073e+01] [-2.05184249e-02 2.02645788e-04 9.99789454e-01 -7.90726106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:19.31, Z:-0.79 [[ 7.54538265e-01 -6.56039559e-01 1.68553473e-02 5.53628551e+01] [ 6.55882343e-01 7.54726473e-01 1.43632493e-02 1.93075101e+01] [-2.21440366e-02 2.17503443e-04 9.99754767e-01 -7.90550974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:19.33, Z:-0.79 [[ 7.54701344e-01 -6.55864131e-01 1.63744368e-02 5.53846332e+01] [ 6.55715444e-01 7.54878932e-01 1.39661668e-02 1.93269488e+01] [-2.15206252e-02 1.96686258e-04 9.99768385e-01 -7.90576856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:19.35, Z:-0.79 [[ 7.54887805e-01 -6.55697218e-01 1.43373721e-02 5.54059865e+01] [ 6.55582987e-01 7.55023929e-01 1.22398385e-02 1.93460423e+01] [-1.88506871e-02 1.59632464e-04 9.99822297e-01 -7.90300102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.43, Y:19.36, Z:-0.79 [[ 7.54762773e-01 -6.55808112e-01 1.57758046e-02 5.54282041e+01] [ 6.55669574e-01 7.54927607e-01 1.34802991e-02 1.93639769e+01] [-2.07500799e-02 1.69287155e-04 9.99784680e-01 -7.92577578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:19.38, Z:-0.79 [[ 7.55166156e-01 -6.55344392e-01 1.57418338e-02 5.54498420e+01] [ 6.55206269e-01 7.55330196e-01 1.34551227e-02 1.93830585e+01] [-2.07080217e-02 1.53294902e-04 9.99785554e-01 -7.91933238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:19.40, Z:-0.79 [[ 7.55897485e-01 -6.54466532e-01 1.71041451e-02 5.54703071e+01] [ 6.54303154e-01 7.56090960e-01 1.46233712e-02 1.94030465e+01] [-2.25027965e-02 1.37526558e-04 9.99746771e-01 -7.92616020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:19.42, Z:-0.79 [[ 7.57947063e-01 -6.52055480e-01 1.84364068e-02 5.54917212e+01] [ 6.51864840e-01 7.58171252e-01 1.57665293e-02 1.94230823e+01] [-2.42586054e-02 6.78507481e-05 9.99705714e-01 -7.94237238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:19.44, Z:-0.79 [[ 7.58316284e-01 -6.51646369e-01 1.77037603e-02 5.55147547e+01] [ 6.51470379e-01 7.58522911e-01 1.51439182e-02 1.94412364e+01] [-2.32971871e-02 4.95957050e-05 9.99728582e-01 -7.93397662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:19.46, Z:-0.79 [[ 7.59379757e-01 -6.50439687e-01 1.64498597e-02 5.55372481e+01] [ 6.50287383e-01 7.59557907e-01 1.40749938e-02 1.94594932e+01] [-2.16495556e-02 8.87090288e-06 9.99765621e-01 -7.92941219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:19.48, Z:-0.79 [[ 7.59801047e-01 -6.49997231e-01 1.43516003e-02 5.55583977e+01] [ 6.49881167e-01 7.59936576e-01 1.22828830e-02 1.94795906e+01] [-1.88901459e-02 -5.71255883e-06 9.99821565e-01 -7.92958649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.58, Y:19.50, Z:-0.79 [[ 7.59971078e-01 -6.49792917e-01 1.45988193e-02 5.55789463e+01] [ 6.49672719e-01 7.60111284e-01 1.24977394e-02 1.94995609e+01] [-1.92176698e-02 -1.34658392e-05 9.99815323e-01 -7.92715279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:19.52, Z:-0.79 [[ 7.59478896e-01 -6.50376797e-01 1.42066157e-02 5.55993875e+01] [ 6.50263014e-01 7.59611757e-01 1.21651526e-02 1.95195414e+01] [-1.87034453e-02 -1.13995847e-06 9.99825075e-01 -7.92412377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:19.54, Z:-0.79 [[ 7.58818225e-01 -6.51121969e-01 1.53323890e-02 5.56216111e+01] [ 6.50989519e-01 7.58973110e-01 1.31325843e-02 1.95385061e+01] [-2.01877851e-02 1.59801677e-05 9.99796206e-01 -7.90704655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:19.56, Z:-0.79 [[ 7.57921598e-01 -6.52141647e-01 1.63133229e-02 5.56433194e+01] [ 6.51991862e-01 7.58097138e-01 1.39764581e-02 1.95579417e+01] [-2.14817138e-02 4.30943164e-05 9.99769240e-01 -7.91237887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.66, Y:19.58, Z:-0.79 [[ 7.56995284e-01 -6.53237537e-01 1.54550990e-02 5.56648253e+01] [ 6.53103101e-01 7.57153034e-01 1.32522991e-02 1.95766314e+01] [-2.03587743e-02 6.18452054e-05 9.99792737e-01 -7.90075223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.69, Y:19.60, Z:-0.79 [[ 7.56313072e-01 -6.53993210e-01 1.68350154e-02 5.56862173e+01] [ 6.53833577e-01 7.56500413e-01 1.44492019e-02 1.95959907e+01] [-2.21853760e-02 7.91780524e-05 9.99753871e-01 -7.90793740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.71, Y:19.62, Z:-0.79 [[ 7.55476588e-01 -6.55006261e-01 1.48971040e-02 5.57072891e+01] [ 6.54881391e-01 7.55623444e-01 1.27896158e-02 1.96162793e+01] [-1.96338795e-02 9.35809025e-05 9.99807232e-01 -7.90766547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.73, Y:19.64, Z:-0.79 [[ 7.55097434e-01 -6.55464301e-01 1.39433282e-02 5.57280759e+01] [ 6.55354930e-01 7.55226153e-01 1.19738754e-02 1.96364443e+01] [-1.83788139e-02 9.63862920e-05 9.99831091e-01 -7.91114730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:19.66, Z:-0.79 [[ 7.53913763e-01 -6.56820472e-01 1.41741181e-02 5.57497925e+01] [ 6.56707631e-01 7.54046982e-01 1.21752619e-02 1.96558639e+01] [-1.86849122e-02 1.29153986e-04 9.99825413e-01 -7.90980517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:19.67, Z:-0.79 [[ 7.52603457e-01 -6.58230597e-01 1.79030032e-02 5.57729673e+01] [ 6.58050635e-01 7.52816340e-01 1.53921877e-02 1.96729543e+01] [-2.36092822e-02 1.96868943e-04 9.99721243e-01 -7.91737309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.79, Y:19.69, Z:-0.79 [[ 7.51991357e-01 -6.58914069e-01 1.84729140e-02 5.57949511e+01] [ 6.58722561e-01 7.52218187e-01 1.58866819e-02 1.96910226e+01] [-2.43636201e-02 2.21877787e-04 9.99703138e-01 -7.90297667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:19.71, Z:-0.79 [[ 7.50557278e-01 -6.60589737e-01 1.68811111e-02 5.58172753e+01] [ 6.60429968e-01 7.50747055e-01 1.45298599e-02 1.97093982e+01] [-2.22717207e-02 2.43299616e-04 9.99751925e-01 -7.89020018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.84, Y:19.73, Z:-0.79 [[ 7.48983992e-01 -6.62393412e-01 1.60607264e-02 5.58384313e+01] [ 6.62248898e-01 7.49156121e-01 1.38384590e-02 1.97273029e+01] [-2.11984956e-02 2.71414051e-04 9.99775250e-01 -7.91825415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.86, Y:19.75, Z:-0.79 [[ 7.47882194e-01 -6.63627532e-01 1.64536524e-02 5.58598312e+01] [ 6.63476066e-01 7.48063101e-01 1.41812232e-02 1.97470827e+01] [-2.17194203e-02 3.10720264e-04 9.99764057e-01 -7.91365392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.88, Y:19.77, Z:-0.79 [[ 7.48024199e-01 -6.63449231e-01 1.71731021e-02 5.58810798e+01] [ 6.63284092e-01 7.48221236e-01 1.48052228e-02 1.97660535e+01] [-2.26717933e-02 3.15980460e-04 9.99742912e-01 -7.90864500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67591999999999 meters Centerline goodness [0,1] 0.9999007690399404 Centerline is valid? [True, True] Translation: X:55.90, Y:19.78, Z:-0.79 [[ 7.47959948e-01 -6.63489943e-01 1.83578774e-02 5.59026957e+01] [ 6.63301140e-01 7.48185126e-01 1.58308056e-02 1.97845261e+01] [-2.42386711e-02 3.35992487e-04 9.99706144e-01 -7.90069740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:19.80, Z:-0.79 [[ 7.47717477e-01 -6.63749349e-01 1.88514225e-02 5.59246138e+01] [ 6.63550234e-01 7.47954998e-01 1.62606380e-02 1.98030261e+01] [-2.48930036e-02 3.50502564e-04 9.99690060e-01 -7.90910415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:55.95, Y:19.82, Z:-0.79 [[ 7.47448890e-01 -6.64059091e-01 1.85924876e-02 5.59454280e+01] [ 6.63865354e-01 7.47680012e-01 1.60434516e-02 1.98211796e+01] [-2.45550312e-02 3.51248274e-04 9.99698418e-01 -7.90599941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76592 meters Centerline goodness [0,1] 0.9999007690399404 Centerline is valid? [True, True] Translation: X:55.97, Y:19.84, Z:-0.79 [[ 7.46313551e-01 -6.65367820e-01 1.73708696e-02 5.59666524e+01] [ 6.65198971e-01 7.46515593e-01 1.49932994e-02 1.98400564e+01] [-2.29436839e-02 3.65382060e-04 9.99736692e-01 -7.91383276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.99, Y:19.86, Z:-0.79 [[ 7.44382404e-01 -6.67464323e-01 1.96523509e-02 5.59894071e+01] [ 6.67248813e-01 7.44641621e-01 1.69669501e-02 1.98578773e+01] [-2.59587923e-02 4.83108738e-04 9.99662897e-01 -7.90003161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:56.01, Y:19.88, Z:-0.79 [[ 7.43225156e-01 -6.68721547e-01 2.06847614e-02 5.60107846e+01] [ 6.68483153e-01 7.43512736e-01 1.78629574e-02 1.98767847e+01] [-2.73247280e-02 5.51215210e-04 9.99626458e-01 -7.89253008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.03, Y:19.90, Z:-0.79 [[ 7.42322426e-01 -6.69697168e-01 2.15202143e-02 5.60320742e+01] [ 6.69439396e-01 7.42634052e-01 1.85892504e-02 1.98957272e+01] [-2.84308123e-02 6.07261823e-04 9.99595578e-01 -7.89177524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:19.91, Z:-0.79 [[ 7.41077952e-01 -6.71077172e-01 2.14219116e-02 5.60535627e+01] [ 6.70822188e-01 7.41387214e-01 1.85091963e-02 1.99142437e+01] [-2.83030305e-02 6.53536331e-04 9.99599175e-01 -7.90284771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.07, Y:19.93, Z:-0.79 [[ 7.40712347e-01 -6.71481774e-01 2.13879970e-02 5.60749622e+01] [ 6.71227218e-01 7.41020782e-01 1.84992354e-02 1.99317670e+01] [-2.82708497e-02 6.53593705e-04 9.99600086e-01 -7.90305540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94592 meters Centerline goodness [0,1] 0.9998013902681231 Centerline is valid? [True, True] Translation: X:56.10, Y:19.95, Z:-0.79 [[ 7.40436680e-01 -6.71773636e-01 2.17647783e-02 5.60977935e+01] [ 6.71510001e-01 7.40756188e-01 1.88305287e-02 1.99499465e+01] [-2.87722469e-02 6.72452158e-04 9.99585767e-01 -7.89862673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:56.12, Y:19.97, Z:-0.79 [[ 7.40699811e-01 -6.71486728e-01 2.16648200e-02 5.61208469e+01] [ 6.71225248e-01 7.41016293e-01 1.87488853e-02 1.99679829e+01] [-2.86436122e-02 6.54678325e-04 9.99589473e-01 -7.88194670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:56.14, Y:19.99, Z:-0.79 [[ 7.39482831e-01 -6.72738110e-01 2.42606460e-02 5.61442498e+01] [ 6.72410695e-01 7.39880276e-01 2.10008188e-02 1.99854934e+01] [-3.20780246e-02 7.83372958e-04 9.99485061e-01 -7.89336839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03591999999999 meters Centerline goodness [0,1] 0.9999007394907936 Centerline is valid? [True, True] Translation: X:56.17, Y:20.00, Z:-0.79 [[ 7.38643352e-01 -6.73669599e-01 2.39847970e-02 5.61671579e+01] [ 6.73349908e-01 7.39032215e-01 2.07674426e-02 2.00037888e+01] [-3.17159324e-02 8.10427452e-04 9.99496595e-01 -7.90374997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.19, Y:20.02, Z:-0.79 [[ 7.36529414e-01 -6.76012217e-01 2.30630571e-02 5.61922709e+01] [ 6.75717230e-01 7.36889908e-01 1.99871984e-02 2.00196740e+01] [-3.05065243e-02 8.62945510e-04 9.99534195e-01 -7.90244562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09591999999999 meters Centerline goodness [0,1] 0.9999006704742985 Centerline is valid? [True, True] Translation: X:56.22, Y:20.04, Z:-0.79 [[ 7.36107870e-01 -6.76487548e-01 2.25787743e-02 5.62158287e+01] [ 6.76204660e-01 7.36453574e-01 1.95803700e-02 2.00360852e+01] [-2.98740955e-02 8.54607973e-04 9.99553304e-01 -7.89527749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:20.05, Z:-0.79 [[ 7.34954937e-01 -6.77708405e-01 2.35065511e-02 5.62391575e+01] [ 6.77401825e-01 7.35330169e-01 2.04036881e-02 2.00529455e+01] [-3.11128271e-02 9.27589297e-04 9.99515448e-01 -7.90564459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15592 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:56.26, Y:20.07, Z:-0.79 [[ 7.35019445e-01 -6.77612911e-01 2.42313676e-02 5.62609864e+01] [ 6.77286373e-01 7.35418158e-01 2.10547422e-02 2.00701395e+01] [-3.20871529e-02 9.35930208e-04 9.99484637e-01 -7.92200000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:20.08, Z:-0.79 [[ 7.36700581e-01 -6.75809454e-01 2.35337172e-02 5.62860926e+01] [ 6.75499945e-01 7.37075920e-01 2.04673677e-02 2.00848823e+01] [-3.11781768e-02 8.18702986e-04 9.99513507e-01 -7.92596241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:56.31, Y:20.10, Z:-0.79 [[ 7.37758822e-01 -6.74676178e-01 2.28905319e-02 5.63107933e+01] [ 6.74382299e-01 7.38113482e-01 1.99249459e-02 2.01012265e+01] [-3.03386965e-02 7.37164944e-04 9.99539404e-01 -7.92619061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:56.33, Y:20.12, Z:-0.79 [[ 7.38962332e-01 -6.73349576e-01 2.31304906e-02 5.63346939e+01] [ 6.73048289e-01 7.39323942e-01 2.01521718e-02 2.01177138e+01] [-3.06703818e-02 6.76241222e-04 9.99529324e-01 -7.92732852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:56.36, Y:20.13, Z:-0.79 [[ 7.40354809e-01 -6.71764064e-01 2.46535747e-02 5.63582855e+01] [ 6.71420166e-01 7.40764902e-01 2.15016376e-02 2.01334515e+01] [-3.27065303e-02 6.34066360e-04 9.99464797e-01 -7.92461519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30592 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:56.38, Y:20.15, Z:-0.79 [[ 7.41361961e-01 -6.70633853e-01 2.51531055e-02 5.63826117e+01] [ 6.70274462e-01 7.41788312e-01 2.19600683e-02 2.01487946e+01] [-3.33854449e-02 5.79125019e-04 9.99442383e-01 -7.94445905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.41, Y:20.17, Z:-0.79 [[ 7.42225527e-01 -6.69716863e-01 2.40954743e-02 5.64054357e+01] [ 6.69385973e-01 7.42616370e-01 2.10557850e-02 2.01662822e+01] [-3.19951080e-02 5.01031419e-04 9.99487900e-01 -7.94912272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36592 meters Centerline goodness [0,1] 0.9999504361617764 Centerline is valid? [True, True] Translation: X:56.43, Y:20.18, Z:-0.80 [[ 7.43470656e-01 -6.68384916e-01 2.26492288e-02 5.64285185e+01] [ 6.68091409e-01 7.43815461e-01 1.98098151e-02 2.01836357e+01] [-3.00874282e-02 4.03738988e-04 9.99547189e-01 -7.95038352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39592 meters Centerline goodness [0,1] 0.9999504091247211 Centerline is valid? [True, True] Translation: X:56.45, Y:20.20, Z:-0.79 [[ 7.43638712e-01 -6.68187117e-01 2.29661361e-02 5.64511235e+01] [ 6.67884617e-01 7.43993164e-01 2.01074585e-02 2.02006866e+01] [-3.05221930e-02 3.86044427e-04 9.99534015e-01 -7.94413791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.47, Y:20.22, Z:-0.79 [[ 7.44078835e-01 -6.67656924e-01 2.41022477e-02 5.64741748e+01] [ 6.67322859e-01 7.44469003e-01 2.11212266e-02 2.02177799e+01] [-3.20451095e-02 3.68123209e-04 9.99486356e-01 -7.93723056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45591999999999 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:56.50, Y:20.23, Z:-0.79 [[ 7.45260973e-01 -6.66310554e-01 2.48259307e-02 5.64973573e+01] [ 6.65954630e-01 7.45674295e-01 2.17779166e-02 2.02346659e+01] [-3.30229140e-02 3.02712137e-04 9.99454549e-01 -7.93361878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48592 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:56.52, Y:20.25, Z:-0.79 [[ 7.45196658e-01 -6.66370592e-01 2.51430968e-02 5.65182052e+01] [ 6.66004787e-01 7.45620647e-01 2.20788392e-02 2.02534820e+01] [-3.34599012e-02 2.92345574e-04 9.99440018e-01 -7.94544647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51592 meters Centerline goodness [0,1] 0.9999504263335316 Centerline is valid? [True, True] Translation: X:56.54, Y:20.27, Z:-0.80 [[ 7.47153685e-01 -6.64228816e-01 2.36949383e-02 5.65394707e+01] [ 6.63902272e-01 7.47529297e-01 2.08260020e-02 2.02730319e+01] [-3.15458913e-02 1.70899242e-04 9.99502290e-01 -7.96702222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:20.29, Z:-0.80 [[ 7.48981585e-01 -6.62172106e-01 2.35517864e-02 5.65619548e+01] [ 6.61847816e-01 7.49351784e-01 2.07212829e-02 2.02907477e+01] [-3.13696287e-02 6.78390582e-05 9.99507850e-01 -7.96346118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.58, Y:20.31, Z:-0.80 [[ 7.48643224e-01 -6.62555005e-01 2.35411952e-02 5.65829245e+01] [ 6.62230526e-01 7.49013258e-01 2.07333145e-02 2.03087589e+01] [-3.13696286e-02 6.78426538e-05 9.99507850e-01 -7.96369868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60592 meters Centerline goodness [0,1] 0.9997521685254027 Centerline is valid? [True, True] Translation: X:56.60, Y:20.33, Z:-0.79 [[ 7.49192021e-01 -6.61946892e-01 2.31868007e-02 5.66045840e+01] [ 6.61631168e-01 7.49550740e-01 2.04422842e-02 2.03266539e+01] [-3.09113901e-02 2.59138703e-05 9.99522128e-01 -7.94545040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63592 meters Centerline goodness [0,1] 0.9995535492831986 Centerline is valid? [True, True] Translation: X:56.63, Y:20.35, Z:-0.79 [[ 7.49700800e-01 -6.61368055e-01 2.32595431e-02 5.66255093e+01] [ 6.61049417e-01 7.50061527e-01 2.05273717e-02 2.03460111e+01] [-3.10222363e-02 -1.36795319e-05 9.99518695e-01 -7.93746829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66592 meters Centerline goodness [0,1] 0.9992549915565709 Centerline is valid? [True, True] Translation: X:56.65, Y:20.37, Z:-0.79 [[ 7.49694130e-01 -6.61362760e-01 2.36222606e-02 5.66468505e+01] [ 6.61033510e-01 7.50066196e-01 2.08662291e-02 2.03655596e+01] [-3.15184060e-02 -2.81836301e-05 9.99503171e-01 -7.93126415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69592 meters Centerline goodness [0,1] 0.9992063098367975 Centerline is valid? [True, True] Translation: X:56.67, Y:20.39, Z:-0.80 [[ 7.49545135e-01 -6.61525190e-01 2.38015343e-02 5.66657157e+01] [ 6.61190317e-01 7.49922943e-01 2.10462220e-02 2.03864476e+01] [-3.17719227e-02 -3.77492643e-05 9.99495144e-01 -7.95526601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72592 meters Centerline goodness [0,1] 0.9991555312701803 Centerline is valid? [True, True] Translation: X:56.69, Y:20.41, Z:-0.80 [[ 7.49565403e-01 -6.61475943e-01 2.45210852e-02 5.66856868e+01] [ 6.61119847e-01 7.49966382e-01 2.17019352e-02 2.04070467e+01] [-3.27452976e-02 -5.56437126e-05 9.99463727e-01 -7.96296061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75592 meters Centerline goodness [0,1] 0.999801340948597 Centerline is valid? [True, True] Translation: X:56.71, Y:20.43, Z:-0.80 [[ 7.49766182e-01 -6.61288407e-01 2.34161073e-02 5.67052564e+01] [ 6.60963423e-01 7.50131747e-01 2.07295759e-02 2.04278931e+01] [-3.12733937e-02 -6.51445448e-05 9.99510866e-01 -7.95962966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78591999999999 meters Centerline goodness [0,1] 0.9992058765137979 Centerline is valid? [True, True] Translation: X:56.73, Y:20.45, Z:-0.80 [[ 7.50552487e-01 -6.60370831e-01 2.41107737e-02 5.67251048e+01] [ 6.60025582e-01 7.50939647e-01 2.13512873e-02 2.04482476e+01] [-3.22055032e-02 -1.11534302e-04 9.99481262e-01 -7.96007992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81591999999999 meters Centerline goodness [0,1] 0.9990578200932262 Centerline is valid? [True, True] Translation: X:56.75, Y:20.47, Z:-0.79 [[ 7.50728422e-01 -6.60156349e-01 2.45037015e-02 5.67472599e+01] [ 6.59799457e-01 7.51128204e-01 2.17047852e-02 2.04674824e+01] [-3.27339730e-02 -1.26870190e-04 9.99464092e-01 -7.94385707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84591999999999 meters Centerline goodness [0,1] 0.9977193852255826 Centerline is valid? [True, True] Translation: X:56.77, Y:20.49, Z:-0.79 [[ 7.50272740e-01 -6.60662014e-01 2.48298115e-02 5.67684554e+01] [ 6.60295649e-01 7.50683483e-01 2.19992062e-02 2.04873661e+01] [-3.31733692e-02 -1.10388225e-04 9.99449606e-01 -7.92680138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87592 meters Centerline goodness [0,1] 0.9977184803094931 Centerline is valid? [True, True] Translation: X:56.79, Y:20.51, Z:-0.79 [[ 7.50048851e-01 -6.60892252e-01 2.54588388e-02 5.67886198e+01] [ 6.60507023e-01 7.50480792e-01 2.25621977e-02 2.05078411e+01] [-3.40175512e-02 -1.07008621e-04 9.99421230e-01 -7.92124981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90592 meters Centerline goodness [0,1] 0.9986597170513775 Centerline is valid? [True, True] Translation: X:56.81, Y:20.53, Z:-0.79 [[ 7.50015861e-01 -6.60888587e-01 2.65044121e-02 5.68082376e+01] [ 6.60470672e-01 7.50484018e-01 2.34995773e-02 2.05284583e+01] [-3.54217401e-02 -1.19668848e-04 9.99372446e-01 -7.93886574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93592 meters Centerline goodness [0,1] 0.998659783579867 Centerline is valid? [True, True] Translation: X:56.83, Y:20.55, Z:-0.80 [[ 7.50443239e-01 -6.60399210e-01 2.66050431e-02 5.68298983e+01] [ 6.59977592e-01 7.50914683e-01 2.35948585e-02 2.05475594e+01] [-3.55601434e-02 -1.47869794e-04 9.99367527e-01 -7.95098762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96592 meters Centerline goodness [0,1] 0.9987581959070138 Centerline is valid? [True, True] Translation: X:56.85, Y:20.57, Z:-0.79 [[ 7.50290972e-01 -6.60518960e-01 2.78955393e-02 5.68508113e+01] [ 6.60055282e-01 7.50809350e-01 2.47456160e-02 2.05672590e+01] [-3.72891802e-02 -1.53814217e-04 9.99304505e-01 -7.94078665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99592 meters Centerline goodness [0,1] 0.9989068866143297 Centerline is valid? [True, True] Translation: X:56.87, Y:20.59, Z:-0.79 [[ 7.50408209e-01 -6.60364969e-01 2.83835747e-02 5.68720745e+01] [ 6.59884627e-01 7.50944792e-01 2.51833159e-02 2.05873925e+01] [-3.79446772e-02 -1.67882390e-04 9.99279827e-01 -7.92876281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02592 meters Centerline goodness [0,1] 0.9980638435188403 Centerline is valid? [True, True] Translation: X:56.89, Y:20.61, Z:-0.79 [[ 7.51506497e-01 -6.59129716e-01 2.80357356e-02 5.68921112e+01] [ 6.58659984e-01 7.52029230e-01 2.48809675e-02 2.06076497e+01] [-3.74834778e-02 -2.32191586e-04 9.99297221e-01 -7.93689877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05592 meters Centerline goodness [0,1] 0.9986091103273558 Centerline is valid? [True, True] Translation: X:56.91, Y:20.63, Z:-0.79 [[ 7.51553910e-01 -6.59084310e-01 2.78315160e-02 5.69128807e+01] [ 6.58621137e-01 7.52069024e-01 2.47059104e-02 2.06276744e+01] [-3.72144990e-02 -2.37398909e-04 9.99307272e-01 -7.93954962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08592 meters Centerline goodness [0,1] 0.9991567042015973 Centerline is valid? [True, True] Translation: X:56.93, Y:20.65, Z:-0.80 [[ 7.52614809e-01 -6.57888651e-01 2.74494491e-02 5.69339704e+01] [ 6.57437092e-01 7.53115153e-01 2.43728572e-02 2.06474765e+01] [-3.67072222e-02 -2.97087289e-04 9.99326019e-01 -7.95369669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11592 meters Centerline goodness [0,1] 0.9993549347491688 Centerline is valid? [True, True] Translation: X:56.95, Y:20.67, Z:-0.80 [[ 7.52192037e-01 -6.58317610e-01 2.87239255e-02 5.69548800e+01] [ 6.57823197e-01 7.52740219e-01 2.55108634e-02 2.06680288e+01] [-3.84159046e-02 -2.93803797e-04 9.99261794e-01 -7.95913639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14592 meters Centerline goodness [0,1] 0.9989551718990994 Centerline is valid? [True, True] Translation: X:56.98, Y:20.69, Z:-0.80 [[ 7.51789198e-01 -6.58793011e-01 2.83684709e-02 5.69750289e+01] [ 6.58310863e-01 7.52324196e-01 2.52014248e-02 2.06883100e+01] [-3.79448096e-02 -2.70886400e-04 9.99279800e-01 -7.95871988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17591999999999 meters Centerline goodness [0,1] 0.998162859980139 Centerline is valid? [True, True] Translation: X:56.99, Y:20.71, Z:-0.80 [[ 7.51336835e-01 -6.59248181e-01 2.97455103e-02 5.69940167e+01] [ 6.58718165e-01 7.51925372e-01 2.64313092e-02 2.07098906e+01] [-3.97911964e-02 -2.64908265e-04 9.99207982e-01 -7.95103667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20591999999999 meters Centerline goodness [0,1] 0.9983140774532653 Centerline is valid? [True, True] Translation: X:57.01, Y:20.73, Z:-0.79 [[ 7.50265622e-01 -6.60538480e-01 2.81143048e-02 5.70147248e+01] [ 6.60065804e-01 7.50792169e-01 2.49850457e-02 2.07314774e+01] [-3.76115840e-02 -1.88129610e-04 9.99292416e-01 -7.94347509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23592 meters Centerline goodness [0,1] 0.9971723385256474 Centerline is valid? [True, True] Translation: X:57.04, Y:20.75, Z:-0.79 [[ 7.49484288e-01 -6.61401114e-01 2.86682507e-02 5.70355276e+01] [ 6.60910129e-01 7.50032362e-01 2.54805336e-02 2.07534520e+01] [-3.83549691e-02 -1.50122356e-04 9.99264166e-01 -7.94824680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26592 meters Centerline goodness [0,1] 0.9989056904098687 Centerline is valid? [True, True] Translation: X:57.06, Y:20.78, Z:-0.80 [[ 7.49086645e-01 -6.61868307e-01 2.82761790e-02 5.70565322e+01] [ 6.61390995e-01 7.49620123e-01 2.51321287e-02 2.07764061e+01] [-3.78305523e-02 -1.24531789e-04 9.99284161e-01 -7.95510130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29592 meters Centerline goodness [0,1] 0.9996519317786287 Centerline is valid? [True, True] Translation: X:57.08, Y:20.80, Z:-0.80 [[ 7.48589811e-01 -6.62369183e-01 2.96708841e-02 5.70762517e+01] [ 6.61843996e-01 7.49177586e-01 2.63717554e-02 2.07997855e+01] [-3.96965994e-02 -1.04130891e-04 9.99211774e-01 -7.96788362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32592 meters Centerline goodness [0,1] 0.9993532981792856 Centerline is valid? [True, True] Translation: X:57.10, Y:20.82, Z:-0.80 [[ 7.48344997e-01 -6.62616565e-01 3.03158915e-02 5.70992671e+01] [ 6.62068490e-01 7.48958796e-01 2.69450439e-02 2.08201941e+01] [-4.05595861e-02 -9.29923060e-05 9.99177117e-01 -7.96704924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35592 meters Centerline goodness [0,1] 0.9987576405108582 Centerline is valid? [True, True] Translation: X:57.12, Y:20.84, Z:-0.80 [[ 7.47679227e-01 -6.63292740e-01 3.19141632e-02 5.71225223e+01] [ 6.62686994e-01 7.48360033e-01 2.83409436e-02 2.08428124e+01] [-4.26816264e-02 -4.08339852e-05 9.99088723e-01 -7.95909111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38592 meters Centerline goodness [0,1] 0.9994526818588915 Centerline is valid? [True, True] Translation: X:57.14, Y:20.87, Z:-0.80 [[ 7.47440159e-01 -6.63617046e-01 3.07510058e-02 5.71449798e+01] [ 6.63055948e-01 7.48072467e-01 2.72835933e-02 2.08656071e+01] [-4.11098383e-02 -3.21604809e-06 9.99154633e-01 -7.95893440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41592 meters Centerline goodness [0,1] 0.9988575969800825 Centerline is valid? [True, True] Translation: X:57.17, Y:20.89, Z:-0.80 [[ 7.46820967e-01 -6.64381497e-01 2.92518294e-02 5.71660814e+01] [ 6.63875292e-01 7.47393620e-01 2.59301567e-02 2.08906059e+01] [-3.90901469e-02 5.43820826e-05 9.99235687e-01 -7.96546621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44592 meters Centerline goodness [0,1] 0.9989576611902516 Centerline is valid? [True, True] Translation: X:57.19, Y:20.91, Z:-0.80 [[ 7.45707437e-01 -6.65637920e-01 2.90960101e-02 5.71892471e+01] [ 6.65139076e-01 7.46274843e-01 2.57656604e-02 2.09143130e+01] [-3.88642209e-02 1.39248682e-04 9.99244491e-01 -7.96369073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47592 meters Centerline goodness [0,1] 0.9993545183714002 Centerline is valid? [True, True] Translation: X:57.21, Y:20.94, Z:-0.80 [[ 7.45451368e-01 -6.65942247e-01 2.86911453e-02 5.72121178e+01] [ 6.65458426e-01 7.46003280e-01 2.53808863e-02 2.09374014e+01] [-3.83058929e-02 1.72547960e-04 9.99266045e-01 -7.96786067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50592 meters Centerline goodness [0,1] 0.9975171317906446 Centerline is valid? [True, True] Translation: X:57.23, Y:20.96, Z:-0.79 [[ 7.44191544e-01 -6.67296601e-01 2.99030416e-02 5.72337095e+01] [ 6.66773067e-01 7.44792033e-01 2.64292377e-02 2.09609357e+01] [-3.99076876e-02 2.70127581e-04 9.99203334e-01 -7.93855220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53591999999999 meters Centerline goodness [0,1] 0.9974196109567288 Centerline is valid? [True, True] Translation: X:57.26, Y:20.98, Z:-0.79 [[ 7.42330406e-01 -6.69417992e-01 2.87249307e-02 5.72574251e+01] [ 6.68936986e-01 7.42885866e-01 2.53751797e-02 2.09826078e+01] [-3.83259468e-02 3.78401115e-04 9.99265219e-01 -7.92323420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56591999999999 meters Centerline goodness [0,1] 0.9980623043672678 Centerline is valid? [True, True] Translation: X:57.28, Y:21.00, Z:-0.79 [[ 7.41869339e-01 -6.69911117e-01 2.91372426e-02 5.72792674e+01] [ 6.69416589e-01 7.42441195e-01 2.57391222e-02 2.10036692e+01] [-3.88756133e-02 4.09887975e-04 9.99243974e-01 -7.93606908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59591999999999 meters Centerline goodness [0,1] 0.9975663057514652 Centerline is valid? [True, True] Translation: X:57.30, Y:21.03, Z:-0.80 [[ 7.41413082e-01 -6.70394010e-01 2.96397306e-02 5.73013589e+01] [ 6.69883571e-01 7.42005162e-01 2.61599153e-02 2.10266844e+01] [-3.95302836e-02 4.59865149e-04 9.99218267e-01 -7.95280531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62592 meters Centerline goodness [0,1] 0.9980636512586267 Centerline is valid? [True, True] Translation: X:57.32, Y:21.05, Z:-0.80 [[ 7.40823623e-01 -6.71041261e-01 2.97319077e-02 5.73230437e+01] [ 6.70529235e-01 7.41419827e-01 2.62142078e-02 2.10518983e+01] [-3.96346409e-02 5.16008906e-04 9.99214106e-01 -7.95405143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65592 meters Centerline goodness [0,1] 0.9970210019363488 Centerline is valid? [True, True] Translation: X:57.35, Y:21.08, Z:-0.79 [[ 7.40848117e-01 -6.71022265e-01 2.95497329e-02 5.73464321e+01] [ 6.70517536e-01 7.41437008e-01 2.60268539e-02 2.10757006e+01] [-3.93738640e-02 5.31668376e-04 9.99224407e-01 -7.94127042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68592 meters Centerline goodness [0,1] 0.995136476426799 Centerline is valid? [True, True] Translation: X:57.37, Y:21.10, Z:-0.79 [[ 7.41191810e-01 -6.70649012e-01 2.94041465e-02 5.73703058e+01] [ 6.70150004e-01 7.41774644e-01 2.58717955e-02 2.10987977e+01] [-3.91621443e-02 5.29225970e-04 9.99232729e-01 -7.93532067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71592 meters Centerline goodness [0,1] 0.99493545183714 Centerline is valid? [True, True] Translation: X:57.39, Y:21.12, Z:-0.79 [[ 7.41670714e-01 -6.70101818e-01 2.98011004e-02 5.73938514e+01] [ 6.69589881e-01 7.42269004e-01 2.61938266e-02 2.11214479e+01] [-3.96729640e-02 5.27321246e-04 9.99212579e-01 -7.93943900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74592 meters Centerline goodness [0,1] 0.9967697048007156 Centerline is valid? [True, True] Translation: X:57.42, Y:21.14, Z:-0.79 [[ 7.41595561e-01 -6.70215911e-01 2.90973645e-02 5.74182129e+01] [ 6.69728300e-01 7.42165988e-01 2.55665688e-02 2.11428576e+01] [-3.87301955e-02 5.27274577e-04 9.99249565e-01 -7.94356289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77592 meters Centerline goodness [0,1] 0.9976644802226198 Centerline is valid? [True, True] Translation: X:57.44, Y:21.16, Z:-0.80 [[ 7.41308406e-01 -6.70604818e-01 2.74048373e-02 5.74423954e+01] [ 6.70173361e-01 7.41814596e-01 2.40576652e-02 2.11642143e+01] [-3.64624945e-02 5.31842487e-04 9.99334881e-01 -7.95461392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80592 meters Centerline goodness [0,1] 0.9982618196265395 Centerline is valid? [True, True] Translation: X:57.47, Y:21.19, Z:-0.80 [[ 7.41104559e-01 -6.70836829e-01 2.72393509e-02 5.74655482e+01] [ 6.70411627e-01 7.41604772e-01 2.38875037e-02 2.11872694e+01] [-3.62254498e-02 5.58439714e-04 9.99343487e-01 -7.95677678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83592 meters Centerline goodness [0,1] 0.9979148048853143 Centerline is valid? [True, True] Translation: X:57.49, Y:21.21, Z:-0.80 [[ 7.41661950e-01 -6.70195085e-01 2.78585837e-02 5.74896659e+01] [ 6.69750818e-01 7.42184773e-01 2.44050119e-02 2.12099493e+01] [-3.70323356e-02 5.58040516e-04 9.99313912e-01 -7.95441834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86592 meters Centerline goodness [0,1] 0.9972169764436934 Centerline is valid? [True, True] Translation: X:57.51, Y:21.23, Z:-0.80 [[ 7.43229249e-01 -6.68366034e-01 2.99521001e-02 5.75138608e+01] [ 6.67851931e-01 7.43832356e-01 2.62149719e-02 2.12306655e+01] [-3.98005380e-02 5.19834004e-04 9.99207509e-01 -7.96203823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89592 meters Centerline goodness [0,1] 0.9958737260750684 Centerline is valid? [True, True] Translation: X:57.54, Y:21.25, Z:-0.80 [[ 7.44482283e-01 -6.67000645e-01 2.92620888e-02 5.75388209e+01] [ 6.66509823e-01 7.45057000e-01 2.55875484e-02 2.12511451e+01] [-3.88688354e-02 4.53993232e-04 9.99244218e-01 -7.96696077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92591999999999 meters Centerline goodness [0,1] 0.9982100238663485 Centerline is valid? [True, True] Translation: X:57.56, Y:21.27, Z:-0.80 [[ 7.45630710e-01 -6.65653038e-01 3.06737234e-02 5.75643950e+01] [ 6.65113552e-01 7.46261252e-01 2.67975339e-02 2.12706856e+01] [-4.07284711e-02 4.20444942e-04 9.99170163e-01 -7.97479234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95591999999999 meters Centerline goodness [0,1] 0.9982116244411326 Centerline is valid? [True, True] Translation: X:57.59, Y:21.29, Z:-0.80 [[ 7.46045996e-01 -6.65048509e-01 3.35537128e-02 5.75891748e+01] [ 6.64402658e-01 7.46800037e-01 2.93055126e-02 2.12912344e+01] [-4.45475014e-02 4.29915611e-04 9.99007175e-01 -7.98232307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98592 meters Centerline goodness [0,1] 0.9988079864905136 Centerline is valid? [True, True] Translation: X:57.61, Y:21.31, Z:-0.80 [[ 7.46158969e-01 -6.64868535e-01 3.45922561e-02 5.76133309e+01] [ 6.64183108e-01 7.46960258e-01 3.01856238e-02 2.13118495e+01] [-4.59085120e-02 4.52318202e-04 9.98945546e-01 -8.00159316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01592 meters Centerline goodness [0,1] 0.9985109445575023 Centerline is valid? [True, True] Translation: X:57.64, Y:21.33, Z:-0.80 [[ 7.47453517e-01 -6.63391430e-01 3.50007175e-02 5.76373676e+01] [ 6.62689557e-01 7.48272449e-01 3.05105242e-02 2.13336540e+01] [-4.64304929e-02 3.89411324e-04 9.98921447e-01 -8.00605265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04592 meters Centerline goodness [0,1] 0.9985593641331346 Centerline is valid? [True, True] Translation: X:57.66, Y:21.36, Z:-0.80 [[ 7.48819616e-01 -6.61969587e-01 3.26412108e-02 5.76609451e+01] [ 6.61358960e-01 7.49530637e-01 2.84279914e-02 2.13553673e+01] [-4.32840532e-02 3.00119595e-04 9.99062761e-01 -8.00340054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07592 meters Centerline goodness [0,1] 0.9991561600317681 Centerline is valid? [True, True] Translation: X:57.69, Y:21.38, Z:-0.80 [[ 7.50132158e-01 -6.60639648e-01 2.92745865e-02 5.76852077e+01] [ 6.60147723e-01 7.50703146e-01 2.54905870e-02 2.13760020e+01] [-3.88166166e-02 2.04242625e-04 9.99246330e-01 -7.99462257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10592 meters Centerline goodness [0,1] 0.9990033388149698 Centerline is valid? [True, True] Translation: X:57.71, Y:21.40, Z:-0.80 [[ 7.50383157e-01 -6.60356254e-01 2.92358668e-02 5.77103122e+01] [ 6.59866427e-01 7.50952445e-01 2.54307618e-02 2.13979777e+01] [-3.87481082e-02 2.08951646e-04 9.99248988e-01 -7.99003434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13592 meters Centerline goodness [0,1] 0.9990526525727962 Centerline is valid? [True, True] Translation: X:57.73, Y:21.42, Z:-0.80 [[ 7.50117626e-01 -6.60558447e-01 3.14019884e-02 5.77334681e+01] [ 6.59994540e-01 7.50774582e-01 2.72898175e-02 2.14205990e+01] [-4.16023342e-02 2.54567820e-04 9.99134216e-01 -8.00687895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16592 meters Centerline goodness [0,1] 0.9987069179887601 Centerline is valid? [True, True] Translation: X:57.76, Y:21.44, Z:-0.80 [[ 7.50423417e-01 -6.60266762e-01 3.02075653e-02 5.77575187e+01] [ 6.59745072e-01 7.51031122e-01 2.62429529e-02 2.14418751e+01] [-4.00141712e-02 2.35965940e-04 9.99199084e-01 -7.99755429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19592 meters Centerline goodness [0,1] 0.9991066997518611 Centerline is valid? [True, True] Translation: X:57.78, Y:21.46, Z:-0.80 [[ 7.49991136e-01 -6.60926422e-01 2.62594937e-02 5.77812877e+01] [ 6.60532845e-01 7.50450670e-01 2.28068742e-02 2.14627372e+01] [-3.47801204e-02 2.40304649e-04 9.99394960e-01 -8.00583625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22592 meters Centerline goodness [0,1] 0.9994541213835542 Centerline is valid? [True, True] Translation: X:57.81, Y:21.48, Z:-0.80 [[ 7.50123976e-01 -6.60856289e-01 2.41450959e-02 5.78060568e+01] [ 6.60523780e-01 7.50512435e-01 2.09623641e-02 2.14839657e+01] [-3.19743048e-02 2.24038112e-04 9.99488666e-01 -7.99521674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25592 meters Centerline goodness [0,1] 0.9997021593447506 Centerline is valid? [True, True] Translation: X:57.83, Y:21.51, Z:-0.80 [[ 7.49493208e-01 -6.61597787e-01 2.34157743e-02 5.78283119e+01] [ 6.61285516e-01 7.49858857e-01 2.03263656e-02 2.15053853e+01] [-3.10064043e-02 2.50039441e-04 9.99519155e-01 -8.00410549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28591999999999 meters Centerline goodness [0,1] 0.999801064305963 Centerline is valid? [True, True] Translation: X:57.85, Y:21.53, Z:-0.80 [[ 7.49476071e-01 -6.61626862e-01 2.31411896e-02 5.78524837e+01] [ 6.61322437e-01 7.49833199e-01 2.00700523e-02 2.15271196e+01] [-3.06309180e-02 2.61763919e-04 9.99530729e-01 -7.99754122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31591999999999 meters Centerline goodness [0,1] 0.9996025239727729 Centerline is valid? [True, True] Translation: X:57.88, Y:21.55, Z:-0.80 [[ 7.49852144e-01 -6.61221935e-01 2.25236519e-02 5.78763997e+01] [ 6.60933376e-01 7.50190307e-01 1.95339654e-02 2.15455076e+01] [-2.98133117e-02 2.39047449e-04 9.99555456e-01 -8.00170110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34591999999999 meters Centerline goodness [0,1] 0.9996013553916683 Centerline is valid? [True, True] Translation: X:57.90, Y:21.57, Z:-0.80 [[ 7.49653247e-01 -6.61410219e-01 2.35909374e-02 5.78995527e+01] [ 6.61093793e-01 7.50024303e-01 2.04582816e-02 2.15657705e+01] [-3.12250929e-02 2.59205128e-04 9.99512344e-01 -7.99949986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37592 meters Centerline goodness [0,1] 0.999602602950673 Centerline is valid? [True, True] Translation: X:57.92, Y:21.59, Z:-0.80 [[ 7.50335647e-01 -6.60641416e-01 2.34379319e-02 5.79213380e+01] [ 6.60328708e-01 7.50701584e-01 2.03255569e-02 2.15867078e+01] [-3.10227973e-02 2.25749394e-04 9.99518652e-01 -8.00670824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40592 meters Centerline goodness [0,1] 0.9994527090900045 Centerline is valid? [True, True] Translation: X:57.95, Y:21.61, Z:-0.80 [[ 7.50957903e-01 -6.59988895e-01 2.18377382e-02 5.79454376e+01] [ 6.59717648e-01 7.51275328e-01 1.89210246e-02 2.16085295e+01] [-2.88938201e-02 1.97848375e-04 9.99582467e-01 -8.00603075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43592 meters Centerline goodness [0,1] 0.9993029624097586 Centerline is valid? [True, True] Translation: X:57.97, Y:21.63, Z:-0.80 [[ 7.51365019e-01 -6.59564152e-01 2.06334093e-02 5.79680775e+01] [ 6.59321857e-01 7.51648255e-01 1.78770598e-02 2.16283289e+01] [-2.73001338e-02 1.71860357e-04 9.99627267e-01 -8.00065742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46592 meters Centerline goodness [0,1] 0.9993029624097586 Centerline is valid? [True, True] Translation: X:57.99, Y:21.65, Z:-0.80 [[ 7.51365019e-01 -6.59564152e-01 2.06334093e-02 5.79907594e+01] [ 6.59321857e-01 7.51648255e-01 1.78770598e-02 2.16479808e+01] [-2.73001338e-02 1.71860357e-04 9.99627267e-01 -8.00091661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49592 meters Centerline goodness [0,1] 0.9995525504623646 Centerline is valid? [True, True] Translation: X:58.01, Y:21.67, Z:-0.80 [[ 7.52437360e-01 -6.58406523e-01 1.84084445e-02 5.80132540e+01] [ 6.58213325e-01 7.52662499e-01 1.59493208e-02 2.16685118e+01] [-2.43564827e-02 1.15818662e-04 9.99703330e-01 -7.99670295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52592 meters Centerline goodness [0,1] 0.999304658786133 Centerline is valid? [True, True] Translation: X:58.04, Y:21.69, Z:-0.80 [[ 7.53410536e-01 -6.57325926e-01 1.71811396e-02 5.80354678e+01] [ 6.57157310e-01 7.53606410e-01 1.48878482e-02 2.16884580e+01] [-2.27339855e-02 7.40497452e-05 9.99741547e-01 -8.00055834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55592 meters Centerline goodness [0,1] 0.9993535554450522 Centerline is valid? [True, True] Translation: X:58.06, Y:21.71, Z:-0.80 [[ 7.53558589e-01 -6.57118047e-01 1.85829381e-02 5.80579139e+01] [ 6.56920725e-01 7.53787680e-01 1.61026189e-02 2.17098010e+01] [-2.45889113e-02 7.32504068e-05 9.99697644e-01 -8.01009247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58592 meters Centerline goodness [0,1] 0.9995027596837551 Centerline is valid? [True, True] Translation: X:58.08, Y:21.73, Z:-0.80 [[ 7.53091070e-01 -6.57671788e-01 1.79348870e-02 5.80806956e+01] [ 6.57488170e-01 7.53304594e-01 1.55400809e-02 2.17308568e+01] [-2.37307056e-02 8.88799156e-05 9.99718383e-01 -8.00076434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61592 meters Centerline goodness [0,1] 0.9992042967972946 Centerline is valid? [True, True] Translation: X:58.10, Y:21.75, Z:-0.80 [[ 7.52539570e-01 -6.58288095e-01 1.84656362e-02 5.81026844e+01] [ 6.58093683e-01 7.52766080e-01 1.59978984e-02 2.17532019e+01] [-2.44315306e-02 1.13066935e-04 9.99701499e-01 -7.99761571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64592 meters Centerline goodness [0,1] 0.9992540653438758 Centerline is valid? [True, True] Translation: X:58.13, Y:21.78, Z:-0.80 [[ 7.52193495e-01 -6.58735625e-01 1.65022117e-02 5.81253195e+01] [ 6.58580748e-01 7.52374482e-01 1.42841490e-02 2.17759346e+01] [-2.18253208e-02 1.23594997e-04 9.99761792e-01 -7.99336706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67591999999999 meters Centerline goodness [0,1] 0.9991534707698436 Centerline is valid? [True, True] Translation: X:58.15, Y:21.80, Z:-0.80 [[ 7.50714409e-01 -6.60482451e-01 1.38133265e-02 5.81470307e+01] [ 6.60374295e-01 7.50841468e-01 1.19532526e-02 2.17994026e+01] [-1.82665319e-02 1.48486825e-04 9.99833142e-01 -7.98677181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70591999999999 meters Centerline goodness [0,1] 0.9995520382260714 Centerline is valid? [True, True] Translation: X:58.17, Y:21.82, Z:-0.80 [[ 7.49850141e-01 -6.61459553e-01 1.40009164e-02 5.81684340e+01] [ 6.61348556e-01 7.49980820e-01 1.21184923e-02 2.18189516e+01] [-1.85163113e-02 1.72432680e-04 9.99828544e-01 -8.00146656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73592 meters Centerline goodness [0,1] 0.999601871205335 Centerline is valid? [True, True] Translation: X:58.19, Y:21.84, Z:-0.80 [[ 7.47115832e-01 -6.64483540e-01 1.67200184e-02 5.81899930e+01] [ 6.64325947e-01 7.47302843e-01 1.44740178e-02 2.18397260e+01] [-2.21126639e-02 2.93774212e-04 9.99755442e-01 -7.99509150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76592 meters Centerline goodness [0,1] 0.9998004290774835 Centerline is valid? [True, True] Translation: X:58.21, Y:21.86, Z:-0.80 [[ 7.46910938e-01 -6.64700978e-01 1.72238295e-02 5.82122415e+01] [ 6.64533799e-01 7.47109439e-01 1.49102285e-02 2.18601590e+01] [-2.27789291e-02 3.09204132e-04 9.99740479e-01 -7.98828865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79592 meters Centerline goodness [0,1] 0.9995529283195073 Centerline is valid? [True, True] Translation: X:58.23, Y:21.88, Z:-0.80 [[ 7.46497218e-01 -6.65175105e-01 1.68518085e-02 5.82347451e+01] [ 6.65015192e-01 7.46687337e-01 1.45881794e-02 2.18814555e+01] [-2.22867258e-02 3.16673344e-04 9.99751570e-01 -7.97809950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82592 meters Centerline goodness [0,1] 0.9994033709541092 Centerline is valid? [True, True] Translation: X:58.26, Y:21.90, Z:-0.80 [[ 7.45582603e-01 -6.66206032e-01 1.66164007e-02 5.82582973e+01] [ 6.66051092e-01 7.45767657e-01 1.43716608e-02 2.19027900e+01] [-2.19664613e-02 3.52111561e-04 9.99758646e-01 -7.97931236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85592 meters Centerline goodness [0,1] 0.9995032043320582 Centerline is valid? [True, True] Translation: X:58.28, Y:21.92, Z:-0.80 [[ 7.45037064e-01 -6.66832994e-01 1.59226558e-02 5.82823469e+01] [ 6.66690876e-01 7.45207106e-01 1.37711362e-02 2.19218680e+01] [-2.10487243e-02 3.55482458e-04 9.99778388e-01 -7.98481643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88592 meters Centerline goodness [0,1] 0.9995525727069351 Centerline is valid? [True, True] Translation: X:58.30, Y:21.94, Z:-0.80 [[ 7.43859664e-01 -6.68136682e-01 1.63148624e-02 5.83047390e+01] [ 6.67987731e-01 7.44038449e-01 1.41130270e-02 2.19405861e+01] [-2.15683160e-02 4.00016375e-04 9.99767297e-01 -7.99835021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91592 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:58.33, Y:21.96, Z:-0.80 [[ 7.43960442e-01 -6.67994458e-01 1.75004322e-02 5.83260122e+01] [ 6.67822904e-01 7.44166129e-01 1.51440488e-02 2.19593888e+01] [-2.31393695e-02 4.20616216e-04 9.99732160e-01 -7.99727135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.35, Y:21.98, Z:-0.80 [[ 7.44668997e-01 -6.67206423e-01 1.74262604e-02 5.83489433e+01] [ 6.67036055e-01 7.44872764e-01 1.50819972e-02 2.19783026e+01] [-2.30431521e-02 3.92848251e-04 9.99734394e-01 -7.99086099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.37, Y:22.00, Z:-0.80 [[ 7.44516933e-01 -6.67357145e-01 1.81377085e-02 5.83710317e+01] [ 6.67172526e-01 7.44737720e-01 1.57018663e-02 2.19968272e+01] [-2.39865884e-02 4.10675428e-04 9.99712196e-01 -7.99790382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00592 meters Centerline goodness [0,1] 0.9999502363772083 Centerline is valid? [True, True] Translation: X:58.39, Y:22.02, Z:-0.80 [[ 7.45337532e-01 -6.66437821e-01 1.82371577e-02 5.83935391e+01] [ 6.66250844e-01 7.45560517e-01 1.57901334e-02 2.20155553e+01] [-2.41200468e-02 3.81542672e-04 9.99708997e-01 -7.99961191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03591999999999 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:58.42, Y:22.04, Z:-0.80 [[ 7.45772339e-01 -6.65952547e-01 1.81885605e-02 5.84161174e+01] [ 6.65766419e-01 7.45994016e-01 1.57481317e-02 2.20362533e+01] [-2.40560656e-02 3.64811784e-04 9.99710544e-01 -8.00163925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.44, Y:22.06, Z:-0.80 [[ 7.46475631e-01 -6.65164606e-01 1.81708377e-02 5.84393701e+01] [ 6.64978606e-01 7.46696680e-01 1.57327868e-02 2.20567142e+01] [-2.40329971e-02 3.39076352e-04 9.99711108e-01 -7.99060658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09591999999999 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:58.46, Y:22.08, Z:-0.80 [[ 7.46329246e-01 -6.65344210e-01 1.75994065e-02 5.84628106e+01] [ 6.65170091e-01 7.46536646e-01 1.52245030e-02 2.20783066e+01] [-2.32681369e-02 3.44107000e-04 9.99729201e-01 -7.98999440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.49, Y:22.10, Z:-0.80 [[ 7.45241862e-01 -6.66525360e-01 1.89343999e-02 5.84855988e+01] [ 6.66324267e-01 7.45482243e-01 1.63767095e-02 2.21000335e+01] [-2.50307511e-02 4.11840622e-04 9.99686597e-01 -8.01199274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.51, Y:22.12, Z:-0.80 [[ 7.45358285e-01 -6.66407356e-01 1.85003425e-02 5.85094693e+01] [ 6.66215692e-01 7.45587734e-01 1.59869476e-02 2.21212571e+01] [-2.44474480e-02 4.09214637e-04 9.99701033e-01 -7.99747348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:22.14, Z:-0.80 [[ 7.44507195e-01 -6.67311039e-01 2.01249713e-02 5.85323674e+01] [ 6.67084574e-01 7.44778993e-01 1.73902920e-02 2.21415353e+01] [-2.65933897e-02 4.77860442e-04 9.99646219e-01 -8.00421809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:22.16, Z:-0.80 [[ 7.43923110e-01 -6.68002697e-01 1.87297343e-02 5.85563042e+01] [ 6.67807125e-01 7.44158698e-01 1.61702097e-02 2.21630058e+01] [-2.47396384e-02 4.78457370e-04 9.99693814e-01 -7.98795714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24592 meters Centerline goodness [0,1] 0.999950092329191 Centerline is valid? [True, True] Translation: X:58.58, Y:22.18, Z:-0.80 [[ 7.43856035e-01 -6.68127815e-01 1.68351306e-02 5.85792927e+01] [ 6.67969875e-01 7.44046392e-01 1.45331215e-02 2.21838106e+01] [-2.22361009e-02 4.34809989e-04 9.99752653e-01 -7.99254539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.60, Y:22.20, Z:-0.80 [[ 7.44249205e-01 -6.67684471e-01 1.70460496e-02 5.86017961e+01] [ 6.67522391e-01 7.44444266e-01 1.47170525e-02 2.22027419e+01] [-2.25161813e-02 4.25465188e-04 9.99746388e-01 -8.00181991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:22.22, Z:-0.80 [[ 7.44509977e-01 -6.67403552e-01 1.66550930e-02 5.86233973e+01] [ 6.67248669e-01 7.44696136e-01 1.43833000e-02 2.22214176e+01] [-2.20024489e-02 4.04578286e-04 9.99757835e-01 -7.99842425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:22.24, Z:-0.80 [[ 7.44852410e-01 -6.66986402e-01 1.80007297e-02 5.86460717e+01] [ 6.66805351e-01 7.45069768e-01 1.55455527e-02 2.22425501e+01] [-2.37804717e-02 4.23840481e-04 9.99717115e-01 -7.99831455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:22.26, Z:-0.80 [[ 7.45575979e-01 -6.66184414e-01 1.77421988e-02 5.86697783e+01] [ 6.66008620e-01 7.45786943e-01 1.53086140e-02 2.22646472e+01] [-2.34302602e-02 4.02722471e-04 9.99725393e-01 -7.99572985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39592 meters Centerline goodness [0,1] 0.9998509094523407 Centerline is valid? [True, True] Translation: X:58.69, Y:22.29, Z:-0.80 [[ 7.46178106e-01 -6.65531187e-01 1.69255234e-02 5.86931523e+01] [ 6.65371091e-01 7.46369952e-01 1.46015914e-02 2.22854832e+01] [-2.23505165e-02 3.66366166e-04 9.99750129e-01 -7.98900632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42591999999999 meters Centerline goodness [0,1] 0.999800945508833 Centerline is valid? [True, True] Translation: X:58.72, Y:22.31, Z:-0.80 [[ 7.46282155e-01 -6.65441380e-01 1.58339891e-02 5.87172435e+01] [ 6.65301393e-01 7.46450033e-01 1.36530531e-02 2.23062362e+01] [-2.09045882e-02 3.45345164e-04 9.99781416e-01 -7.97797955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:22.33, Z:-0.80 [[ 7.47184400e-01 -6.64403984e-01 1.68172008e-02 5.87385535e+01] [ 6.64245773e-01 7.47373557e-01 1.45024002e-02 2.23271395e+01] [-2.22041836e-02 3.34787334e-04 9.99753401e-01 -7.98949323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48592 meters Centerline goodness [0,1] 0.9999003487792726 Centerline is valid? [True, True] Translation: X:58.76, Y:22.35, Z:-0.80 [[ 7.47276693e-01 -6.64316614e-01 1.61549186e-02 5.87621768e+01] [ 6.64170900e-01 7.47451221e-01 1.39171640e-02 2.23505700e+01] [-2.13204169e-02 3.29654564e-04 9.99772640e-01 -7.98479705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.79, Y:22.37, Z:-0.80 [[ 7.47891879e-01 -6.63591073e-01 1.74535011e-02 5.87857371e+01] [ 6.63421115e-01 7.48095428e-01 1.50218017e-02 2.23723779e+01] [-2.30252179e-02 3.44337692e-04 9.99734825e-01 -7.99156637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:22.39, Z:-0.80 [[ 7.47909860e-01 -6.63560222e-01 1.78514223e-02 5.88105986e+01] [ 6.63382799e-01 7.48122784e-01 1.53480146e-02 2.23936996e+01] [-2.35393877e-02 3.63395072e-04 9.99722844e-01 -7.97865534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57592 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:58.83, Y:22.41, Z:-0.80 [[ 7.48320510e-01 -6.63011257e-01 2.07963547e-02 5.88347609e+01] [ 6.62770704e-01 7.48609311e-01 1.78631675e-02 2.24142800e+01] [-2.74118258e-02 4.15840036e-04 9.99624139e-01 -7.99386108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60592 meters Centerline goodness [0,1] 0.999602089032579 Centerline is valid? [True, True] Translation: X:58.86, Y:22.44, Z:-0.80 [[ 7.48431169e-01 -6.62880726e-01 2.09744699e-02 5.88593223e+01] [ 6.62636510e-01 7.48724889e-01 1.79971080e-02 2.24362568e+01] [-2.76340437e-02 4.28852965e-04 9.99618015e-01 -8.00866344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63592 meters Centerline goodness [0,1] 0.9989563661663851 Centerline is valid? [True, True] Translation: X:58.88, Y:22.46, Z:-0.80 [[ 7.48310516e-01 -6.63033376e-01 2.04478301e-02 5.88840257e+01] [ 6.62801829e-01 7.48589708e-01 1.75266887e-02 2.24580524e+01] [-2.69278147e-02 4.37453777e-04 9.99637285e-01 -8.02143111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66592 meters Centerline goodness [0,1] 0.9985568549390396 Centerline is valid? [True, True] Translation: X:58.91, Y:22.48, Z:-0.80 [[ 7.48280758e-01 -6.63036264e-01 2.14200859e-02 5.89076382e+01] [ 6.62782652e-01 7.48587129e-01 1.83429986e-02 2.24792398e+01] [-2.81968739e-02 4.71148478e-04 9.99602278e-01 -8.02146978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69592 meters Centerline goodness [0,1] 0.9975590315831424 Centerline is valid? [True, True] Translation: X:58.93, Y:22.50, Z:-0.80 [[ 7.48371542e-01 -6.62836863e-01 2.42348499e-02 5.89319650e+01] [ 6.62512666e-01 7.48763650e-01 2.07355833e-02 2.24994715e+01] [-3.18904837e-02 5.37974608e-04 9.99491224e-01 -8.02224907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72592 meters Centerline goodness [0,1] 0.9971654483067284 Centerline is valid? [True, True] Translation: X:58.96, Y:22.52, Z:-0.80 [[ 7.48530466e-01 -6.62623408e-01 2.51467713e-02 5.89568856e+01] [ 6.62274885e-01 7.48952536e-01 2.14959472e-02 2.25202783e+01] [-3.30774560e-02 5.63703664e-04 9.99452632e-01 -8.02859081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75592 meters Centerline goodness [0,1] 0.9970164097463948 Centerline is valid? [True, True] Translation: X:58.98, Y:22.54, Z:-0.80 [[ 7.48516200e-01 -6.62655301e-01 2.47274974e-02 5.89824808e+01] [ 6.62319048e-01 7.48924311e-01 2.11152663e-02 2.25417322e+01] [-3.25111671e-02 5.72373693e-04 9.99471208e-01 -8.03396889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78591999999999 meters Centerline goodness [0,1] 0.9959675411957982 Centerline is valid? [True, True] Translation: X:59.01, Y:22.56, Z:-0.80 [[ 7.47506267e-01 -6.63845119e-01 2.33246353e-02 5.90071739e+01] [ 6.63547168e-01 7.47869836e-01 1.98963155e-02 2.25637269e+01] [-3.06518631e-02 6.04375153e-04 9.99529939e-01 -8.04278700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81591999999999 meters Centerline goodness [0,1] 0.9952207895653905 Centerline is valid? [True, True] Translation: X:59.03, Y:22.58, Z:-0.81 [[ 7.47458984e-01 -6.63815995e-01 2.55615345e-02 5.90327909e+01] [ 6.63458803e-01 7.47895626e-01 2.17841475e-02 2.25834269e+01] [-3.35780254e-02 6.76268326e-04 9.99435870e-01 -8.05465327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84591999999999 meters Centerline goodness [0,1] 0.9951647475200638 Centerline is valid? [True, True] Translation: X:59.06, Y:22.60, Z:-0.80 [[ 7.47237592e-01 -6.64061070e-01 2.56685862e-02 5.90587066e+01] [ 6.63701807e-01 7.47678002e-01 2.18521509e-02 2.26044495e+01] [-3.37030000e-02 7.07538372e-04 9.99431642e-01 -8.04968594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87592 meters Centerline goodness [0,1] 0.9943142144638404 Centerline is valid? [True, True] Translation: X:59.08, Y:22.62, Z:-0.81 [[ 7.47563580e-01 -6.63701848e-01 2.54666624e-02 5.90845224e+01] [ 6.63348776e-01 7.47996901e-01 2.16572905e-02 2.26244241e+01] [-3.34229683e-02 7.03077700e-04 9.99441049e-01 -8.05385995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90592 meters Centerline goodness [0,1] 0.9937882025542911 Centerline is valid? [True, True] Translation: X:59.11, Y:22.64, Z:-0.81 [[ 7.47647603e-01 -6.63586949e-01 2.59888977e-02 5.91106794e+01] [ 6.63219881e-01 7.48098811e-01 2.20807195e-02 2.26431098e+01] [-3.40947408e-02 7.27756620e-04 9.99418340e-01 -8.08153687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93592 meters Centerline goodness [0,1] 0.9931452414067157 Centerline is valid? [True, True] Translation: X:59.14, Y:22.66, Z:-0.81 [[ 7.49179538e-01 -6.61866446e-01 2.57454178e-02 5.91376430e+01] [ 6.61505890e-01 7.49621487e-01 2.18536761e-02 2.26611243e+01] [-3.37635333e-02 6.58418551e-04 9.99429632e-01 -8.08213769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96592 meters Centerline goodness [0,1] 0.9922045680238332 Centerline is valid? [True, True] Translation: X:59.16, Y:22.68, Z:-0.81 [[ 7.50149531e-01 -6.60793058e-01 2.50642168e-02 5.91632002e+01] [ 6.60451378e-01 7.50567894e-01 2.12558958e-02 2.26804908e+01] [-3.28581448e-02 6.08596227e-04 9.99459840e-01 -8.06661627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99592 meters Centerline goodness [0,1] 0.9929455015152268 Centerline is valid? [True, True] Translation: X:59.19, Y:22.70, Z:-0.81 [[ 7.51963985e-01 -6.58735348e-01 2.48577493e-02 5.91884646e+01] [ 6.58398781e-01 7.52374549e-01 2.10614011e-02 2.26998027e+01] [-3.25762273e-02 5.28896752e-04 9.99469114e-01 -8.06375441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02592 meters Centerline goodness [0,1] 0.9926404773744406 Centerline is valid? [True, True] Translation: X:59.21, Y:22.72, Z:-0.81 [[ 7.55269185e-01 -6.55033435e-01 2.23530154e-02 5.92135402e+01] [ 6.54759750e-01 7.55599820e-01 1.89362690e-02 2.27184816e+01] [-2.92938237e-02 3.33874375e-04 9.99570788e-01 -8.07335150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05592 meters Centerline goodness [0,1] 0.9919908466819222 Centerline is valid? [True, True] Translation: X:59.24, Y:22.74, Z:-0.81 [[ 7.57068709e-01 -6.52973395e-01 2.17420326e-02 5.92376759e+01] [ 6.52713688e-01 7.57380805e-01 1.84162600e-02 2.27379655e+01] [-2.84923260e-02 2.48948096e-04 9.99593980e-01 -8.07786705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08592 meters Centerline goodness [0,1] 0.9922854867608999 Centerline is valid? [True, True] Translation: X:59.26, Y:22.76, Z:-0.81 [[ 7.61220510e-01 -6.48094926e-01 2.27223033e-02 5.92626600e+01] [ 6.47809157e-01 7.61559559e-01 1.92440500e-02 2.27568616e+01] [-2.97763585e-02 7.07505803e-05 9.99556583e-01 -8.09042837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11592 meters Centerline goodness [0,1] 0.9921847777390612 Centerline is valid? [True, True] Translation: X:59.29, Y:22.78, Z:-0.81 [[ 7.62239158e-01 -6.46925860e-01 2.18723090e-02 5.92870571e+01] [ 6.46660854e-01 7.62552904e-01 1.85150968e-02 2.27777089e+01] [-2.86566877e-02 3.10342588e-05 9.99589312e-01 -8.07906191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14592 meters Centerline goodness [0,1] 0.9922697122338038 Centerline is valid? [True, True] Translation: X:59.31, Y:22.80, Z:-0.81 [[ 7.63448400e-01 -6.45507339e-01 2.16059444e-02 5.93100431e+01] [ 6.45248654e-01 7.63754068e-01 1.82728997e-02 2.28004128e+01] [-2.82969188e-02 -9.20949389e-06 9.99599562e-01 -8.09367385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17591999999999 meters Centerline goodness [0,1] 0.9921334329101319 Centerline is valid? [True, True] Translation: X:59.33, Y:22.82, Z:-0.81 [[ 7.63613324e-01 -6.45294171e-01 2.21387567e-02 5.93347462e+01] [ 6.45023048e-01 7.63934181e-01 1.87038634e-02 2.28227275e+01] [-2.89820470e-02 -2.51095811e-06 9.99579932e-01 -8.09453827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20591999999999 meters Centerline goodness [0,1] 0.9921878887396128 Centerline is valid? [True, True] Translation: X:59.36, Y:22.85, Z:-0.81 [[ 7.62619114e-01 -6.46418559e-01 2.35612671e-02 5.93577064e+01] [ 6.46112572e-01 7.62982990e-01 1.98872229e-02 2.28453285e+01] [-3.08323160e-02 5.68545687e-05 9.99524570e-01 -8.08833790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23592 meters Centerline goodness [0,1] 0.991720698254364 Centerline is valid? [True, True] Translation: X:59.38, Y:22.87, Z:-0.81 [[ 7.62352868e-01 -6.46753863e-01 2.29683833e-02 5.93807627e+01] [ 6.46463772e-01 7.62698784e-01 1.93689672e-02 2.28674578e+01] [-3.00449123e-02 8.22399723e-05 9.99548546e-01 -8.07594904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26592 meters Centerline goodness [0,1] 0.9918403900691577 Centerline is valid? [True, True] Translation: X:59.40, Y:22.89, Z:-0.81 [[ 7.62242809e-01 -6.46914239e-01 2.20877299e-02 5.94034489e+01] [ 6.46646537e-01 7.62562757e-01 1.86090790e-02 2.28903223e+01] [-2.88817584e-02 9.83174274e-05 9.99582830e-01 -8.07336332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29592 meters Centerline goodness [0,1] 0.9910958563398498 Centerline is valid? [True, True] Translation: X:59.43, Y:22.91, Z:-0.81 [[ 7.61994452e-01 -6.47248880e-01 2.08168696e-02 5.94250239e+01] [ 6.47011668e-01 7.62278738e-01 1.75221969e-02 2.29146318e+01] [-2.72094794e-02 1.16940663e-04 9.99629747e-01 -8.08795608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32592 meters Centerline goodness [0,1] 0.990689569330346 Centerline is valid? [True, True] Translation: X:59.45, Y:22.94, Z:-0.81 [[ 7.62060039e-01 -6.47184717e-01 2.04068484e-02 5.94491880e+01] [ 6.46957219e-01 7.62333212e-01 1.71589827e-02 2.29371595e+01] [-2.66618497e-02 1.26182845e-04 9.99644502e-01 -8.10367839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35592 meters Centerline goodness [0,1] 0.9913350928738609 Centerline is valid? [True, True] Translation: X:59.47, Y:22.96, Z:-0.81 [[ 7.60456872e-01 -6.49042908e-01 2.11813507e-02 5.94708071e+01] [ 6.48798985e-01 7.60751772e-01 1.77937565e-02 2.29610206e+01] [-2.76626616e-02 2.11054421e-04 9.99617293e-01 -8.09682787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38592 meters Centerline goodness [0,1] 0.9913350928738609 Centerline is valid? [True, True] Translation: X:59.50, Y:22.98, Z:-0.81 [[ 7.60793925e-01 -6.48647488e-01 2.11905573e-02 5.94954380e+01] [ 6.48403718e-01 7.61088951e-01 1.77827912e-02 2.29821263e+01] [-2.76626619e-02 2.10996604e-04 9.99617293e-01 -8.09710873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41592 meters Centerline goodness [0,1] 0.9916836810915791 Centerline is valid? [True, True] Translation: X:59.52, Y:23.00, Z:-0.81 [[ 7.60277665e-01 -6.49268058e-01 2.07089647e-02 5.95191063e+01] [ 6.49035968e-01 7.60559617e-01 1.73603553e-02 2.30046778e+01] [-2.70219265e-02 2.42172575e-04 9.99634812e-01 -8.08882541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44592 meters Centerline goodness [0,1] 0.9908444046375081 Centerline is valid? [True, True] Translation: X:59.54, Y:23.03, Z:-0.81 [[ 7.59968443e-01 -6.49653880e-01 1.99449716e-02 5.95423335e+01] [ 6.49439196e-01 7.60230076e-01 1.67021452e-02 2.30276517e+01] [-2.60133807e-02 2.59943057e-04 9.99661561e-01 -8.07972174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47592 meters Centerline goodness [0,1] 0.9910429936305732 Centerline is valid? [True, True] Translation: X:59.56, Y:23.05, Z:-0.81 [[ 7.58460640e-01 -6.51411144e-01 2.00244652e-02 5.95647966e+01] [ 6.51195763e-01 7.58724858e-01 1.67531289e-02 2.30502269e+01] [-2.61062343e-02 3.33258024e-04 9.99659119e-01 -8.07886241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50592 meters Centerline goodness [0,1] 0.9909860557768925 Centerline is valid? [True, True] Translation: X:59.59, Y:23.07, Z:-0.81 [[ 7.58234924e-01 -6.51714398e-01 1.86586243e-02 5.95886550e+01] [ 6.51527847e-01 7.58464392e-01 1.55958442e-02 2.30712780e+01] [-2.43159383e-02 3.31299640e-04 9.99704269e-01 -8.07911466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53591999999999 meters Centerline goodness [0,1] 0.991044776119403 Centerline is valid? [True, True] Translation: X:59.61, Y:23.09, Z:-0.81 [[ 7.57122466e-01 -6.52936219e-01 2.09729769e-02 5.96130813e+01] [ 6.52701396e-01 7.57412774e-01 1.75150352e-02 2.30914006e+01] [-2.73214014e-02 4.28064680e-04 9.99626609e-01 -8.08872476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56591999999999 meters Centerline goodness [0,1] 0.9908475925189018 Centerline is valid? [True, True] Translation: X:59.64, Y:23.11, Z:-0.81 [[ 7.56555108e-01 -6.53594726e-01 2.09356708e-02 5.96392718e+01] [ 6.53361493e-01 7.56844580e-01 1.74654505e-02 2.31108738e+01] [-2.72603753e-02 4.64985296e-04 9.99628259e-01 -8.07874047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59591999999999 meters Centerline goodness [0,1] 0.9907712261797865 Centerline is valid? [True, True] Translation: X:59.66, Y:23.13, Z:-0.81 [[ 7.56517042e-01 -6.53675332e-01 1.97617242e-02 5.96641866e+01] [ 6.53467948e-01 7.56774970e-01 1.64707659e-02 2.31317029e+01] [-2.57217116e-02 4.53238286e-04 9.99669039e-01 -8.07175880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62592 meters Centerline goodness [0,1] 0.990939413551053 Centerline is valid? [True, True] Translation: X:59.69, Y:23.15, Z:-0.81 [[ 7.58010296e-01 -6.51986439e-01 1.82777058e-02 5.96886068e+01] [ 6.51808885e-01 7.58230533e-01 1.52196175e-02 2.31526696e+01] [-2.37816988e-02 3.76944258e-04 9.99717104e-01 -8.07092148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65592 meters Centerline goodness [0,1] 0.9906951286261632 Centerline is valid? [True, True] Translation: X:59.71, Y:23.17, Z:-0.81 [[ 7.59088104e-01 -6.50708857e-01 1.90587072e-02 5.97140718e+01] [ 6.50515771e-01 7.59327236e-01 1.58549650e-02 2.31724111e+01] [-2.47887617e-02 3.62674267e-04 9.99692646e-01 -8.07540218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68592 meters Centerline goodness [0,1] 0.9905979504526913 Centerline is valid? [True, True] Translation: X:59.74, Y:23.19, Z:-0.81 [[ 7.61826476e-01 -6.47471747e-01 2.00189211e-02 5.97401596e+01] [ 6.47257661e-01 7.62089406e-01 1.66510545e-02 2.31897803e+01] [-2.60372951e-02 2.72185891e-04 9.99660935e-01 -8.05987615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71592 meters Centerline goodness [0,1] 0.9905147022115721 Centerline is valid? [True, True] Translation: X:59.76, Y:23.21, Z:-0.81 [[ 7.63160517e-01 -6.45918599e-01 1.93697744e-02 5.97646403e+01] [ 6.45718043e-01 7.63406257e-01 1.60964464e-02 2.32108021e+01] [-2.51840011e-02 2.23240534e-04 9.99682808e-01 -8.05315471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74592 meters Centerline goodness [0,1] 0.9911363410018923 Centerline is valid? [True, True] Translation: X:59.79, Y:23.23, Z:-0.81 [[ 7.64419107e-01 -6.44424417e-01 1.95089544e-02 5.97889111e+01] [ 6.44220921e-01 7.64667990e-01 1.61947785e-02 2.32331869e+01] [-2.53541836e-02 1.88478442e-04 9.99678513e-01 -8.06810250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77592 meters Centerline goodness [0,1] 0.9917235877748417 Centerline is valid? [True, True] Translation: X:59.81, Y:23.25, Z:-0.81 [[ 7.66265195e-01 -6.42240566e-01 1.90972908e-02 5.98132811e+01] [ 6.42045257e-01 7.66503124e-01 1.58382087e-02 2.32536355e+01] [-2.48100732e-02 1.25056897e-04 9.99692175e-01 -8.09120398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80592 meters Centerline goodness [0,1] 0.9920071935258268 Centerline is valid? [True, True] Translation: X:59.84, Y:23.28, Z:-0.81 [[ 7.67901563e-01 -6.40276206e-01 1.93279568e-02 5.98381240e+01] [ 6.40075957e-01 7.68144761e-01 1.60123235e-02 2.32750577e+01] [-2.50989785e-02 7.54722219e-05 9.99684968e-01 -8.08629562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83592 meters Centerline goodness [0,1] 0.9920039731810281 Centerline is valid? [True, True] Translation: X:59.86, Y:23.30, Z:-0.81 [[ 7.68489703e-01 -6.39600195e-01 1.83075620e-02 5.98609963e+01] [ 6.39420680e-01 7.68707738e-01 1.51527851e-02 2.32972155e+01] [-2.37648888e-02 6.14744541e-05 9.99717573e-01 -8.08125306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86592 meters Centerline goodness [0,1] 0.9932839162230734 Centerline is valid? [True, True] Translation: X:59.88, Y:23.32, Z:-0.81 [[ 7.69049336e-01 -6.38946721e-01 1.76126465e-02 5.98844552e+01] [ 6.38780714e-01 7.69250989e-01 1.45641421e-02 2.33197181e+01] [-2.28542566e-02 5.00750868e-05 9.99738806e-01 -8.08328062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89591999999999 meters Centerline goodness [0,1] 0.9944275834618638 Centerline is valid? [True, True] Translation: X:59.91, Y:23.34, Z:-0.81 [[ 7.69696676e-01 -6.38187349e-01 1.68503455e-02 5.99094514e+01] [ 6.38035504e-01 7.69881099e-01 1.39208108e-02 2.33404944e+01] [-2.18568479e-02 3.63168691e-05 9.99761110e-01 -8.07680290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92591999999999 meters Centerline goodness [0,1] 0.9952764518695306 Centerline is valid? [True, True] Translation: X:59.93, Y:23.36, Z:-0.81 [[ 7.71516350e-01 -6.35936417e-01 1.86385395e-02 5.99325753e+01] [ 6.35750320e-01 7.71741455e-01 1.53836699e-02 2.33627907e+01] [-2.41671695e-02 -1.92954160e-05 9.99707931e-01 -8.09107031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95591999999999 meters Centerline goodness [0,1] 0.9965695535447947 Centerline is valid? [True, True] Translation: X:59.96, Y:23.39, Z:-0.81 [[ 7.73067783e-01 -6.34044240e-01 1.88176654e-02 5.99569336e+01] [ 6.33854386e-01 7.73296772e-01 1.55151551e-02 2.33850544e+01] [-2.43889346e-02 -6.66068248e-05 9.99702543e-01 -8.09971055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98592 meters Centerline goodness [0,1] 0.9974611708482676 Centerline is valid? [True, True] Translation: X:59.98, Y:23.41, Z:-0.81 [[ 7.74958743e-01 -6.31733484e-01 1.87550577e-02 5.99820862e+01] [ 6.31544609e-01 7.75185648e-01 1.54472684e-02 2.34069264e+01] [-2.42972082e-02 -1.26340075e-04 9.99704771e-01 -8.09373461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01592 meters Centerline goodness [0,1] 0.9982115355954096 Centerline is valid? [True, True] Translation: X:60.01, Y:23.43, Z:-0.81 [[ 7.75693887e-01 -6.30788017e-01 2.01362940e-02 6.00071356e+01] [ 6.30570376e-01 7.75955188e-01 1.65694970e-02 2.34268588e+01] [-2.60767019e-02 -1.55507119e-04 9.99659933e-01 -8.08924420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04592 meters Centerline goodness [0,1] 0.9992536942136425 Centerline is valid? [True, True] Translation: X:60.03, Y:23.45, Z:-0.81 [[ 7.76613833e-01 -6.29674284e-01 1.95256356e-02 6.00325959e+01] [ 6.29469715e-01 7.76859232e-01 1.60502737e-02 2.34477011e+01] [-2.52751149e-02 -1.74068314e-04 9.99680518e-01 -8.07533478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07592 meters Centerline goodness [0,1] 0.9990556660039761 Centerline is valid? [True, True] Translation: X:60.06, Y:23.47, Z:-0.81 [[ 7.77383653e-01 -6.28739330e-01 1.90134314e-02 6.00578613e+01] [ 6.28545479e-01 7.77616114e-01 1.56128444e-02 2.34692275e+01] [-2.46015599e-02 -1.86363632e-04 9.99697318e-01 -8.06923612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10592 meters Centerline goodness [0,1] 0.9985580747812252 Centerline is valid? [True, True] Translation: X:60.08, Y:23.49, Z:-0.81 [[ 7.77394117e-01 -6.28720959e-01 1.91922402e-02 6.00832943e+01] [ 6.28523849e-01 7.77630970e-01 1.57431502e-02 2.34905677e+01] [-2.48225289e-02 -1.75851683e-04 9.99691858e-01 -8.10015474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13592 meters Centerline goodness [0,1] 0.9986065492186722 Centerline is valid? [True, True] Translation: X:60.11, Y:23.51, Z:-0.81 [[ 7.77139487e-01 -6.29054059e-01 1.85797934e-02 6.01081527e+01] [ 6.28869762e-01 7.77361543e-01 1.52267791e-02 2.35103087e+01] [-2.40216840e-02 -1.49061082e-04 9.99711427e-01 -8.09614941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16592 meters Centerline goodness [0,1] 0.9991036749327756 Centerline is valid? [True, True] Translation: X:60.13, Y:23.53, Z:-0.81 [[ 7.75850506e-01 -6.30629499e-01 1.90374957e-02 6.01346822e+01] [ 6.30436886e-01 7.76084033e-01 1.55854438e-02 2.35297999e+01] [-2.46033371e-02 -9.00349711e-05 9.99697288e-01 -8.10411838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19592 meters Centerline goodness [0,1] 0.9993529763089787 Centerline is valid? [True, True] Translation: X:60.16, Y:23.55, Z:-0.81 [[ 7.74759817e-01 -6.31913959e-01 2.07839905e-02 6.01597104e+01] [ 6.31685266e-01 7.75038545e-01 1.69993491e-02 2.35502965e+01] [-2.68505198e-02 -4.14720412e-05 9.99639459e-01 -8.10742129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22592 meters Centerline goodness [0,1] 0.9994528452049344 Centerline is valid? [True, True] Translation: X:60.18, Y:23.57, Z:-0.81 [[ 7.74955224e-01 -6.31715181e-01 1.95020880e-02 6.01845121e+01] [ 6.31514143e-01 7.75200573e-01 1.59360552e-02 2.35701454e+01] [-2.51850778e-02 -3.38848169e-05 9.99682805e-01 -8.09653413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25592 meters Centerline goodness [0,1] 0.9995027349577325 Centerline is valid? [True, True] Translation: X:60.21, Y:23.59, Z:-0.81 [[ 7.73683741e-01 -6.33287078e-01 1.89985439e-02 6.02108129e+01] [ 6.33097163e-01 7.73916969e-01 1.55083007e-02 2.35895130e+01] [-2.45245020e-02 2.94041778e-05 9.99699229e-01 -8.08861109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28591999999999 meters Centerline goodness [0,1] 0.999602089032579 Centerline is valid? [True, True] Translation: X:60.24, Y:23.61, Z:-0.81 [[ 7.73180380e-01 -6.33933208e-01 1.79105530e-02 6.02372706e+01] [ 6.33764912e-01 7.73387797e-01 1.46065443e-02 2.36084892e+01] [-2.31113766e-02 5.75865259e-05 9.99732895e-01 -8.08689837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31591999999999 meters Centerline goodness [0,1] 0.9995002498750625 Centerline is valid? [True, True] Translation: X:60.26, Y:23.63, Z:-0.81 [[ 7.72210648e-01 -6.35145851e-01 1.67470069e-02 6.02648069e+01] [ 6.34999274e-01 7.72392218e-01 1.36449096e-02 2.36254714e+01] [-2.16017656e-02 9.75927750e-05 9.99766650e-01 -8.09670169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34591999999999 meters Centerline goodness [0,1] 0.9995023885350318 Centerline is valid? [True, True] Translation: X:60.29, Y:23.64, Z:-0.81 [[ 7.71826168e-01 -6.35623147e-01 1.63579320e-02 6.02891561e+01] [ 6.35483420e-01 7.71999484e-01 1.33274059e-02 2.36432802e+01] [-2.10995228e-02 1.08753953e-04 9.99777374e-01 -8.09126733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37592 meters Centerline goodness [0,1] 0.9996007784819602 Centerline is valid? [True, True] Translation: X:60.31, Y:23.66, Z:-0.81 [[ 7.71770412e-01 -6.35648693e-01 1.79212168e-02 6.03148911e+01] [ 6.35480942e-01 7.71978449e-01 1.46029633e-02 2.36586189e+01] [-2.31171477e-02 1.18456752e-04 9.99732756e-01 -8.08248859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40592 meters Centerline goodness [0,1] 0.9995522165281855 Centerline is valid? [True, True] Translation: X:60.34, Y:23.67, Z:-0.81 [[ 7.71910200e-01 -6.35470681e-01 1.82114459e-02 6.03392055e+01] [ 6.35297311e-01 7.72124991e-01 1.48433523e-02 2.36742386e+01] [-2.34940276e-02 1.11947583e-04 9.99723971e-01 -8.06510045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43592 meters Centerline goodness [0,1] 0.9992011184341921 Centerline is valid? [True, True] Translation: X:60.36, Y:23.69, Z:-0.81 [[ 7.72153792e-01 -6.35211321e-01 1.68848572e-02 6.03643861e+01] [ 6.35062189e-01 7.72338377e-01 1.37640061e-02 2.36899272e+01] [-2.17838757e-02 9.50048885e-05 9.99762699e-01 -8.06777466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46592 meters Centerline goodness [0,1] 0.9996518452203322 Centerline is valid? [True, True] Translation: X:60.39, Y:23.71, Z:-0.81 [[ 7.72966673e-01 -6.34205991e-01 1.74723357e-02 6.03876347e+01] [ 6.34045958e-01 7.73164120e-01 1.42466575e-02 2.37075035e+01] [-2.25442986e-02 6.60724289e-05 9.99745843e-01 -8.08831047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49592 meters Centerline goodness [0,1] 0.9992520568436799 Centerline is valid? [True, True] Translation: X:60.41, Y:23.72, Z:-0.81 [[ 7.74960936e-01 -6.31805721e-01 1.60336725e-02 6.04128594e+01] [ 6.31670373e-01 7.75126784e-01 1.30770583e-02 2.37218174e+01] [-2.06902892e-02 -6.21348798e-06 9.99785933e-01 -8.08534406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52592 meters Centerline goodness [0,1] 0.9992047318455192 Centerline is valid? [True, True] Translation: X:60.44, Y:23.74, Z:-0.81 [[ 7.76212928e-01 -6.30249304e-01 1.67124231e-02 6.04377151e+01] [ 6.30101812e-01 7.76392821e-01 1.36343003e-02 2.37370596e+01] [-2.15684136e-02 -5.25921341e-05 9.99767373e-01 -8.08276305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55592 meters Centerline goodness [0,1] 0.9990542558486809 Centerline is valid? [True, True] Translation: X:60.46, Y:23.75, Z:-0.81 [[ 7.77053729e-01 -6.29186541e-01 1.76578183e-02 6.04614746e+01] [ 6.29021528e-01 7.77254327e-01 1.44093475e-02 2.37529506e+01] [-2.27907831e-02 -8.96893365e-05 9.99740252e-01 -8.06386773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58592 meters Centerline goodness [0,1] 0.9987559713375797 Centerline is valid? [True, True] Translation: X:60.49, Y:23.77, Z:-0.81 [[ 7.80062270e-01 -6.25467035e-01 1.71418649e-02 6.04858392e+01] [ 6.25310542e-01 7.80250569e-01 1.39919983e-02 2.37682586e+01] [-2.21264835e-02 -1.95641085e-04 9.99755160e-01 -8.05491396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61592 meters Centerline goodness [0,1] 0.9991544812493783 Centerline is valid? [True, True] Translation: X:60.51, Y:23.79, Z:-0.81 [[ 7.81530748e-01 -6.23640441e-01 1.68014690e-02 6.05084030e+01] [ 6.23489603e-01 7.81711289e-01 1.37177025e-02 2.37866165e+01] [-2.16888121e-02 -2.45265025e-04 9.99764740e-01 -8.06812779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64591999999999 meters Centerline goodness [0,1] 0.9997010612326241 Centerline is valid? [True, True] Translation: X:60.53, Y:23.80, Z:-0.81 [[ 7.84543032e-01 -6.19865479e-01 1.60940599e-02 6.05318384e+01] [ 6.19726209e-01 7.84708018e-01 1.31434954e-02 2.38030212e+01] [-2.07763369e-02 -3.37726981e-04 9.99784092e-01 -8.08004354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67591999999999 meters Centerline goodness [0,1] 0.9999003785614664 Centerline is valid? [True, True] Translation: X:60.56, Y:23.82, Z:-0.81 [[ 7.85378707e-01 -6.18778794e-01 1.71198914e-02 6.05553673e+01] [ 6.18620865e-01 7.85565179e-01 1.39848253e-02 2.38196086e+01] [-2.21023039e-02 -3.92661999e-04 9.99755637e-01 -8.08255438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70591999999999 meters Centerline goodness [0,1] 0.9996513249651325 Centerline is valid? [True, True] Translation: X:60.58, Y:23.83, Z:-0.81 [[ 7.87679450e-01 -6.15821599e-01 1.80234130e-02 6.05795817e+01] [ 6.15645625e-01 7.87885463e-01 1.47296326e-02 2.38348463e+01] [-2.32712110e-02 -5.06193562e-04 9.99729061e-01 -8.09313417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73592 meters Centerline goodness [0,1] 0.9994032522751007 Centerline is valid? [True, True] Translation: X:60.60, Y:23.85, Z:-0.81 [[ 7.88145461e-01 -6.15211604e-01 1.84774335e-02 6.06026922e+01] [ 6.15026391e-01 7.88361840e-01 1.51045632e-02 2.38526103e+01] [-2.38594061e-02 -5.40483672e-04 9.99715178e-01 -8.09401480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76592 meters Centerline goodness [0,1] 0.9986075886419017 Centerline is valid? [True, True] Translation: X:60.63, Y:23.87, Z:-0.81 [[ 7.89667121e-01 -6.13247481e-01 1.87980042e-02 6.06259470e+01] [ 6.13055135e-01 7.89890594e-01 1.53704750e-02 2.38698863e+01] [-2.42742718e-02 -6.13345709e-04 9.99705148e-01 -8.10475178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79592 meters Centerline goodness [0,1] 0.9986058554072894 Centerline is valid? [True, True] Translation: X:60.65, Y:23.89, Z:-0.81 [[ 7.90277087e-01 -6.12460103e-01 1.88347694e-02 6.06477180e+01] [ 6.12266687e-01 7.90501240e-01 1.54043365e-02 2.38882248e+01] [-2.43234500e-02 -6.41792306e-04 9.99703935e-01 -8.10421078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82592 meters Centerline goodness [0,1] 0.9984579416007561 Centerline is valid? [True, True] Translation: X:60.67, Y:23.91, Z:-0.81 [[ 7.91329796e-01 -6.11107948e-01 1.85534430e-02 6.06694470e+01] [ 6.10919806e-01 7.91546979e-01 1.51780069e-02 2.39069415e+01] [-2.39613224e-02 -6.76143277e-04 9.99712658e-01 -8.09284309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85592 meters Centerline goodness [0,1] 0.9978578189607931 Centerline is valid? [True, True] Translation: X:60.69, Y:23.93, Z:-0.81 [[ 7.92597229e-01 -6.09445486e-01 1.91267521e-02 6.06913004e+01] [ 6.09244932e-01 7.92827619e-01 1.56518108e-02 2.39250481e+01] [-2.47031427e-02 -7.52705115e-04 9.99694547e-01 -8.09400343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88592 meters Centerline goodness [0,1] 0.9974536921463877 Centerline is valid? [True, True] Translation: X:60.71, Y:23.94, Z:-0.81 [[ 7.92643461e-01 -6.09385718e-01 1.91151869e-02 6.07126042e+01] [ 6.09185294e-01 7.92873554e-01 1.56462197e-02 2.39448817e+01] [-2.46905090e-02 -7.57182970e-04 9.99694856e-01 -8.10161494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91592 meters Centerline goodness [0,1] 0.9973605577689243 Centerline is valid? [True, True] Translation: X:60.73, Y:23.96, Z:-0.81 [[ 7.92443422e-01 -6.09607984e-01 2.02861763e-02 6.07338995e+01] [ 6.09382214e-01 7.92702634e-01 1.66087835e-02 2.39642713e+01] [-2.62057524e-02 -7.99486174e-04 9.99656251e-01 -8.11646236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94592 meters Centerline goodness [0,1] 0.9976602947033054 Centerline is valid? [True, True] Translation: X:60.76, Y:23.98, Z:-0.81 [[ 7.92061211e-01 -6.10107181e-01 2.02056148e-02 6.07551880e+01] [ 6.09883256e-01 7.92318506e-01 1.65468657e-02 2.39832317e+01] [-2.61046441e-02 -7.83064362e-04 9.99658909e-01 -8.11205620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97592 meters Centerline goodness [0,1] 0.9976621567847195 Centerline is valid? [True, True] Translation: X:60.78, Y:24.00, Z:-0.81 [[ 7.90343335e-01 -6.12379466e-01 1.86762542e-02 6.07761823e+01] [ 6.12188702e-01 7.90563696e-01 1.52981960e-02 2.40033093e+01] [-2.41330696e-02 -6.57435385e-04 9.99708539e-01 -8.12407518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00592 meters Centerline goodness [0,1] 0.9976077747321206 Centerline is valid? [True, True] Translation: X:60.80, Y:24.03, Z:-0.81 [[ 7.88249007e-01 -6.15094831e-01 1.79402428e-02 6.07950266e+01] [ 6.14919486e-01 7.88452943e-01 1.46963130e-02 2.40272022e+01] [-2.31846634e-02 -5.52549226e-04 9.99731047e-01 -8.12264818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03591999999999 meters Centerline goodness [0,1] 0.998008265697356 Centerline is valid? [True, True] Translation: X:60.81, Y:24.05, Z:-0.81 [[ 7.87431064e-01 -6.16084032e-01 1.98188208e-02 6.08149611e+01] [ 6.15870208e-01 7.87680218e-01 1.62407009e-02 2.40475928e+01] [-2.56165296e-02 -5.82611058e-04 9.99671673e-01 -8.12720141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06591999999999 meters Centerline goodness [0,1] 0.9978110541764091 Centerline is valid? [True, True] Translation: X:60.84, Y:24.07, Z:-0.81 [[ 7.86924716e-01 -6.16692637e-01 2.09686349e-02 6.08369628e+01] [ 6.16453431e-01 7.87203808e-01 1.71852184e-02 2.40670025e+01] [-2.71045869e-02 -5.97286161e-04 9.99632425e-01 -8.12903453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09591999999999 meters Centerline goodness [0,1] 0.9980081665172792 Centerline is valid? [True, True] Translation: X:60.86, Y:24.09, Z:-0.81 [[ 7.85571218e-01 -6.18415565e-01 2.09773774e-02 6.08628751e+01] [ 6.18176828e-01 7.85851068e-01 1.71903744e-02 2.40854085e+01] [-2.71158895e-02 -5.36534793e-04 9.99632153e-01 -8.12058973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12592 meters Centerline goodness [0,1] 0.9976628543013426 Centerline is valid? [True, True] Translation: X:60.89, Y:24.10, Z:-0.81 [[ 7.84825575e-01 -6.19383675e-01 2.03145203e-02 6.08869468e+01] [ 6.19160115e-01 7.85088291e-01 1.66471154e-02 2.41046982e+01] [-2.62596436e-02 -4.87141217e-04 9.99655037e-01 -8.12055834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15592 meters Centerline goodness [0,1] 0.9979052369077307 Centerline is valid? [True, True] Translation: X:60.91, Y:24.13, Z:-0.81 [[ 7.83073772e-01 -6.21623332e-01 1.94910450e-02 6.09081423e+01] [ 6.21418248e-01 7.83316205e-01 1.59713259e-02 2.41266090e+01] [-2.51958002e-02 -3.94635379e-04 9.99682458e-01 -8.12498836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18592 meters Centerline goodness [0,1] 0.9979085748431431 Centerline is valid? [True, True] Translation: X:60.93, Y:24.14, Z:-0.81 [[ 7.82818251e-01 -6.21958062e-01 1.90723708e-02 6.09306373e+01] [ 6.21761700e-01 7.83050462e-01 1.56321098e-02 2.41444497e+01] [-2.46571455e-02 -3.78631187e-04 9.99695895e-01 -8.12282198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21592 meters Centerline goodness [0,1] 0.9977595220313666 Centerline is valid? [True, True] Translation: X:60.96, Y:24.16, Z:-0.81 [[ 7.82002439e-01 -6.22930418e-01 2.07335421e-02 6.09554576e+01] [ 6.22698578e-01 7.82277156e-01 1.69979913e-02 2.41598345e+01] [-2.68079422e-02 -3.81723507e-04 9.99640530e-01 -8.12449355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24592 meters Centerline goodness [0,1] 0.9976088472651191 Centerline is valid? [True, True] Translation: X:60.98, Y:24.18, Z:-0.81 [[ 7.82296775e-01 -6.22614080e-01 1.90647269e-02 6.09798702e+01] [ 6.22417895e-01 7.82528961e-01 1.56329335e-02 2.41777288e+01] [-2.46519855e-02 -3.63366269e-04 9.99696028e-01 -8.11793262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27592 meters Centerline goodness [0,1] 0.9976088472651191 Centerline is valid? [True, True] Translation: X:61.00, Y:24.20, Z:-0.81 [[ 7.82219500e-01 -6.22711220e-01 1.90628014e-02 6.10018307e+01] [ 6.22515006e-01 7.82451663e-01 1.56352815e-02 2.41956861e+01] [-2.46519858e-02 -3.63342135e-04 9.99696028e-01 -8.11817744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30592 meters Centerline goodness [0,1] 0.9974610444566138 Centerline is valid? [True, True] Translation: X:61.03, Y:24.21, Z:-0.81 [[ 7.82938818e-01 -6.21851875e-01 1.75229001e-02 6.10252393e+01] [ 6.21685808e-01 7.83134800e-01 1.43750069e-02 2.42120902e+01] [-2.26619178e-02 -3.61012612e-04 9.99743121e-01 -8.10400282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33592 meters Centerline goodness [0,1] 0.997261910688505 Centerline is valid? [True, True] Translation: X:61.05, Y:24.23, Z:-0.81 [[ 7.83874860e-01 -6.20663688e-01 1.77985950e-02 6.10484735e+01] [ 6.20491961e-01 7.84076797e-01 1.46048812e-02 2.42287244e+01] [-2.30201848e-02 -4.04514105e-04 9.99734919e-01 -8.10850256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36592 meters Centerline goodness [0,1] 0.9975113234781743 Centerline is valid? [True, True] Translation: X:61.07, Y:24.25, Z:-0.81 [[ 7.85641147e-01 -6.18408859e-01 1.83976192e-02 6.10720911e+01] [ 6.18224667e-01 7.85856376e-01 1.51002472e-02 2.42450035e+01] [-2.37960130e-02 -4.89513571e-04 9.99716715e-01 -8.11987643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39591999999999 meters Centerline goodness [0,1] 0.997206146477749 Centerline is valid? [True, True] Translation: X:61.10, Y:24.26, Z:-0.81 [[ 7.86364559e-01 -6.17505205e-01 1.78354365e-02 6.10951375e+01] [ 6.17331782e-01 7.86566633e-01 1.46424944e-02 2.42626901e+01] [-2.30705758e-02 -5.03956882e-04 9.99733712e-01 -8.12344513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42591999999999 meters Centerline goodness [0,1] 0.9968978284799359 Centerline is valid? [True, True] Translation: X:61.12, Y:24.28, Z:-0.81 [[ 7.87377253e-01 -6.16202758e-01 1.81995403e-02 6.11183702e+01] [ 6.16021746e-01 7.87587361e-01 1.49451318e-02 2.42800996e+01] [-2.35429594e-02 -5.56144225e-04 9.99722671e-01 -8.13169720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45591999999999 meters Centerline goodness [0,1] 0.9973134328358209 Centerline is valid? [True, True] Translation: X:61.14, Y:24.30, Z:-0.81 [[ 7.87500380e-01 -6.16022258e-01 1.89665058e-02 6.11415592e+01] [ 6.15825517e-01 7.87728526e-01 1.55788751e-02 2.42979209e+01] [-2.45373915e-02 -5.88311810e-04 9.99698740e-01 -8.13541350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48592 meters Centerline goodness [0,1] 0.9968995349302395 Centerline is valid? [True, True] Translation: X:61.16, Y:24.32, Z:-0.81 [[ 7.87715989e-01 -6.15778715e-01 1.78912062e-02 6.11642275e+01] [ 6.15603505e-01 7.87918940e-01 1.46993003e-02 2.43157179e+01] [-2.31483365e-02 -5.64984655e-04 9.99731882e-01 -8.12721111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51592 meters Centerline goodness [0,1] 0.9970113568439928 Centerline is valid? [True, True] Translation: X:61.19, Y:24.33, Z:-0.81 [[ 7.88223428e-01 -6.15183864e-01 1.58946906e-02 6.11862217e+01] [ 6.15045393e-01 7.88383500e-01 1.30622126e-02 2.43348203e+01] [-2.05667742e-02 -5.19985747e-04 9.99788346e-01 -8.11274268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54592 meters Centerline goodness [0,1] 0.9967164179104477 Centerline is valid? [True, True] Translation: X:61.21, Y:24.35, Z:-0.81 [[ 7.89342307e-01 -6.13681525e-01 1.82676964e-02 6.12077609e+01] [ 6.13498123e-01 7.89553398e-01 1.50161138e-02 2.43544648e+01] [-2.36384334e-02 -6.45656484e-04 9.99720365e-01 -8.11266176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57592 meters Centerline goodness [0,1] 0.9968114786767637 Centerline is valid? [True, True] Translation: X:61.23, Y:24.37, Z:-0.81 [[ 7.89230714e-01 -6.13816422e-01 1.85548039e-02 6.12294874e+01] [ 6.13627156e-01 7.89448524e-01 1.52558692e-02 2.43736093e+01] [-2.40123656e-02 -6.54668990e-04 9.99711447e-01 -8.11731865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60592 meters Centerline goodness [0,1] 0.9965669933827553 Centerline is valid? [True, True] Translation: X:61.25, Y:24.39, Z:-0.81 [[ 7.91207209e-01 -6.11288041e-01 1.78348820e-02 6.12523457e+01] [ 6.11112453e-01 7.91407880e-01 1.46675562e-02 2.43917301e+01] [-2.30807679e-02 -7.05957750e-04 9.99733354e-01 -8.11238219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63592 meters Centerline goodness [0,1] 0.9965630603705917 Centerline is valid? [True, True] Translation: X:61.27, Y:24.41, Z:-0.81 [[ 7.92071261e-01 -6.10185946e-01 1.72112758e-02 6.12745012e+01] [ 6.10022088e-01 7.92257912e-01 1.41581453e-02 2.44102620e+01] [-2.22748707e-02 -7.15001608e-04 9.99751629e-01 -8.11294991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66592 meters Centerline goodness [0,1] 0.996617252014725 Centerline is valid? [True, True] Translation: X:61.30, Y:24.43, Z:-0.81 [[ 7.92775810e-01 -6.09272975e-01 1.71159780e-02 6.12968759e+01] [ 6.09110637e-01 7.92960210e-01 1.40831996e-02 2.44287438e+01] [-2.21528024e-02 -7.39295764e-04 9.99754323e-01 -8.11839472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69592 meters Centerline goodness [0,1] 0.9963639986053693 Centerline is valid? [True, True] Translation: X:61.32, Y:24.45, Z:-0.81 [[ 7.92551930e-01 -6.09535907e-01 1.80946522e-02 6.13167569e+01] [ 6.09354474e-01 7.92758082e-01 1.48912400e-02 2.44494976e+01] [-2.34214273e-02 -7.76023731e-04 9.99725380e-01 -8.12785866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72592 meters Centerline goodness [0,1] 0.9963009247688078 Centerline is valid? [True, True] Translation: X:61.34, Y:24.47, Z:-0.81 [[ 7.91857251e-01 -6.10485459e-01 1.64194730e-02 6.13357758e+01] [ 6.10336201e-01 7.92027172e-01 1.35159439e-02 2.44721740e+01] [-2.12559560e-02 -6.81299413e-04 9.99773835e-01 -8.11993527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75592 meters Centerline goodness [0,1] 0.9963658087320157 Centerline is valid? [True, True] Translation: X:61.36, Y:24.49, Z:-0.81 [[ 7.91369960e-01 -6.11067913e-01 1.81546560e-02 6.13579643e+01] [ 6.10885502e-01 7.91577829e-01 1.49480576e-02 2.44901919e+01] [-2.35051015e-02 -7.39027610e-04 9.99723444e-01 -8.13683114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78591999999999 meters Centerline goodness [0,1] 0.9963580123727799 Centerline is valid? [True, True] Translation: X:61.38, Y:24.51, Z:-0.81 [[ 7.91141633e-01 -6.11392391e-01 1.71540504e-02 6.13810086e+01] [ 6.11229534e-01 7.91327281e-01 1.41276534e-02 2.45075612e+01] [-2.22120078e-02 -6.91912600e-04 9.99753043e-01 -8.12472267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81591999999999 meters Centerline goodness [0,1] 0.9965627179436086 Centerline is valid? [True, True] Translation: X:61.40, Y:24.53, Z:-0.81 [[ 7.90378281e-01 -6.12355187e-01 1.79804963e-02 6.14031299e+01] [ 6.12176421e-01 7.90582466e-01 1.48119538e-02 2.45257820e+01] [-2.32852418e-02 -6.99810747e-04 9.99728617e-01 -8.12347471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84591999999999 meters Centerline goodness [0,1] 0.9967046135410426 Centerline is valid? [True, True] Translation: X:61.42, Y:24.55, Z:-0.81 [[ 7.89715992e-01 -6.13195665e-01 1.84317437e-02 6.14236843e+01] [ 6.13008059e-01 7.89930756e-01 1.51829258e-02 2.45495930e+01] [-2.38699055e-02 -6.91391859e-04 9.99714834e-01 -8.13970986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87592 meters Centerline goodness [0,1] 0.9967653645185369 Centerline is valid? [True, True] Translation: X:61.45, Y:24.57, Z:-0.81 [[ 7.89255996e-01 -6.13828915e-01 1.70010647e-02 6.14465663e+01] [ 6.13669417e-01 7.89438837e-01 1.40060589e-02 2.45690716e+01] [-2.20186247e-02 -6.21332547e-04 9.99757368e-01 -8.14364823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90592 meters Centerline goodness [0,1] 0.9965591183364085 Centerline is valid? [True, True] Translation: X:61.47, Y:24.59, Z:-0.81 [[ 7.88301612e-01 -6.15057311e-01 1.68840815e-02 6.14692377e+01] [ 6.14900223e-01 7.88482189e-01 1.39123470e-02 2.45876269e+01] [-2.18696883e-02 -5.85100065e-04 9.99760659e-01 -8.13548515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93592 meters Centerline goodness [0,1] 0.9964625579193862 Centerline is valid? [True, True] Translation: X:61.49, Y:24.61, Z:-0.81 [[ 7.86162138e-01 -6.17800614e-01 1.64770888e-02 6.14915155e+01] [ 6.17651572e-01 7.86334632e-01 1.35787346e-02 2.46074830e+01] [-2.13454561e-02 -4.97987235e-04 9.99772036e-01 -8.10624614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96592 meters Centerline goodness [0,1] 0.9968137010853331 Centerline is valid? [True, True] Translation: X:61.51, Y:24.63, Z:-0.81 [[ 7.85689468e-01 -6.18415554e-01 1.59456414e-02 6.15133644e+01] [ 6.18276097e-01 7.85851122e-01 1.31408369e-02 2.46282939e+01] [-2.06573981e-02 -4.65808230e-04 9.99786505e-01 -8.10002612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99592 meters Centerline goodness [0,1] 0.9967167446025271 Centerline is valid? [True, True] Translation: X:61.54, Y:24.65, Z:-0.81 [[ 7.83527992e-01 -6.21128478e-01 1.68314835e-02 6.15364173e+01] [ 6.20973682e-01 7.83708644e-01 1.38725485e-02 2.46472457e+01] [-2.18076141e-02 -4.17621816e-04 9.99762098e-01 -8.10902351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02592 meters Centerline goodness [0,1] 0.9971043434847728 Centerline is valid? [True, True] Translation: X:61.56, Y:24.67, Z:-0.81 [[ 7.82385449e-01 -6.22567361e-01 1.68193372e-02 6.15600347e+01] [ 6.22413123e-01 7.82566124e-01 1.38624222e-02 2.46662215e+01] [-2.17925351e-02 -3.77181269e-04 9.99762443e-01 -8.11141621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05592 meters Centerline goodness [0,1] 0.997560003983667 Centerline is valid? [True, True] Translation: X:61.58, Y:24.69, Z:-0.81 [[ 7.80298767e-01 -6.25140815e-01 1.82426880e-02 6.15814797e+01] [ 6.24960019e-01 7.80511916e-01 1.50373935e-02 2.46863492e+01] [-2.36391238e-02 -3.32708987e-04 9.99720502e-01 -8.11426279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08592 meters Centerline goodness [0,1] 0.9980034938857 Centerline is valid? [True, True] Translation: X:61.60, Y:24.71, Z:-0.81 [[ 7.80046734e-01 -6.25479286e-01 1.73998915e-02 6.16049162e+01] [ 6.25314894e-01 7.80240712e-01 1.43427461e-02 2.47063923e+01] [-2.25471943e-02 -3.07600963e-04 9.99745732e-01 -8.11302907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11592 meters Centerline goodness [0,1] 0.998309214779452 Centerline is valid? [True, True] Translation: X:61.63, Y:24.72, Z:-0.81 [[ 7.79981784e-01 -6.25564501e-01 1.72473788e-02 6.16290501e+01] [ 6.25402980e-01 7.80172393e-01 1.42179088e-02 2.47245580e+01] [-2.23501478e-02 -3.03147780e-04 9.99750158e-01 -8.10828098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14591999999999 meters Centerline goodness [0,1] 0.9990054699154649 Centerline is valid? [True, True] Translation: X:61.65, Y:24.74, Z:-0.81 [[ 7.79352116e-01 -6.26391114e-01 1.56349445e-02 6.16546865e+01] [ 6.26258567e-01 7.79508889e-01 1.28879486e-02 2.47418744e+01] [-2.02604747e-02 -2.52732090e-04 9.99794704e-01 -8.10004260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17591999999999 meters Centerline goodness [0,1] 0.9996502623032726 Centerline is valid? [True, True] Translation: X:61.68, Y:24.76, Z:-0.81 [[ 7.78671106e-01 -6.27263335e-01 1.45607996e-02 6.16777804e+01] [ 6.27148501e-01 7.78807205e-01 1.20039661e-02 2.47607630e+01] [-1.88697035e-02 -2.15357882e-04 9.99821928e-01 -8.10085928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.70, Y:24.78, Z:-0.81 [[ 7.78558492e-01 -6.27364367e-01 1.61439022e-02 6.16989964e+01] [ 6.27223154e-01 7.78725814e-01 1.33124568e-02 2.47806079e+01] [-2.09234344e-02 -2.38697022e-04 9.99781052e-01 -8.10894193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.72, Y:24.80, Z:-0.81 [[ 7.78786676e-01 -6.27038962e-01 1.77046010e-02 6.17202289e+01] [ 6.26868950e-01 7.78987847e-01 1.46032443e-02 2.47996572e+01] [-2.29484722e-02 -2.74347444e-04 9.99736611e-01 -8.12329593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:24.82, Z:-0.81 [[ 7.79926864e-01 -6.25618985e-01 1.77474793e-02 6.17417205e+01] [ 6.25447777e-01 7.80128698e-01 1.46387549e-02 2.48214316e+01] [-2.30036009e-02 -3.17036776e-04 9.99735332e-01 -8.10068001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.76, Y:24.84, Z:-0.81 [[ 7.80554172e-01 -6.24853396e-01 1.71294684e-02 6.17649779e+01] [ 6.24693721e-01 7.80742036e-01 1.41289975e-02 2.48415325e+01] [-2.22022481e-02 -3.27776573e-04 9.99753446e-01 -8.09838559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.79, Y:24.86, Z:-0.81 [[ 7.83343012e-01 -6.21367757e-01 1.66082901e-02 6.17883155e+01] [ 6.21216830e-01 7.83518945e-01 1.37007990e-02 2.48605045e+01] [-2.15261447e-02 -4.15075828e-04 9.99768200e-01 -8.09146612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35592 meters Centerline goodness [0,1] 0.9998007769698177 Centerline is valid? [True, True] Translation: X:61.81, Y:24.88, Z:-0.81 [[ 7.85227461e-01 -6.18997285e-01 1.61305749e-02 6.18109112e+01] [ 6.18854381e-01 7.85392986e-01 1.33083970e-02 2.48800356e+01] [-2.09067020e-02 -4.67641799e-04 9.99781322e-01 -8.09096218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38592 meters Centerline goodness [0,1] 0.999750946403666 Centerline is valid? [True, True] Translation: X:61.83, Y:24.90, Z:-0.81 [[ 7.86117521e-01 -6.17832506e-01 1.73850033e-02 6.18336251e+01] [ 6.17666259e-01 7.86309549e-01 1.43417077e-02 2.49019303e+01] [-2.25307673e-02 -5.36137711e-04 9.99746006e-01 -8.09413180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41592 meters Centerline goodness [0,1] 0.9989541311818317 Centerline is valid? [True, True] Translation: X:61.86, Y:24.93, Z:-0.81 [[ 7.88741024e-01 -6.14450480e-01 1.83903431e-02 6.18554323e+01] [ 6.14263812e-01 7.88955114e-01 1.51590725e-02 2.49253829e+01] [-2.38236546e-02 -6.60060092e-04 9.99715959e-01 -8.08171723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44592 meters Centerline goodness [0,1] 0.9988019169329073 Centerline is valid? [True, True] Translation: X:61.88, Y:24.95, Z:-0.81 [[ 7.90367536e-01 -6.12312025e-01 1.98278135e-02 6.18773471e+01] [ 6.12094554e-01 7.90615826e-01 1.63362403e-02 2.49483982e+01] [-2.56790595e-02 -7.75137343e-04 9.99669938e-01 -8.06635145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47592 meters Centerline goodness [0,1] 0.9986543062200957 Centerline is valid? [True, True] Translation: X:61.90, Y:24.97, Z:-0.81 [[ 7.91711675e-01 -6.10608230e-01 1.87139777e-02 6.19015107e+01] [ 6.10414405e-01 7.91932443e-01 1.54032709e-02 2.49709960e+01] [-2.42255700e-02 -7.71667867e-04 9.99706220e-01 -8.06574840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50592 meters Centerline goodness [0,1] 0.9986043961521208 Centerline is valid? [True, True] Translation: X:61.92, Y:24.99, Z:-0.81 [[ 7.92831849e-01 -6.09164644e-01 1.83328945e-02 6.19249506e+01] [ 6.08978562e-01 7.93043387e-01 1.50763470e-02 2.49935275e+01] [-2.37227583e-02 -7.88668325e-04 9.99718265e-01 -8.08454244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53591999999999 meters Centerline goodness [0,1] 0.9992511233150274 Centerline is valid? [True, True] Translation: X:61.95, Y:25.02, Z:-0.81 [[ 7.93429838e-01 -6.08432015e-01 1.67205131e-02 6.19482457e+01] [ 6.08277323e-01 7.93605664e-01 1.37385253e-02 2.50163637e+01] [-2.16284525e-02 -7.29846964e-04 9.99765811e-01 -8.09376075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56591999999999 meters Centerline goodness [0,1] 0.9990526053353278 Centerline is valid? [True, True] Translation: X:61.97, Y:25.04, Z:-0.81 [[ 7.92401648e-01 -6.09763446e-01 1.69755287e-02 6.19708246e+01] [ 6.09604405e-01 7.92583150e-01 1.39434499e-02 2.50403149e+01] [-2.19567241e-02 -7.00455599e-04 9.99758677e-01 -8.09819216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59591999999999 meters Centerline goodness [0,1] 0.9995508533785807 Centerline is valid? [True, True] Translation: X:61.99, Y:25.06, Z:-0.81 [[ 7.92239360e-01 -6.09977466e-01 1.68608499e-02 6.19933363e+01] [ 6.09820869e-01 7.92418468e-01 1.38376035e-02 2.50632565e+01] [-2.18014751e-02 -6.80595994e-04 9.99762088e-01 -8.08490778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62592 meters Centerline goodness [0,1] 0.9995504046358278 Centerline is valid? [True, True] Translation: X:62.02, Y:25.09, Z:-0.81 [[ 7.90744150e-01 -6.11839133e-01 1.94052993e-02 6.20159799e+01] [ 6.11632441e-01 7.90981896e-01 1.59184797e-02 2.50880961e+01] [-2.50887892e-02 -7.18534153e-04 9.99684969e-01 -8.07781018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65592 meters Centerline goodness [0,1] 0.9991535129213763 Centerline is valid? [True, True] Translation: X:62.04, Y:25.11, Z:-0.81 [[ 7.89751606e-01 -6.13100659e-01 1.99995666e-02 6.20405718e+01] [ 6.12881886e-01 7.90004499e-01 1.63916046e-02 2.51094529e+01] [-2.58494511e-02 -6.87923960e-04 9.99665610e-01 -8.08101626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68592 meters Centerline goodness [0,1] 0.9996014348345954 Centerline is valid? [True, True] Translation: X:62.06, Y:25.13, Z:-0.81 [[ 7.88883048e-01 -6.14251974e-01 1.89222085e-02 6.20642373e+01] [ 6.14056597e-01 7.89109713e-01 1.55034367e-02 2.51316578e+01] [-2.44547151e-02 -6.11091452e-04 9.99700752e-01 -8.07877763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71592 meters Centerline goodness [0,1] 0.9994011378381076 Centerline is valid? [True, True] Translation: X:62.09, Y:25.16, Z:-0.81 [[ 7.87747259e-01 -6.15728407e-01 1.82423818e-02 6.20853337e+01] [ 6.15547520e-01 7.87958275e-01 1.49334494e-02 2.51561309e+01] [-2.35691848e-02 -5.34730980e-04 9.99722065e-01 -8.10617696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74592 meters Centerline goodness [0,1] 0.9993019893304084 Centerline is valid? [True, True] Translation: X:62.11, Y:25.18, Z:-0.81 [[ 7.86902931e-01 -6.16841746e-01 1.70304854e-02 6.21079415e+01] [ 6.16684630e-01 7.87087067e-01 1.39289673e-02 2.51797119e+01] [-2.19964433e-02 -4.58306565e-04 9.99757944e-01 -8.09939058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77592 meters Centerline goodness [0,1] 0.9995512564818508 Centerline is valid? [True, True] Translation: X:62.13, Y:25.20, Z:-0.81 [[ 7.86801943e-01 -6.16948037e-01 1.78275834e-02 6.21315325e+01] [ 6.16776238e-01 7.87003751e-01 1.45659955e-02 2.52031833e+01] [-2.30168373e-02 -4.64923713e-04 9.99734969e-01 -8.10132657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80592 meters Centerline goodness [0,1] 0.9996510816468946 Centerline is valid? [True, True] Translation: X:62.15, Y:25.23, Z:-0.81 [[ 7.86143288e-01 -6.17746682e-01 1.91772506e-02 6.21544164e+01] [ 6.17548519e-01 7.86377023e-01 1.56526147e-02 2.52273269e+01] [-2.47499001e-02 -4.62315268e-04 9.99693567e-01 -8.08934101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83592 meters Centerline goodness [0,1] 0.9998501723018529 Centerline is valid? [True, True] Translation: X:62.18, Y:25.25, Z:-0.81 [[ 7.85514212e-01 -6.18549974e-01 1.90618107e-02 6.21791365e+01] [ 6.18354771e-01 7.85745347e-01 1.55443759e-02 2.52478692e+01] [-2.45927023e-02 -4.23366588e-04 9.99697464e-01 -8.09532177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86592 meters Centerline goodness [0,1] 0.9998503889886295 Centerline is valid? [True, True] Translation: X:62.20, Y:25.27, Z:-0.81 [[ 7.84327836e-01 -6.20008847e-01 2.04664608e-02 6.22031872e+01] [ 6.19784762e-01 7.84594721e-01 1.66725000e-02 2.52700108e+01] [-2.63949746e-02 -3.91905329e-04 9.99651515e-01 -8.10722730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89591999999999 meters Centerline goodness [0,1] 0.9997505612372163 Centerline is valid? [True, True] Translation: X:62.23, Y:25.29, Z:-0.81 [[ 7.83787748e-01 -6.20702232e-01 2.01371683e-02 6.22261916e+01] [ 6.20485918e-01 7.84046310e-01 1.63893074e-02 2.52924056e+01] [-2.59613522e-02 -3.50909003e-04 9.99662886e-01 -8.10003236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92591999999999 meters Centerline goodness [0,1] 0.9994523548740416 Centerline is valid? [True, True] Translation: X:62.25, Y:25.31, Z:-0.81 [[ 7.84432214e-01 -6.19905327e-01 1.95828275e-02 6.22503410e+01] [ 6.19700934e-01 7.84676532e-01 1.59214468e-02 2.53146542e+01] [-2.52359749e-02 -3.53799271e-04 9.99681459e-01 -8.10514755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95591999999999 meters Centerline goodness [0,1] 0.9997510208146599 Centerline is valid? [True, True] Translation: X:62.28, Y:25.34, Z:-0.81 [[ 7.84527240e-01 -6.19792222e-01 1.93548659e-02 6.22752985e+01] [ 6.19592935e-01 7.84765879e-01 1.57197324e-02 2.53366671e+01] [-2.49320062e-02 -3.40420104e-04 9.99689091e-01 -8.09301029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98592 meters Centerline goodness [0,1] 0.9998505306163121 Centerline is valid? [True, True] Translation: X:62.30, Y:25.36, Z:-0.81 [[ 7.84795191e-01 -6.19512976e-01 1.73257146e-02 6.22983383e+01] [ 6.19353509e-01 7.84986357e-01 1.40587971e-02 2.53593076e+01] [-2.23100569e-02 -3.02534221e-04 9.99751054e-01 -8.09712628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01592 meters Centerline goodness [0,1] 0.9998010840917002 Centerline is valid? [True, True] Translation: X:62.32, Y:25.38, Z:-0.81 [[ 7.85030749e-01 -6.19256050e-01 1.57692334e-02 6.23227781e+01] [ 6.19124136e-01 7.85189067e-01 1.27841071e-02 2.53805864e+01] [-2.02984653e-02 -2.72804146e-04 9.99793928e-01 -8.09221220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04592 meters Centerline goodness [0,1] 0.999900244401217 Centerline is valid? [True, True] Translation: X:62.35, Y:25.40, Z:-0.81 [[ 7.84714746e-01 -6.19714338e-01 1.33006419e-02 6.23475644e+01] [ 6.19620729e-01 7.84827429e-01 1.07730517e-02 2.54010770e+01] [-1.71149232e-02 -2.12419113e-04 9.99853506e-01 -8.08120661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07592 meters Centerline goodness [0,1] 0.9997008973080758 Centerline is valid? [True, True] Translation: X:62.37, Y:25.42, Z:-0.81 [[ 7.83609384e-01 -6.21089105e-01 1.43058048e-02 6.23731230e+01] [ 6.20981265e-01 7.83739937e-01 1.15749727e-02 2.54212749e+01] [-1.84011200e-02 -1.86620400e-04 9.99830668e-01 -8.06713773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10592 meters Centerline goodness [0,1] 0.9995517258554565 Centerline is valid? [True, True] Translation: X:62.40, Y:25.44, Z:-0.81 [[ 7.81988846e-01 -6.23109692e-01 1.50916162e-02 6.23966335e+01] [ 6.22990305e-01 7.82134447e-01 1.21978106e-02 2.54449115e+01] [-1.94042469e-02 -1.36621205e-04 9.99811711e-01 -8.05926593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13592 meters Centerline goodness [0,1] 0.9994023011406087 Centerline is valid? [True, True] Translation: X:62.42, Y:25.47, Z:-0.81 [[ 7.82013089e-01 -6.23099312e-01 1.42399115e-02 6.24210799e+01] [ 6.22993216e-01 7.82142719e-01 1.14987212e-02 2.54659292e+01] [-1.83024884e-02 -1.20782191e-04 9.99832488e-01 -8.06047261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16592 meters Centerline goodness [0,1] 0.9990523690773068 Centerline is valid? [True, True] Translation: X:62.45, Y:25.49, Z:-0.81 [[ 7.81343257e-01 -6.23948261e-01 1.38304946e-02 6.24462490e+01] [ 6.23848497e-01 7.81465648e-01 1.11576602e-02 2.54863140e+01] [-1.77698591e-02 -8.98293139e-05 9.99842100e-01 -8.05637823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19592 meters Centerline goodness [0,1] 0.9990523690773068 Centerline is valid? [True, True] Translation: X:62.47, Y:25.51, Z:-0.81 [[ 7.81669919e-01 -6.23538847e-01 1.38363017e-02 6.24713061e+01] [ 6.23439147e-01 7.81792362e-01 1.11504580e-02 2.55069378e+01] [-1.77698587e-02 -8.98854847e-05 9.99842100e-01 -8.05665905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22592 meters Centerline goodness [0,1] 0.9990032394717169 Centerline is valid? [True, True] Translation: X:62.50, Y:25.53, Z:-0.81 [[ 7.81567194e-01 -6.23650009e-01 1.46077933e-02 6.24979816e+01] [ 6.23539135e-01 7.81703690e-01 1.17595569e-02 2.55257787e+01] [-1.87528137e-02 -8.23531421e-05 9.99824147e-01 -8.05631701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25592 meters Centerline goodness [0,1] 0.9994993491539 Centerline is valid? [True, True] Translation: X:62.52, Y:25.55, Z:-0.80 [[ 7.81788330e-01 -6.23377999e-01 1.43832342e-02 6.25237589e+01] [ 6.23270692e-01 7.81920625e-01 1.15663354e-02 2.55459646e+01] [-1.84567465e-02 -7.77776776e-05 9.99829657e-01 -8.04722225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28591999999999 meters Centerline goodness [0,1] 0.9997008823969291 Centerline is valid? [True, True] Translation: X:62.55, Y:25.57, Z:-0.81 [[ 7.81275912e-01 -6.23957781e-01 1.68711801e-02 6.25491844e+01] [ 6.23810553e-01 7.81458050e-01 1.35539936e-02 2.55651308e+01] [-2.16412393e-02 -6.49885655e-05 9.99765799e-01 -8.06327946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31591999999999 meters Centerline goodness [0,1] 0.9996508902299137 Centerline is valid? [True, True] Translation: X:62.57, Y:25.59, Z:-0.81 [[ 7.80997389e-01 -6.24307743e-01 1.68202230e-02 6.25745414e+01] [ 6.24161798e-01 7.81178494e-01 1.34985447e-02 2.55859722e+01] [-2.15668424e-02 -4.37875183e-05 9.99767408e-01 -8.06300293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34591999999999 meters Centerline goodness [0,1] 0.9997505861226119 Centerline is valid? [True, True] Translation: X:62.60, Y:25.61, Z:-0.81 [[ 7.80490240e-01 -6.24928931e-01 1.72863290e-02 6.26000932e+01] [ 6.24775269e-01 7.80681645e-01 1.38575762e-02 2.56060917e+01] [-2.21551201e-02 -1.56321241e-05 9.99754545e-01 -8.06735834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37592 meters Centerline goodness [0,1] 0.9998503442083209 Centerline is valid? [True, True] Translation: X:62.63, Y:25.63, Z:-0.81 [[ 7.80101641e-01 -6.25381520e-01 1.84223760e-02 6.26260044e+01] [ 6.25207451e-01 7.80319137e-01 1.47542499e-02 2.56255027e+01] [-2.36023678e-02 7.99215795e-06 9.99721425e-01 -8.06556860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40592 meters Centerline goodness [0,1] 0.9998504635629548 Centerline is valid? [True, True] Translation: X:62.65, Y:25.64, Z:-0.81 [[ 7.79090365e-01 -6.26555032e-01 2.11422624e-02 6.26525926e+01] [ 6.26326626e-01 7.79377180e-01 1.69165430e-02 2.56432384e+01] [-2.70769419e-02 6.24462066e-05 9.99633350e-01 -8.06497520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43592 meters Centerline goodness [0,1] 0.9996511164274322 Centerline is valid? [True, True] Translation: X:62.68, Y:25.66, Z:-0.81 [[ 7.78911128e-01 -6.26784631e-01 2.09399333e-02 6.26784952e+01] [ 6.26561145e-01 7.79192543e-01 1.67365546e-02 2.56640062e+01] [-2.68064551e-02 8.38599681e-05 9.99640639e-01 -8.07389585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46592 meters Centerline goodness [0,1] 0.9998504262850875 Centerline is valid? [True, True] Translation: X:62.70, Y:25.68, Z:-0.81 [[ 7.78221638e-01 -6.27644777e-01 2.08114671e-02 6.27048737e+01] [ 6.27424808e-01 7.78499851e-01 1.66160083e-02 2.56839403e+01] [-2.66306748e-02 1.26693547e-04 9.99645333e-01 -8.07798961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.73, Y:25.70, Z:-0.81 [[ 7.78661615e-01 -6.27153645e-01 1.90891363e-02 6.27305405e+01] [ 6.26968788e-01 7.78895560e-01 1.52264721e-02 2.57029253e+01] [-2.44177810e-02 1.12023285e-04 9.99701835e-01 -8.07758867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52592 meters Centerline goodness [0,1] 0.9999501867995019 Centerline is valid? [True, True] Translation: X:62.76, Y:25.72, Z:-0.81 [[ 7.79251639e-01 -6.26389356e-01 2.00812689e-02 6.27563395e+01] [ 6.26184916e-01 7.79510336e-01 1.60027389e-02 2.57218088e+01] [-2.56775019e-02 1.04427152e-04 9.99670273e-01 -8.09121426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55592 meters Centerline goodness [0,1] 0.9999004083258639 Centerline is valid? [True, True] Translation: X:62.78, Y:25.74, Z:-0.81 [[ 7.79890942e-01 -6.25536489e-01 2.17765914e-02 6.27821654e+01] [ 6.25296190e-01 7.80194906e-01 1.73373082e-02 2.57414386e+01] [-2.78351046e-02 9.56100155e-05 9.99612524e-01 -8.09068325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.81, Y:25.76, Z:-0.81 [[ 7.80210280e-01 -6.25115773e-01 2.24095894e-02 6.28075720e+01] [ 6.24861306e-01 7.80532038e-01 1.78349472e-02 2.57616293e+01] [-2.86403093e-02 8.78762048e-05 9.99589778e-01 -8.08331325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.83, Y:25.78, Z:-0.81 [[ 7.80594468e-01 -6.24664751e-01 2.15922704e-02 6.28337835e+01] [ 6.24428779e-01 7.80893042e-01 1.71685140e-02 2.57796276e+01] [-2.75858193e-02 8.11879863e-05 9.99619436e-01 -8.09740460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.86, Y:25.80, Z:-0.81 [[ 7.80813453e-01 -6.24452948e-01 1.97197325e-02 6.28606511e+01] [ 6.24256207e-01 7.81062425e-01 1.56740778e-02 2.57983222e+01] [-2.51900661e-02 7.16346090e-05 9.99682677e-01 -8.09960050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.89, Y:25.82, Z:-0.81 [[ 7.81546458e-01 -6.23556191e-01 1.90476133e-02 6.28872793e+01] [ 6.23372493e-01 7.81778533e-01 1.51347414e-02 2.58158145e+01] [-2.43283769e-02 4.52546404e-05 9.99704020e-01 -8.10379520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70591999999999 meters Centerline goodness [0,1] 0.9999002394253791 Centerline is valid? [True, True] Translation: X:62.91, Y:25.84, Z:-0.81 [[ 7.82100626e-01 -6.22824819e-01 2.01954284e-02 6.29126579e+01] [ 6.22618456e-01 7.82361325e-01 1.60316847e-02 2.58351334e+01] [-2.57850533e-02 3.56557687e-05 9.99667510e-01 -8.10903163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.94, Y:25.85, Z:-0.81 [[ 7.82922957e-01 -6.21783129e-01 2.04300016e-02 6.29388953e+01] [ 6.21572042e-01 7.83189467e-01 1.62004909e-02 2.58546511e+01] [-2.60737540e-02 1.49815802e-05 9.99660022e-01 -8.09978991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.97, Y:25.87, Z:-0.81 [[ 7.85112716e-01 -6.19093317e-01 1.79300815e-02 6.29653354e+01] [ 6.18930336e-01 7.85317428e-01 1.42048171e-02 2.58732692e+01] [-2.28749128e-02 -5.49111351e-05 9.99738333e-01 -8.08466663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.99, Y:25.89, Z:-0.81 [[ 7.86724770e-01 -6.17059662e-01 1.73640424e-02 6.29912056e+01] [ 6.16906638e-01 7.86916364e-01 1.37418037e-02 2.58940035e+01] [-2.21435619e-02 -9.90243146e-05 9.99754796e-01 -8.07928224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.02, Y:25.91, Z:-0.81 [[ 7.89233166e-01 -6.13866199e-01 1.67122878e-02 6.30175966e+01] [ 6.13724028e-01 7.89410072e-01 1.32119798e-02 2.59139363e+01] [-2.13032362e-02 -1.70600089e-04 9.99773046e-01 -8.07942392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85592 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:63.04, Y:25.93, Z:-0.81 [[ 7.90431140e-01 -6.12315410e-01 1.69838641e-02 6.30439167e+01] [ 6.12168534e-01 7.90613557e-01 1.34122651e-02 2.59341398e+01] [-2.16402099e-02 -2.04484816e-04 9.99765802e-01 -8.08479492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.07, Y:25.95, Z:-0.81 [[ 7.92215469e-01 -6.09934923e-01 1.93401081e-02 6.30692418e+01] [ 6.09744102e-01 7.92451451e-01 1.52587066e-02 2.59544632e+01] [-2.46329147e-02 -2.95666615e-04 9.99696520e-01 -8.08669498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.09, Y:25.98, Z:-0.81 [[ 7.93161154e-01 -6.08715475e-01 1.89961836e-02 6.30941260e+01] [ 6.08531409e-01 7.93388538e-01 1.49717305e-02 2.59755669e+01] [-2.41848783e-02 -3.15220713e-04 9.99707453e-01 -8.07952472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:26.00, Z:-0.81 [[ 7.93249163e-01 -6.08580885e-01 1.96232500e-02 6.31183921e+01] [ 6.08384830e-01 7.93491781e-01 1.54496682e-02 2.59976554e+01] [-2.49732603e-02 -3.16948730e-04 9.99688069e-01 -8.08109903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.14, Y:26.02, Z:-0.81 [[ 7.93727963e-01 -6.08016997e-01 1.76423484e-02 6.31428365e+01] [ 6.07858678e-01 7.93923955e-01 1.38773661e-02 2.60184589e+01] [-2.24443574e-02 -2.90798962e-04 9.99748051e-01 -8.07808198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.17, Y:26.04, Z:-0.81 [[ 7.94426947e-01 -6.07131835e-01 1.66361093e-02 6.31657152e+01] [ 6.06991122e-01 7.94601064e-01 1.30738947e-02 2.60408566e+01] [-2.11566479e-02 -2.88283608e-04 9.99776132e-01 -8.09939754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:26.06, Z:-0.81 [[ 7.94836274e-01 -6.06599015e-01 1.65206896e-02 6.31903953e+01] [ 6.06460418e-01 7.95007894e-01 1.29696021e-02 2.60629403e+01] [-2.10014265e-02 -2.89565857e-04 9.99779404e-01 -8.08912646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:26.08, Z:-0.81 [[ 7.95311754e-01 -6.05938036e-01 1.78412637e-02 6.32146259e+01] [ 6.05776519e-01 7.95511781e-01 1.39933954e-02 2.60844803e+01] [-2.26720660e-02 -3.21293264e-04 9.99742904e-01 -8.10751636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:26.11, Z:-0.81 [[ 7.94452770e-01 -6.07074371e-01 1.74787020e-02 6.32382510e+01] [ 6.06919734e-01 7.94644971e-01 1.37042370e-02 2.61072216e+01] [-2.22088537e-02 -2.79199929e-04 9.99753314e-01 -8.08978263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:26.13, Z:-0.81 [[ 7.94223032e-01 -6.07357342e-01 1.80785797e-02 6.32609172e+01] [ 6.07192314e-01 7.94428717e-01 1.41600289e-02 2.61313988e+01] [-2.29623404e-02 -2.69046465e-04 9.99736294e-01 -8.08012806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:26.15, Z:-0.81 [[ 7.94363051e-01 -6.07159714e-01 1.85586857e-02 6.32846800e+01] [ 6.06986112e-01 7.94579769e-01 1.45206883e-02 2.61544389e+01] [-2.35627331e-02 -2.69833805e-04 9.99722324e-01 -8.08443455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:26.18, Z:-0.81 [[ 7.95047267e-01 -6.06270596e-01 1.83250343e-02 6.33084014e+01] [ 6.06101454e-01 7.95258377e-01 1.43227819e-02 2.61772931e+01] [-2.32566186e-02 -2.80458635e-04 9.99729489e-01 -8.09648596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.33, Y:26.20, Z:-0.81 [[ 7.95508781e-01 -6.05664753e-01 1.83299332e-02 6.33312311e+01] [ 6.05495711e-01 7.95719879e-01 1.43114726e-02 2.62016951e+01] [-2.32534467e-02 -2.86206177e-04 9.99729561e-01 -8.09744022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:26.22, Z:-0.81 [[ 7.96416305e-01 -6.04479643e-01 1.80396974e-02 6.33555162e+01] [ 6.04315948e-01 7.96620530e-01 1.40700618e-02 2.62241703e+01] [-2.28758593e-02 -3.03949774e-04 9.99738267e-01 -8.09592915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.38, Y:26.25, Z:-0.81 [[ 7.96380610e-01 -6.04498063e-01 1.89740975e-02 6.33755861e+01] [ 6.04317350e-01 7.96606551e-01 1.47831742e-02 2.62520996e+01] [-2.40512906e-02 -3.06656926e-04 9.99710679e-01 -8.09532501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:26.28, Z:-0.81 [[ 7.96578501e-01 -6.04247327e-01 1.86510026e-02 6.33983002e+01] [ 6.04073011e-01 7.96796762e-01 1.45160977e-02 2.62758207e+01] [-2.36323717e-02 -2.96644056e-04 9.99720672e-01 -8.08958830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.42, Y:26.30, Z:-0.81 [[ 7.95574832e-01 -6.05572057e-01 1.85248791e-02 6.34208764e+01] [ 6.05400765e-01 7.95790440e-01 1.44045130e-02 2.62987321e+01] [-2.34648923e-02 -2.44892015e-04 9.99724632e-01 -8.08340804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:26.32, Z:-0.81 [[ 7.95263789e-01 -6.05970918e-01 1.88348683e-02 6.34461156e+01] [ 6.05794329e-01 7.95486767e-01 1.46299400e-02 2.63197198e+01] [-2.38482067e-02 -2.24605147e-04 9.99715566e-01 -8.09784414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.47, Y:26.34, Z:-0.81 [[ 7.93551766e-01 -6.08175979e-01 1.99392210e-02 6.34680617e+01] [ 6.07979186e-01 7.93802213e-01 1.54711226e-02 2.63446500e+01] [-2.52369629e-02 -1.54505263e-04 9.99681485e-01 -8.12363563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:26.37, Z:-0.81 [[ 7.92881515e-01 -6.09007279e-01 2.11905126e-02 6.34909997e+01] [ 6.08785719e-01 7.93164623e-01 1.64264970e-02 2.63675772e+01] [-2.68114212e-02 -1.23784401e-04 9.99640502e-01 -8.13379482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.52, Y:26.39, Z:-0.81 [[ 7.92107892e-01 -6.10022369e-01 2.09235913e-02 6.35150536e+01] [ 6.09807173e-01 7.92384189e-01 1.62020939e-02 2.63900914e+01] [-2.64631627e-02 -7.44503766e-05 9.99649786e-01 -8.13259222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.54, Y:26.41, Z:-0.81 [[ 7.90929928e-01 -6.11546120e-01 2.10045816e-02 6.35400499e+01] [ 6.11330263e-01 7.91208786e-01 1.62470414e-02 2.64117949e+01] [-2.65548246e-02 -9.53483423e-06 9.99647358e-01 -8.11742193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:26.43, Z:-0.81 [[ 7.89756131e-01 -6.13019574e-01 2.21868313e-02 6.35646962e+01] [ 6.12779774e-01 7.90067718e-01 1.71449806e-02 2.64326019e+01] [-2.80393079e-02 5.52878698e-05 9.99606820e-01 -8.12342834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.59, Y:26.45, Z:-0.81 [[ 7.89696042e-01 -6.13128104e-01 2.13093693e-02 6.35891444e+01] [ 6.12907364e-01 7.89983495e-01 1.64511463e-02 2.64529817e+01] [-2.69207102e-02 6.92642456e-05 9.99637570e-01 -8.13823328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:26.47, Z:-0.81 [[ 7.89630487e-01 -6.13208205e-01 2.14334063e-02 6.36147184e+01] [ 6.12985407e-01 7.89921318e-01 1.65288286e-02 2.64741233e+01] [-2.70663179e-02 8.66982562e-05 9.99633636e-01 -8.13205039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.64, Y:26.50, Z:-0.81 [[ 7.89148251e-01 -6.13809947e-01 2.19632966e-02 6.36397343e+01] [ 6.13576743e-01 7.89453820e-01 1.69188196e-02 2.64956510e+01] [-2.77239481e-02 1.24711099e-04 9.99615610e-01 -8.13618652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63592 meters Centerline goodness [0,1] 0.9999500474549178 Centerline is valid? [True, True] Translation: X:63.66, Y:26.52, Z:-0.81 [[ 7.88639025e-01 -6.14503356e-01 2.08353979e-02 6.36646154e+01] [ 6.14294140e-01 7.88914192e-01 1.60345626e-02 2.65162591e+01] [-2.62906336e-02 1.53581019e-04 9.99654330e-01 -8.12420717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66592 meters Centerline goodness [0,1] 0.9999501669407485 Centerline is valid? [True, True] Translation: X:63.69, Y:26.54, Z:-0.81 [[ 7.88205793e-01 -6.15111543e-01 1.92202515e-02 6.36901601e+01] [ 6.14934035e-01 7.88440080e-01 1.47774196e-02 2.65362359e+01] [-2.42437780e-02 1.71539106e-04 9.99706062e-01 -8.11327025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69592 meters Centerline goodness [0,1] 0.999900333881497 Centerline is valid? [True, True] Translation: X:63.72, Y:26.56, Z:-0.81 [[ 7.87558967e-01 -6.15892422e-01 2.06736267e-02 6.37159383e+01] [ 6.15687717e-01 7.87830232e-01 1.58795404e-02 2.65555867e+01] [-2.60673967e-02 2.22423559e-04 9.99660163e-01 -8.12469621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:26.58, Z:-0.81 [[ 7.86722417e-01 -6.16953649e-01 2.08814089e-02 6.37418143e+01] [ 6.16745642e-01 7.86999441e-01 1.60216695e-02 2.65754774e+01] [-2.63182846e-02 2.73911345e-04 9.99653576e-01 -8.11847436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75592 meters Centerline goodness [0,1] 0.9999501296628766 Centerline is valid? [True, True] Translation: X:63.77, Y:26.60, Z:-0.81 [[ 7.86023778e-01 -6.17869167e-01 2.01075488e-02 6.37681845e+01] [ 6.17677019e-01 7.86280865e-01 1.54110713e-02 2.65954591e+01] [-2.53322066e-02 3.06502272e-04 9.99679041e-01 -8.13010170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78591999999999 meters Centerline goodness [0,1] 0.9999501545209849 Centerline is valid? [True, True] Translation: X:63.79, Y:26.62, Z:-0.81 [[ 7.84590395e-01 -6.19712339e-01 1.93527429e-02 6.37947655e+01] [ 6.19535302e-01 7.84828952e-01 1.48164037e-02 2.66157364e+01] [-2.43705011e-02 3.64899323e-04 9.99702929e-01 -8.12562600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.82, Y:26.63, Z:-0.81 [[ 7.84799554e-01 -6.19469177e-01 1.86439815e-02 6.38210985e+01] [ 6.19305121e-01 7.85020899e-01 1.42602610e-02 2.66349787e+01] [-2.34697072e-02 3.54866737e-04 9.99724486e-01 -8.11365002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.85, Y:26.65, Z:-0.81 [[ 7.84962889e-01 -6.19233340e-01 1.95789130e-02 6.38467114e+01] [ 6.19052692e-01 7.85206934e-01 1.49611627e-02 2.66537391e+01] [-2.46379489e-02 3.76421308e-04 9.99696369e-01 -8.12407664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87592 meters Centerline goodness [0,1] 0.9999500599280863 Centerline is valid? [True, True] Translation: X:63.87, Y:26.67, Z:-0.81 [[ 7.85222942e-01 -6.18904604e-01 1.95454153e-02 6.38727549e+01] [ 6.18724866e-01 7.85466071e-01 1.49194863e-02 2.66732778e+01] [-2.45859993e-02 3.78111561e-04 9.99697647e-01 -8.11269711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.90, Y:26.69, Z:-0.81 [[ 7.86531826e-01 -6.17283169e-01 1.81432288e-02 6.38988134e+01] [ 6.17128167e-01 7.86740993e-01 1.38360043e-02 2.66917741e+01] [-2.28147545e-02 3.14239796e-04 9.99739660e-01 -8.10669156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.93, Y:26.71, Z:-0.81 [[ 7.88223806e-01 -6.15127671e-01 1.79215137e-02 6.39258149e+01] [ 6.14976170e-01 7.88427474e-01 1.36538816e-02 2.67098838e+01] [-2.25286942e-02 2.58989394e-04 9.99746163e-01 -8.11887326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96592 meters Centerline goodness [0,1] 0.9998504262850875 Centerline is valid? [True, True] Translation: X:63.95, Y:26.73, Z:-0.81 [[ 7.88946134e-01 -6.14220510e-01 1.72383959e-02 6.39521147e+01] [ 6.14080394e-01 7.89134406e-01 1.31209368e-02 2.67289121e+01] [-2.16625598e-02 2.34048591e-04 9.99765312e-01 -8.11895390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99592 meters Centerline goodness [0,1] 0.9999003686360466 Centerline is valid? [True, True] Translation: X:63.98, Y:26.75, Z:-0.81 [[ 7.89226402e-01 -6.13797092e-01 1.93601881e-02 6.39775550e+01] [ 6.13620572e-01 7.89463781e-01 1.47217952e-02 2.67486030e+01] [-2.43203624e-02 2.60980219e-04 9.99704182e-01 -8.11343986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02592 meters Centerline goodness [0,1] 0.9998501124156882 Centerline is valid? [True, True] Translation: X:64.00, Y:26.77, Z:-0.81 [[ 7.90057051e-01 -6.12699696e-01 2.02222384e-02 6.40037133e+01] [ 6.12507170e-01 7.90315772e-01 1.53605521e-02 2.67680161e+01] [-2.53933595e-02 2.50553524e-04 9.99677505e-01 -8.10882598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:26.79, Z:-0.81 [[ 7.90279430e-01 -6.12418034e-01 2.00642524e-02 6.40302730e+01] [ 6.12228837e-01 7.90534052e-01 1.52237875e-02 2.67874381e+01] [-2.51847968e-02 2.52867784e-04 9.99682781e-01 -8.11099861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:26.81, Z:-0.81 [[ 7.90603691e-01 -6.11999106e-01 2.00723156e-02 6.40559546e+01] [ 6.11810044e-01 7.90858414e-01 1.52131546e-02 2.68073118e+01] [-2.51847967e-02 2.52868095e-04 9.99682781e-01 -8.11127955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.08, Y:26.83, Z:-0.81 [[ 7.91521668e-01 -6.10819660e-01 1.98189846e-02 6.40832440e+01] [ 6.10635382e-01 7.91769721e-01 1.50046140e-02 2.68258204e+01] [-2.48571851e-02 2.25696088e-04 9.99690987e-01 -8.11735093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14591999999999 meters Centerline goodness [0,1] 0.9998504561088679 Centerline is valid? [True, True] Translation: X:64.11, Y:26.84, Z:-0.81 [[ 7.92329225e-01 -6.09830567e-01 1.79186742e-02 6.41113217e+01] [ 6.09679979e-01 7.92531794e-01 1.35528035e-02 2.68416176e+01] [-2.24660329e-02 1.86374635e-04 9.99747589e-01 -8.11520091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17591999999999 meters Centerline goodness [0,1] 0.9997508719481814 Centerline is valid? [True, True] Translation: X:64.14, Y:26.86, Z:-0.81 [[ 7.92418236e-01 -6.09737749e-01 1.71235718e-02 6.41378435e+01] [ 6.09600512e-01 7.92603206e-01 1.29372820e-02 2.68611105e+01] [-2.14605471e-02 1.86799923e-04 9.99769678e-01 -8.11076936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20591999999999 meters Centerline goodness [0,1] 0.999800945508833 Centerline is valid? [True, True] Translation: X:64.17, Y:26.88, Z:-0.81 [[ 7.94138347e-01 -6.07461295e-01 1.83047031e-02 6.41653943e+01] [ 6.07304216e-01 7.94349265e-01 1.38143218e-02 2.68790880e+01] [-2.29319933e-02 1.46040709e-04 9.99737017e-01 -8.11519017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23592 meters Centerline goodness [0,1] 0.9999502413295517 Centerline is valid? [True, True] Translation: X:64.19, Y:26.90, Z:-0.81 [[ 7.94773017e-01 -6.06611719e-01 1.89228545e-02 6.41923543e+01] [ 6.06443984e-01 7.94998241e-01 1.42650182e-02 2.68977540e+01] [-2.36969632e-02 1.38199734e-04 9.99719178e-01 -8.11054272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26592 meters Centerline goodness [0,1] 0.999800905878254 Centerline is valid? [True, True] Translation: X:64.22, Y:26.92, Z:-0.81 [[ 7.95280375e-01 -6.05960023e-01 1.84817729e-02 6.42199900e+01] [ 6.05800198e-01 7.95495087e-01 1.39171212e-02 2.69162823e+01] [-2.31353787e-02 1.28248276e-04 9.99732333e-01 -8.10416030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29592 meters Centerline goodness [0,1] 0.9997507104751459 Centerline is valid? [True, True] Translation: X:64.25, Y:26.94, Z:-0.81 [[ 7.95492069e-01 -6.05711088e-01 1.75056295e-02 6.42458035e+01] [ 6.05567921e-01 7.95684650e-01 1.31693165e-02 2.69350500e+01] [-2.19057617e-02 1.24760856e-04 9.99760032e-01 -8.10543075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32592 meters Centerline goodness [0,1] 0.99950092329191 Centerline is valid? [True, True] Translation: X:64.27, Y:26.95, Z:-0.81 [[ 7.95874744e-01 -6.05178187e-01 1.85135989e-02 6.42717455e+01] [ 6.05018225e-01 7.96090036e-01 1.39140945e-02 2.69535636e+01] [-2.31589981e-02 1.27188387e-04 9.99731786e-01 -8.11013540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35592 meters Centerline goodness [0,1] 0.9994024201981972 Centerline is valid? [True, True] Translation: X:64.30, Y:26.97, Z:-0.81 [[ 7.95870677e-01 -6.05155694e-01 1.94023615e-02 6.42986922e+01] [ 6.04980337e-01 7.96107132e-01 1.45679973e-02 2.69707145e+01] [-2.42622649e-02 1.43805302e-04 9.99705618e-01 -8.10551668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38592 meters Centerline goodness [0,1] 0.999700852570175 Centerline is valid? [True, True] Translation: X:64.32, Y:26.99, Z:-0.81 [[ 7.95498740e-01 -6.05673113e-01 1.84887660e-02 6.43248878e+01] [ 6.05514332e-01 7.95713550e-01 1.38686847e-02 2.69891808e+01] [-2.31116511e-02 1.62691546e-04 9.99732877e-01 -8.10194673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41592 meters Centerline goodness [0,1] 0.999900254351404 Centerline is valid? [True, True] Translation: X:64.35, Y:27.01, Z:-0.81 [[ 7.94380901e-01 -6.07187898e-01 1.67881126e-02 6.43518988e+01] [ 6.07057578e-01 7.94558253e-01 1.25809241e-02 2.70063371e+01] [-2.09781182e-02 1.97305180e-04 9.99779916e-01 -8.09627906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44592 meters Centerline goodness [0,1] 0.9998011631953074 Centerline is valid? [True, True] Translation: X:64.38, Y:27.03, Z:-0.81 [[ 7.94048265e-01 -6.07638473e-01 1.62123154e-02 6.43788563e+01] [ 6.07517305e-01 7.94213725e-01 1.21360414e-02 2.70258827e+01] [-2.02503691e-02 2.12659533e-04 9.99794918e-01 -8.09660063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47592 meters Centerline goodness [0,1] 0.9996517586189742 Centerline is valid? [True, True] Translation: X:64.41, Y:27.04, Z:-0.81 [[ 7.93735694e-01 -6.08046948e-01 1.62035931e-02 6.44062015e+01] [ 6.07926121e-01 7.93901037e-01 1.21233035e-02 2.70442753e+01] [-2.02355871e-02 2.27888761e-04 9.99795214e-01 -8.09970793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50592 meters Centerline goodness [0,1] 0.9995023142387897 Centerline is valid? [True, True] Translation: X:64.43, Y:27.06, Z:-0.81 [[ 7.93564688e-01 -6.08230429e-01 1.76304317e-02 6.44338750e+01] [ 6.08087706e-01 7.93760465e-01 1.31782175e-02 2.70603092e+01] [-2.20097326e-02 2.63080704e-04 9.99757722e-01 -8.09283904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53591999999999 meters Centerline goodness [0,1] 0.9994027176347619 Centerline is valid? [True, True] Translation: X:64.46, Y:27.08, Z:-0.81 [[ 7.94018829e-01 -6.07585313e-01 1.93439088e-02 6.44610079e+01] [ 6.07413643e-01 7.94254373e-01 1.44449806e-02 2.70781617e+01] [-2.41405423e-02 2.80167538e-04 9.99708535e-01 -8.08537147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56591999999999 meters Centerline goodness [0,1] 0.9995026607649078 Centerline is valid? [True, True] Translation: X:64.49, Y:27.10, Z:-0.81 [[ 7.95556398e-01 -6.05579010e-01 1.90808831e-02 6.44875114e+01] [ 6.05411727e-01 7.95785154e-01 1.42348290e-02 2.70962379e+01] [-2.38045971e-02 2.27181065e-04 9.99716605e-01 -8.08343147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59591999999999 meters Centerline goodness [0,1] 0.9994022415940225 Centerline is valid? [True, True] Translation: X:64.51, Y:27.12, Z:-0.81 [[ 7.96999483e-01 -6.03734452e-01 1.72202192e-02 6.45134605e+01] [ 6.03598040e-01 7.97185477e-01 1.28343988e-02 2.71155360e+01] [-2.14762774e-02 1.65081310e-04 9.99769345e-01 -8.08078891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62592 meters Centerline goodness [0,1] 0.9991537657424461 Centerline is valid? [True, True] Translation: X:64.54, Y:27.13, Z:-0.81 [[ 7.98028188e-01 -6.02395484e-01 1.64527279e-02 6.45395056e+01] [ 6.02270920e-01 7.98197759e-01 1.22505537e-02 2.71345965e+01] [-2.05122087e-02 1.32712425e-04 9.99789594e-01 -8.08006735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65592 meters Centerline goodness [0,1] 0.9987052437627608 Centerline is valid? [True, True] Translation: X:64.57, Y:27.15, Z:-0.81 [[ 8.00085339e-01 -5.99668380e-01 1.61643309e-02 6.45676191e+01] [ 5.99547822e-01 8.00248605e-01 1.20241147e-02 2.71510232e+01] [-2.01459646e-02 7.09715059e-05 9.99797047e-01 -8.07690397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68592 meters Centerline goodness [0,1] 0.9986065492186722 Centerline is valid? [True, True] Translation: X:64.59, Y:27.17, Z:-0.81 [[ 8.01367410e-01 -5.97897938e-01 1.81198574e-02 6.45938083e+01] [ 5.97746285e-01 8.01572239e-01 1.34656750e-02 2.71698924e+01] [-2.25754740e-02 4.01243131e-05 9.99745141e-01 -8.06146027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71592 meters Centerline goodness [0,1] 0.9990049751243781 Centerline is valid? [True, True] Translation: X:64.62, Y:27.19, Z:-0.81 [[ 8.02200005e-01 -5.96734033e-01 1.95869102e-02 6.46191171e+01] [ 5.96556821e-01 8.02439091e-01 1.45418290e-02 2.71894642e+01] [-2.43949067e-02 1.92495703e-05 9.99702400e-01 -8.06279440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74592 meters Centerline goodness [0,1] 0.9991529646238166 Centerline is valid? [True, True] Translation: X:64.65, Y:27.21, Z:-0.81 [[ 8.02933251e-01 -5.95775028e-01 1.87165737e-02 6.46451658e+01] [ 5.95613268e-01 8.03151365e-01 1.38823246e-02 2.72086045e+01] [-2.33029840e-02 1.25957656e-06 9.99728449e-01 -8.07393397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77592 meters Centerline goodness [0,1] 0.9994015857976363 Centerline is valid? [True, True] Translation: X:64.67, Y:27.23, Z:-0.81 [[ 8.04588456e-01 -5.93508869e-01 1.96122180e-02 6.46727712e+01] [ 5.93330920e-01 8.04827447e-01 1.45327016e-02 2.72260318e+01] [-2.44097387e-02 -5.63086036e-05 9.99702036e-01 -8.08253449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80592 meters Centerline goodness [0,1] 0.9992535828025477 Centerline is valid? [True, True] Translation: X:64.70, Y:27.25, Z:-0.81 [[ 8.06189380e-01 -5.91339015e-01 1.94126930e-02 6.46991376e+01] [ 5.91164422e-01 8.06423064e-01 1.43690376e-02 2.72458236e+01] [-2.41518159e-02 -1.08072141e-04 9.99708297e-01 -8.07697365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83592 meters Centerline goodness [0,1] 0.9987563426524724 Centerline is valid? [True, True] Translation: X:64.73, Y:27.27, Z:-0.81 [[ 8.08475576e-01 -5.88214342e-01 1.92647850e-02 6.47250526e+01] [ 5.88041881e-01 8.08705047e-01 1.42440558e-02 2.72666900e+01] [-2.39580868e-02 -1.87470841e-04 9.99712946e-01 -8.06052439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86592 meters Centerline goodness [0,1] 0.9983564918571642 Centerline is valid? [True, True] Translation: X:64.75, Y:27.29, Z:-0.81 [[ 8.09730558e-01 -5.86513169e-01 1.84045085e-02 6.47523275e+01] [ 5.86355664e-01 8.09939662e-01 1.35933470e-02 2.72859287e+01] [-2.28792185e-02 -2.15360666e-04 9.99738213e-01 -8.05234816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89591999999999 meters Centerline goodness [0,1] 0.9986543732868178 Centerline is valid? [True, True] Translation: X:64.78, Y:27.30, Z:-0.81 [[ 8.11082245e-01 -5.84679783e-01 1.71797494e-02 6.47798783e+01] [ 5.84542424e-01 8.11264134e-01 1.26751751e-02 2.73048822e+01] [-2.13482332e-02 -2.38317083e-04 9.99772072e-01 -8.05671545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92591999999999 meters Centerline goodness [0,1] 0.9987541735187123 Centerline is valid? [True, True] Translation: X:64.81, Y:27.33, Z:-0.80 [[ 8.11515814e-01 -5.84079323e-01 1.71297295e-02 6.48056821e+01] [ 5.83942920e-01 8.11696548e-01 1.26246173e-02 2.73255227e+01] [-2.12779202e-02 -2.42292326e-04 9.99773570e-01 -8.04180519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95591999999999 meters Centerline goodness [0,1] 0.9987547940429347 Centerline is valid? [True, True] Translation: X:64.83, Y:27.35, Z:-0.80 [[ 8.11700769e-01 -5.83793971e-01 1.80682495e-02 6.48309471e+01] [ 5.83642421e-01 8.11901802e-01 1.33037036e-02 2.73450914e+01] [-2.24362663e-02 -2.53229587e-04 9.99748243e-01 -8.04319935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98592 meters Centerline goodness [0,1] 0.9990548674327215 Centerline is valid? [True, True] Translation: X:64.86, Y:27.37, Z:-0.80 [[ 8.11258377e-01 -5.84367887e-01 1.93395800e-02 6.48575641e+01] [ 5.84194788e-01 8.11488826e-01 1.42244740e-02 2.73652551e+01] [-2.40061789e-02 -2.41641863e-04 9.99711781e-01 -8.03958084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01592 meters Centerline goodness [0,1] 0.9996509250486212 Centerline is valid? [True, True] Translation: X:64.88, Y:27.38, Z:-0.80 [[ 8.11086263e-01 -5.84618680e-01 1.89755814e-02 6.48829815e+01] [ 5.84452419e-01 8.11308172e-01 1.39434280e-02 2.73843539e+01] [-2.35466328e-02 -2.18998480e-04 9.99722716e-01 -8.04526606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04592 meters Centerline goodness [0,1] 0.999750149910054 Centerline is valid? [True, True] Translation: X:64.91, Y:27.41, Z:-0.81 [[ 8.11610008e-01 -5.83883097e-01 1.92282106e-02 6.49076521e+01] [ 5.83712295e-01 8.11837713e-01 1.41239115e-02 2.74056207e+01] [-2.38568997e-02 -2.39364959e-04 9.99715355e-01 -8.06242371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.93, Y:27.43, Z:-0.81 [[ 8.12412828e-01 -5.82779450e-01 1.88018582e-02 6.49340680e+01] [ 5.82616192e-01 8.12630327e-01 1.37958041e-02 2.74260901e+01] [-2.33188713e-02 -2.53621208e-04 9.99728046e-01 -8.07535296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.96, Y:27.45, Z:-0.81 [[ 8.12499246e-01 -5.82622610e-01 1.98964488e-02 6.49596767e+01] [ 5.82440081e-01 8.12742779e-01 1.45851304e-02 2.74454358e+01] [-2.46683218e-02 -2.61918176e-04 9.99695656e-01 -8.07482991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.99, Y:27.47, Z:-0.81 [[ 8.12646523e-01 -5.82419671e-01 1.98231045e-02 6.49864729e+01] [ 5.82238810e-01 8.12888222e-01 1.45157259e-02 2.74651508e+01] [-2.45682125e-02 -2.54373447e-04 9.99698124e-01 -8.06581547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.01, Y:27.49, Z:-0.81 [[ 8.11860370e-01 -5.83553143e-01 1.86673308e-02 6.50116632e+01] [ 5.83393359e-01 8.12074929e-01 1.36564131e-02 2.74856964e+01] [-2.31285141e-02 -1.96703793e-04 9.99732481e-01 -8.05362634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.04, Y:27.51, Z:-0.80 [[ 8.10898012e-01 -5.84918739e-01 1.77336618e-02 6.50359053e+01] [ 5.84775137e-01 8.11091887e-01 1.29610807e-02 2.75068185e+01] [-2.19648083e-02 -1.39910070e-04 9.99758735e-01 -8.04974955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.06, Y:27.53, Z:-0.81 [[ 8.10128446e-01 -5.85969877e-01 1.81989957e-02 6.50621235e+01] [ 5.85819233e-01 8.10332828e-01 1.32866068e-02 2.75270535e+01] [-2.25327950e-02 -1.02536376e-04 9.99746099e-01 -8.06505531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.09, Y:27.55, Z:-0.81 [[ 8.09170670e-01 -5.87314663e-01 1.74445946e-02 6.50874257e+01] [ 5.87176827e-01 8.09358687e-01 1.27236150e-02 2.75460993e+01] [-2.15916999e-02 -5.25143901e-05 9.99766871e-01 -8.05849314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.11, Y:27.57, Z:-0.81 [[ 8.08371545e-01 -5.88452159e-01 1.61090312e-02 6.51131348e+01] [ 5.88335073e-01 8.08532038e-01 1.17382054e-02 2.75655509e+01] [-1.99320401e-02 -1.13231878e-05 9.99801337e-01 -8.05711171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:27.58, Z:-0.81 [[ 8.08071706e-01 -5.88878420e-01 1.55668059e-02 6.51400938e+01] [ 5.88769404e-01 8.08221632e-01 1.13305766e-02 2.75848999e+01] [-1.92537613e-02 9.34066560e-06 9.99814629e-01 -8.05172651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.17, Y:27.60, Z:-0.80 [[ 8.06573977e-01 -5.90936124e-01 1.52616498e-02 6.51677263e+01] [ 5.90831941e-01 8.06718348e-01 1.10961098e-02 2.76023815e+01] [-1.88689450e-02 6.72367650e-05 9.99821963e-01 -8.03240861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.20, Y:27.62, Z:-0.80 [[ 8.06170150e-01 -5.91496282e-01 1.48942594e-02 6.51950425e+01] [ 5.91397373e-01 8.06307721e-01 1.08169274e-02 2.76212458e+01] [-1.84075287e-02 8.81418551e-05 9.99830563e-01 -8.02714996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.22, Y:27.64, Z:-0.80 [[ 8.05777136e-01 -5.92051210e-01 1.40915204e-02 6.52213488e+01] [ 5.91962863e-01 8.05900338e-01 1.02281031e-02 2.76395889e+01] [-1.74119218e-02 1.00085088e-04 9.99848396e-01 -8.01052370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:27.66, Z:-0.80 [[ 8.07188220e-01 -5.90143001e-01 1.33572281e-02 6.52466610e+01] [ 5.90063517e-01 8.07298727e-01 9.68568949e-03 2.76586316e+01] [-1.64992151e-02 6.34385254e-05 9.99863877e-01 -8.01560930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.27, Y:27.68, Z:-0.80 [[ 8.11023687e-01 -5.84846765e-01 1.39585269e-02 6.52732817e+01] [ 5.84759369e-01 8.11143798e-01 1.01103867e-02 2.76775806e+01] [-1.72353995e-02 -3.73837349e-05 9.99851459e-01 -8.03440394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:27.70, Z:-0.80 [[ 8.13113075e-01 -5.81922414e-01 1.46092901e-02 6.52998541e+01] [ 5.81826392e-01 8.13244302e-01 1.05714118e-02 2.76959240e+01] [-1.80326634e-02 -9.56825890e-05 9.99837394e-01 -8.03594375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.33, Y:27.71, Z:-0.80 [[ 8.16277065e-01 -5.77485166e-01 1.42350481e-02 6.53260381e+01] [ 5.77393498e-01 8.16401157e-01 1.02907274e-02 2.77147256e+01] [-1.75642522e-02 -1.80860551e-04 9.99845720e-01 -8.02344202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:27.73, Z:-0.80 [[ 8.17270139e-01 -5.76093145e-01 1.36458309e-02 6.53524471e+01] [ 5.76008893e-01 8.17384029e-01 9.85413043e-03 2.77343227e+01] [-1.68307812e-02 -1.93366585e-04 9.99858334e-01 -8.01035535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:27.75, Z:-0.80 [[ 8.17648483e-01 -5.75563787e-01 1.33148370e-02 6.53791933e+01] [ 5.75483674e-01 8.17756865e-01 9.60469073e-03 2.77542986e+01] [-1.64164115e-02 -1.90789484e-04 9.99865223e-01 -8.00987347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:27.77, Z:-0.80 [[ 8.17225498e-01 -5.76144901e-01 1.41258130e-02 6.54053279e+01] [ 5.76055013e-01 8.17347552e-01 1.01785059e-02 2.77746029e+01] [-1.74099929e-02 -1.80889174e-04 9.99848418e-01 -8.01241287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:27.80, Z:-0.80 [[ 8.16402315e-01 -5.77287942e-01 1.50297185e-02 6.54302647e+01] [ 5.77186593e-01 8.16540634e-01 1.08179918e-02 2.77958116e+01] [-1.85174721e-02 -1.56881497e-04 9.99828525e-01 -8.02825375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67591999999999 meters Centerline goodness [0,1] 0.9999501917617174 Centerline is valid? [True, True] Translation: X:65.45, Y:27.82, Z:-0.80 [[ 8.15568963e-01 -5.78466833e-01 1.49462471e-02 6.54536920e+01] [ 5.78367021e-01 8.15705896e-01 1.07461665e-02 2.78192985e+01] [-1.84080428e-02 -1.19823437e-04 9.99830550e-01 -8.03203184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:27.84, Z:-0.80 [[ 8.15899175e-01 -5.78000208e-01 1.49764716e-02 6.54799063e+01] [ 5.77900132e-01 8.16036607e-01 1.07560867e-02 2.78396931e+01] [-1.84383694e-02 -1.20977351e-04 9.99829991e-01 -8.02123116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:27.86, Z:-0.80 [[ 8.16008641e-01 -5.77847851e-01 1.48915452e-02 6.55065738e+01] [ 5.77749098e-01 8.16144502e-01 1.06832705e-02 2.78589561e+01] [-1.83269577e-02 -1.14064252e-04 9.99832041e-01 -8.02055949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:27.88, Z:-0.80 [[ 8.15667334e-01 -5.78338996e-01 1.45191464e-02 6.55341423e+01] [ 5.78245403e-01 8.15796542e-01 1.04046481e-02 2.78775906e+01] [-1.78620831e-02 -9.11019466e-05 9.99840456e-01 -8.00758637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:27.90, Z:-0.80 [[ 8.15765140e-01 -5.78247456e-01 1.25345431e-02 6.55601575e+01] [ 5.78177825e-01 8.15861431e-01 8.97376892e-03 2.78967394e+01] [-1.54155093e-02 -7.32929920e-05 9.99881171e-01 -7.99638202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.59, Y:27.92, Z:-0.80 [[ 8.15635397e-01 -5.78415962e-01 1.31861294e-02 6.55854364e+01] [ 5.78339094e-01 8.15741976e-01 9.42980647e-03 2.79174389e+01] [-1.62108298e-02 -6.52298163e-05 9.99868594e-01 -8.00960959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.61, Y:27.94, Z:-0.80 [[ 8.15804417e-01 -5.78170459e-01 1.34934820e-02 6.56115937e+01] [ 5.78090112e-01 8.15915999e-01 9.63872947e-03 2.79366641e+01] [-1.65823765e-02 -6.28695403e-05 9.99862501e-01 -8.00654773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.64, Y:27.95, Z:-0.80 [[ 8.15785204e-01 -5.78159236e-01 1.50465229e-02 6.56383547e+01] [ 5.78059528e-01 8.15923951e-01 1.07372498e-02 2.79547792e+01] [-1.84846586e-02 -6.15036214e-05 9.99829142e-01 -7.99917207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.67, Y:27.97, Z:-0.80 [[ 8.15984748e-01 -5.77875950e-01 1.51088315e-02 6.56652291e+01] [ 5.77775587e-01 8.16124612e-01 1.07697931e-02 2.79741437e+01] [-1.85542936e-02 -5.84728962e-05 9.99827853e-01 -7.99219196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.69, Y:27.99, Z:-0.80 [[ 8.16478864e-01 -5.77187347e-01 1.47319583e-02 6.56912636e+01] [ 5.77092027e-01 8.16611757e-01 1.04895041e-02 2.79940434e+01] [-1.80846994e-02 -6.27627136e-05 9.99836456e-01 -7.98910282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.72, Y:28.01, Z:-0.80 [[ 8.16798267e-01 -5.76763254e-01 1.35918623e-02 6.57166362e+01] [ 5.76682217e-01 8.16911345e-01 9.66827078e-03 2.80133224e+01] [-1.66796498e-02 -5.88415485e-05 9.99860883e-01 -7.99404295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.74, Y:28.03, Z:-0.80 [[ 8.16902632e-01 -5.76639821e-01 1.25142914e-02 6.57426037e+01] [ 5.76571243e-01 8.16998479e-01 8.89313089e-03 2.80321727e+01] [-1.53522904e-02 -4.94415009e-05 9.99882145e-01 -7.99009408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:28.05, Z:-0.80 [[ 8.17205421e-01 -5.76210532e-01 1.25189290e-02 6.57688699e+01] [ 5.76142003e-01 8.17301304e-01 8.88660102e-03 2.80512287e+01] [-1.53522901e-02 -4.94976821e-05 9.99882145e-01 -7.99037488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.80, Y:28.07, Z:-0.80 [[ 8.17816405e-01 -5.75321769e-01 1.34606591e-02 6.57954006e+01] [ 5.75242597e-01 8.17927172e-01 9.54442780e-03 2.80708117e+01] [-1.65009559e-02 -6.24451145e-05 9.99863848e-01 -7.98566648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.82, Y:28.09, Z:-0.80 [[ 8.17576002e-01 -5.75650794e-01 1.39872731e-02 6.58218056e+01] [ 5.75565545e-01 8.17695641e-01 9.90668046e-03 2.80910702e+01] [-1.71401207e-02 -4.88717326e-05 9.99853096e-01 -7.97747422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12592 meters Centerline goodness [0,1] 0.9999501942424545 Centerline is valid? [True, True] Translation: X:65.85, Y:28.11, Z:-0.80 [[ 8.16870057e-01 -5.76605297e-01 1.58000277e-02 6.58464983e+01] [ 5.76496910e-01 8.17022846e-01 1.11795475e-02 2.81111343e+01] [-1.93551699e-02 -2.35704455e-05 9.99812671e-01 -7.98557880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.87, Y:28.13, Z:-0.80 [[ 8.16125868e-01 -5.77670917e-01 1.53257347e-02 6.58723438e+01] [ 5.77569354e-01 8.16269754e-01 1.08318845e-02 2.81311555e+01] [-1.87671983e-02 1.14935744e-05 9.99823881e-01 -7.98866626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.90, Y:28.15, Z:-0.80 [[ 8.15303263e-01 -5.78868309e-01 1.38589361e-02 6.58974921e+01] [ 5.78785594e-01 8.15421044e-01 9.78557601e-03 2.81504139e+01] [-1.69654279e-02 4.31404756e-05 9.99856076e-01 -7.97861288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.92, Y:28.17, Z:-0.80 [[ 8.15074938e-01 -5.79190051e-01 1.38466689e-02 6.59240849e+01] [ 5.79107716e-01 8.15192543e-01 9.76587855e-03 2.81703693e+01] [-1.69440009e-02 5.87899317e-05 9.99856438e-01 -7.98306533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.95, Y:28.19, Z:-0.80 [[ 8.14961919e-01 -5.79351817e-01 1.37310900e-02 6.59501501e+01] [ 5.79271057e-01 8.15077584e-01 9.67342812e-03 2.81903541e+01] [-1.67962218e-02 7.05474632e-05 9.99858931e-01 -7.97596112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.98, Y:28.21, Z:-0.80 [[ 8.14305281e-01 -5.80293178e-01 1.29126220e-02 6.59759179e+01] [ 5.80222040e-01 8.14407649e-01 9.08658308e-03 2.82107052e+01] [-1.57890203e-02 9.29352974e-05 9.99875341e-01 -7.97428243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.00, Y:28.23, Z:-0.80 [[ 8.14422473e-01 -5.80159485e-01 1.14458416e-02 6.60013131e+01] [ 5.80103689e-01 8.14502894e-01 8.04646722e-03 2.82298456e+01] [-1.39909054e-02 8.65512161e-05 9.99902119e-01 -7.96746751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.03, Y:28.25, Z:-0.80 [[ 8.14581590e-01 -5.79934938e-01 1.15021708e-02 6.60284055e+01] [ 5.79878697e-01 8.14662788e-01 8.07697825e-03 2.82492792e+01] [-1.40545124e-02 9.05060251e-05 9.99901226e-01 -7.97329519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.06, Y:28.27, Z:-0.80 [[ 8.15188687e-01 -5.79080768e-01 1.15268780e-02 6.60555743e+01] [ 5.79024329e-01 8.15270175e-01 8.08509866e-03 2.82681080e+01] [-1.40794450e-02 8.34618507e-05 9.99900876e-01 -7.96413408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.08, Y:28.29, Z:-0.80 [[ 8.15445791e-01 -5.78699999e-01 1.24287079e-02 6.60827231e+01] [ 5.78634490e-01 8.15540497e-01 8.70772787e-03 2.82861378e+01] [-1.51752767e-02 9.09990095e-05 9.99884845e-01 -7.97152548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42591999999999 meters Centerline goodness [0,1] 0.9999501545209849 Centerline is valid? [True, True] Translation: X:66.11, Y:28.31, Z:-0.80 [[ 8.16327243e-01 -5.77466896e-01 1.19086773e-02 6.61100147e+01] [ 5.77406760e-01 8.16414098e-01 8.33395955e-03 2.83053216e+01] [-1.45349978e-02 7.29125334e-05 9.99894359e-01 -7.96531523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.14, Y:28.33, Z:-0.80 [[ 8.16540728e-01 -5.77140555e-01 1.30391486e-02 6.61369601e+01] [ 5.77068582e-01 8.16644827e-01 9.11471351e-03 2.83251070e+01] [-1.59088241e-02 8.19482066e-05 9.99873443e-01 -7.96953851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.16, Y:28.34, Z:-0.79 [[ 8.17483142e-01 -5.75832377e-01 1.17637735e-02 6.61632166e+01] [ 5.75773778e-01 8.17567777e-01 8.21501448e-03 2.83433601e+01] [-1.43481535e-02 5.76364784e-05 9.99897058e-01 -7.94693312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.19, Y:28.36, Z:-0.80 [[ 8.18381692e-01 -5.74549967e-01 1.19892410e-02 6.61908048e+01] [ 5.74489101e-01 8.18469507e-01 8.36297550e-03 2.83618192e+01] [-1.46177755e-02 4.35822456e-05 9.99893154e-01 -7.95468382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.22, Y:28.38, Z:-0.79 [[ 8.19316481e-01 -5.73222700e-01 1.16721653e-02 6.62175075e+01] [ 5.73165008e-01 8.19399619e-01 8.13254953e-03 2.83809618e+01] [-1.42259298e-02 2.69448314e-05 9.99898806e-01 -7.94546345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.24, Y:28.40, Z:-0.79 [[ 8.19888906e-01 -5.72401711e-01 1.17670560e-02 6.62440595e+01] [ 5.72343126e-01 8.19973342e-01 8.18933945e-03 2.84011526e+01] [-1.43362642e-02 2.04450616e-05 9.99897230e-01 -7.94258792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:28.42, Z:-0.79 [[ 8.21479659e-01 -5.70109753e-01 1.20846652e-02 6.62705507e+01] [ 5.70047855e-01 8.21568542e-01 8.40079364e-03 2.84212023e+01] [-1.47177551e-02 -1.22436449e-05 9.99891688e-01 -7.93543025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.30, Y:28.44, Z:-0.79 [[ 8.23000421e-01 -5.67938578e-01 1.07740219e-02 6.62970711e+01] [ 5.67889303e-01 8.23070939e-01 7.48126164e-03 2.84401052e+01] [-1.31166814e-02 -3.86296812e-05 9.99913972e-01 -7.92365731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.32, Y:28.46, Z:-0.79 [[ 8.24592795e-01 -5.65633378e-01 1.02763809e-02 6.63233564e+01] [ 5.65588471e-01 8.24656824e-01 7.12770045e-03 2.84602073e+01] [-1.25061529e-02 -6.52478957e-05 9.99921793e-01 -7.91882282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.35, Y:28.48, Z:-0.79 [[ 8.26448426e-01 -5.62921076e-01 1.01420897e-02 6.63476179e+01] [ 5.62877228e-01 8.26510649e-01 7.02666599e-03 2.84822266e+01] [-1.23380035e-02 -9.84256978e-05 9.99923879e-01 -7.92245618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:28.50, Z:-0.79 [[ 8.27462198e-01 -5.61416760e-01 1.08412039e-02 6.63739303e+01] [ 5.61366640e-01 8.27533206e-01 7.50258661e-03 2.85027155e+01] [-1.31835341e-02 -1.22216617e-04 9.99913086e-01 -7.92470423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:28.52, Z:-0.79 [[ 8.28202014e-01 -5.60323392e-01 1.09142619e-02 6.64000561e+01] [ 5.60272611e-01 8.28273915e-01 7.54472287e-03 2.85236394e+01] [-1.32674831e-02 -1.33592689e-04 9.99911974e-01 -7.91571462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.43, Y:28.54, Z:-0.79 [[ 8.28288062e-01 -5.60186208e-01 1.14148617e-02 6.64257766e+01] [ 5.60130771e-01 8.28366703e-01 7.88196277e-03 2.85442607e+01] [-1.38710582e-02 -1.34720393e-04 9.99903783e-01 -7.91506477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.45, Y:28.57, Z:-0.79 [[ 8.29282548e-01 -5.58722509e-01 1.09367742e-02 6.64502715e+01] [ 5.58671603e-01 8.29354651e-01 7.54343219e-03 2.85664227e+01] [-1.32851499e-02 -1.45571479e-04 9.99911738e-01 -7.90732134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:28.59, Z:-0.79 [[ 8.29856691e-01 -5.57847415e-01 1.20056154e-02 6.64764797e+01] [ 5.57786116e-01 8.29943512e-01 8.27136133e-03 2.85872995e+01] [-1.45781402e-02 -1.67478945e-04 9.99893719e-01 -7.90811309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:28.61, Z:-0.79 [[ 8.30760596e-01 -5.56500422e-01 1.20046992e-02 6.65018295e+01] [ 5.56439126e-01 8.30847306e-01 8.26152478e-03 2.86078032e+01] [-1.45716140e-02 -1.83464928e-04 9.99893812e-01 -7.91126041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:28.63, Z:-0.79 [[ 8.31426695e-01 -5.55498458e-01 1.22928763e-02 6.65255777e+01] [ 5.55434214e-01 8.31517543e-01 8.45047168e-03 2.86311898e+01] [-1.49159663e-02 -1.98063673e-04 9.99888731e-01 -7.90936304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:28.65, Z:-0.79 [[ 8.31729619e-01 -5.55038120e-01 1.25907327e-02 6.65512234e+01] [ 5.54970819e-01 8.31824888e-01 8.64559969e-03 2.86516750e+01] [-1.52719222e-02 -2.03312099e-04 9.99883357e-01 -7.91428266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96592 meters Centerline goodness [0,1] 0.999850284459527 Centerline is valid? [True, True] Translation: X:66.58, Y:28.67, Z:-0.79 [[ 8.30062822e-01 -5.57506305e-01 1.35066929e-02 6.65752981e+01] [ 5.57429330e-01 8.30172689e-01 9.26541398e-03 2.86730930e+01] [-1.63784142e-02 -1.61848923e-04 9.99865852e-01 -7.90593983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:28.69, Z:-0.79 [[ 8.29067427e-01 -5.58975169e-01 1.39269839e-02 6.66014851e+01] [ 5.58893718e-01 8.29184385e-01 9.54300135e-03 2.86927364e+01] [-1.68823384e-02 -1.28087764e-04 9.99857475e-01 -7.90777668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02592 meters Centerline goodness [0,1] 0.9999501818362975 Centerline is valid? [True, True] Translation: X:66.63, Y:28.71, Z:-0.79 [[ 8.28453698e-01 -5.59897496e-01 1.33889193e-02 6.66276068e+01] [ 5.59822487e-01 8.28561877e-01 9.16508869e-03 2.87112947e+01] [-1.62250583e-02 -9.74335091e-05 9.99868360e-01 -7.90787139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:28.73, Z:-0.79 [[ 8.28598212e-01 -5.59684996e-01 1.33307278e-02 6.66536177e+01] [ 5.59610777e-01 8.28705434e-01 9.11493424e-03 2.87321030e+01] [-1.61487385e-02 -9.25992759e-05 9.99869596e-01 -7.89400163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.68, Y:28.75, Z:-0.79 [[ 8.29188019e-01 -5.58795934e-01 1.39403604e-02 6.66795852e+01] [ 5.58714830e-01 8.29305187e-01 9.52081118e-03 2.87530574e+01] [-1.68810037e-02 -1.05856486e-04 9.99857500e-01 -7.90049563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:28.77, Z:-0.79 [[ 8.30942718e-01 -5.56230815e-01 1.18945000e-02 6.67049031e+01] [ 5.56171639e-01 8.31027836e-01 8.11444406e-03 2.87746337e+01] [-1.43981644e-02 -1.27254667e-04 9.99896333e-01 -7.90395460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:28.79, Z:-0.79 [[ 8.31974256e-01 -5.54697165e-01 1.13970672e-02 6.67314472e+01] [ 5.54642811e-01 8.32052303e-01 7.76634941e-03 2.87935602e+01] [-1.37909280e-02 -1.40101365e-04 9.99904891e-01 -7.91062153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:28.81, Z:-0.79 [[ 8.34249708e-01 -5.51283241e-01 1.06869945e-02 6.67573383e+01] [ 5.51235262e-01 8.34318138e-01 7.27531396e-03 2.88123163e+01] [-1.29271120e-02 -1.78380362e-04 9.99916425e-01 -7.90110006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:28.83, Z:-0.79 [[ 8.34930614e-01 -5.50246228e-01 1.09525372e-02 6.67839932e+01] [ 5.50195854e-01 8.35002426e-01 7.44782670e-03 2.88323695e+01] [-1.32435337e-02 -1.92377985e-04 9.99912282e-01 -7.89551156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.81, Y:28.85, Z:-0.79 [[ 8.34876547e-01 -5.50309009e-01 1.18804749e-02 6.68094853e+01] [ 5.50249875e-01 8.34961050e-01 8.06973001e-03 2.88531517e+01] [-1.43605790e-02 -1.99998477e-04 9.99896862e-01 -7.88497254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.84, Y:28.87, Z:-0.79 [[ 8.34262610e-01 -5.51191747e-01 1.39124402e-02 6.68353835e+01] [ 5.51110956e-01 8.34378580e-01 9.43924223e-03 2.88732929e+01] [-1.68110745e-02 -2.07508624e-04 9.99858662e-01 -7.90555638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.86, Y:28.89, Z:-0.79 [[ 8.32959726e-01 -5.53121660e-01 1.53142000e-02 6.68605170e+01] [ 5.53024309e-01 8.33100473e-01 1.03785999e-02 2.88943507e+01] [-1.84988957e-02 -1.75830912e-04 9.99828865e-01 -7.90603125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.89, Y:28.91, Z:-0.79 [[ 8.32581526e-01 -5.53721510e-01 1.41595273e-02 6.68867151e+01] [ 5.53638535e-01 8.32701909e-01 9.58663276e-03 2.89131109e+01] [-1.70989902e-02 -1.42393398e-04 9.99853791e-01 -7.90081079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.91, Y:28.93, Z:-0.79 [[ 8.32883645e-01 -5.53272407e-01 1.39455042e-02 6.69134866e+01] [ 5.53192037e-01 8.33000375e-01 9.43113839e-03 2.89323222e+01] [-1.68345988e-02 -1.40499070e-04 9.99858278e-01 -7.89310198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.94, Y:28.95, Z:-0.79 [[ 8.33566079e-01 -5.52226759e-01 1.46013041e-02 6.69384012e+01] [ 5.52138688e-01 8.33693937e-01 9.86345574e-03 2.89535197e+01] [-1.76198829e-02 -1.59897248e-04 9.99844745e-01 -7.88232091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.96, Y:28.97, Z:-0.79 [[ 8.34101024e-01 -5.51395029e-01 1.54597287e-02 6.69648225e+01] [ 5.51296375e-01 8.34244263e-01 1.04315350e-02 2.89739944e+01] [-1.86490865e-02 -1.78061646e-04 9.99826075e-01 -7.88519667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.99, Y:28.99, Z:-0.79 [[ 8.34106965e-01 -5.51385101e-01 1.54932852e-02 6.69914423e+01] [ 5.51286238e-01 8.34250827e-01 1.04423276e-02 2.89937245e+01] [-1.86830299e-02 -1.68783285e-04 9.99825443e-01 -7.88671428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.02, Y:29.01, Z:-0.79 [[ 8.33933080e-01 -5.51617400e-01 1.65487678e-02 6.70184196e+01] [ 5.51504905e-01 8.34097247e-01 1.11410366e-02 2.90130688e+01] [-1.99488713e-02 -1.64152336e-04 9.99800988e-01 -7.88630314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.04, Y:29.03, Z:-0.79 [[ 8.34131114e-01 -5.51310826e-01 1.67826731e-02 6.70447182e+01] [ 5.51195326e-01 8.34299914e-01 1.12856551e-02 2.90322464e+01] [-2.02236866e-02 -1.63185067e-04 9.99795467e-01 -7.89273646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.07, Y:29.05, Z:-0.79 [[ 8.33567725e-01 -5.52106424e-01 1.85295219e-02 6.70693824e+01] [ 5.51966101e-01 8.33773635e-01 1.24478704e-02 2.90540201e+01] [-2.23219760e-02 -1.48475041e-04 9.99750823e-01 -7.89733185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.10, Y:29.07, Z:-0.79 [[ 8.33098749e-01 -5.52784189e-01 1.93936757e-02 6.70959427e+01] [ 5.52631000e-01 8.33324442e-01 1.30135546e-02 2.90734148e+01] [-2.33549112e-02 -1.24029722e-04 9.99727229e-01 -7.90456734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.12, Y:29.09, Z:-0.79 [[ 8.32518488e-01 -5.53615156e-01 2.05724689e-02 6.71224577e+01] [ 5.53443375e-01 8.32772628e-01 1.37906145e-02 2.90923478e+01] [-2.47668822e-02 -9.52449025e-05 9.99693249e-01 -7.91094492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.15, Y:29.11, Z:-0.79 [[ 8.31837385e-01 -5.54625735e-01 2.09011716e-02 6.71489628e+01] [ 5.54448922e-01 8.32099928e-01 1.40036563e-02 2.91117072e+01] [-2.51586515e-02 -6.01327650e-05 9.99683469e-01 -7.91100636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.17, Y:29.13, Z:-0.79 [[ 8.30763441e-01 -5.56246286e-01 2.05469008e-02 6.71748245e+01] [ 5.56076300e-01 8.31017491e-01 1.37505827e-02 2.91323934e+01] [-2.47235445e-02 2.16319126e-06 9.99694326e-01 -7.92429469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.20, Y:29.15, Z:-0.79 [[ 8.30612859e-01 -5.56479713e-01 2.03127526e-02 6.72023636e+01] [ 5.56314034e-01 8.30861197e-01 1.35781509e-02 2.91505442e+01] [-2.44330434e-02 2.20826005e-05 9.99701468e-01 -7.92515919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.23, Y:29.17, Z:-0.79 [[ 8.29309865e-01 -5.58422595e-01 2.02324977e-02 6.72300484e+01] [ 5.58259181e-01 8.29556627e-01 1.35088582e-02 2.91680769e+01] [-2.43276542e-02 9.19482360e-05 9.99704035e-01 -7.91655077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.26, Y:29.19, Z:-0.79 [[ 8.29432610e-01 -5.58246190e-01 2.00682973e-02 6.72567314e+01] [ 5.58085742e-01 8.29675347e-01 1.33837127e-02 2.91868314e+01] [-2.41215782e-02 9.89428700e-05 9.99709028e-01 -7.91170913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.28, Y:29.20, Z:-0.79 [[ 8.29275328e-01 -5.58450303e-01 2.08731615e-02 6.72831244e+01] [ 5.58277145e-01 8.29537970e-01 1.39063135e-02 2.92047004e+01] [-2.50810650e-02 1.20846298e-04 9.99685413e-01 -7.91843144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.31, Y:29.22, Z:-0.79 [[ 8.29544385e-01 -5.58021378e-01 2.16392265e-02 6.73108401e+01] [ 5.57835560e-01 8.29826564e-01 1.44000558e-02 2.92224889e+01] [-2.59923440e-02 1.25644658e-04 9.99662134e-01 -7.92426057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.34, Y:29.24, Z:-0.79 [[ 8.29325700e-01 -5.58315821e-01 2.24126520e-02 6.73372655e+01] [ 5.58116993e-01 8.29628483e-01 1.48997029e-02 2.92399736e+01] [-2.69129143e-02 1.52175357e-04 9.99637770e-01 -7.91791524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.36, Y:29.26, Z:-0.79 [[ 8.29224167e-01 -5.58514875e-01 2.11757948e-02 6.73641375e+01] [ 5.58337814e-01 8.29494489e-01 1.40633470e-02 2.92577235e+01] [-2.54197936e-02 1.61579776e-04 9.99676852e-01 -7.91718540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:29.28, Z:-0.79 [[ 8.29519326e-01 -5.58076123e-01 2.11831977e-02 6.73910324e+01] [ 5.57899204e-01 8.29789741e-01 1.40521936e-02 2.92759620e+01] [-2.54197939e-02 1.61522917e-04 9.99676852e-01 -7.91746630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.42, Y:29.29, Z:-0.79 [[ 8.29991003e-01 -5.57399914e-01 2.05005129e-02 6.74176576e+01] [ 5.57234346e-01 8.30244129e-01 1.35856426e-02 2.92936576e+01] [-2.45930665e-02 1.47628787e-04 9.99697534e-01 -7.91845895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:29.31, Z:-0.79 [[ 8.31218269e-01 -5.55580405e-01 2.01644048e-02 6.74436133e+01] [ 5.55420011e-01 8.31462809e-01 1.33494868e-02 2.93119452e+01] [-2.41826659e-02 1.03376642e-04 9.99707551e-01 -7.92493264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.47, Y:29.33, Z:-0.79 [[ 8.32061210e-01 -5.54326590e-01 1.99041200e-02 6.74710708e+01] [ 5.54170312e-01 8.32299240e-01 1.31620665e-02 2.93297105e+01] [-2.38622674e-02 7.86274272e-05 9.99715252e-01 -7.92271477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.50, Y:29.35, Z:-0.79 [[ 8.33053266e-01 -5.52846614e-01 1.95672668e-02 6.74983400e+01] [ 5.52695525e-01 8.33283036e-01 1.29243083e-02 2.93474737e+01] [-2.34502316e-02 4.81035704e-05 9.99725004e-01 -7.91782958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.53, Y:29.36, Z:-0.79 [[ 8.33394516e-01 -5.52364097e-01 1.86409571e-02 6.75253906e+01] [ 5.52227136e-01 8.33602965e-01 1.22999030e-02 2.93647693e+01] [-2.23331820e-02 4.33706378e-05 9.99750582e-01 -7.92653842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.55, Y:29.38, Z:-0.79 [[ 8.33431355e-01 -5.52256604e-01 2.01201464e-02 6.75526246e+01] [ 5.52097337e-01 8.33674181e-01 1.32623714e-02 2.93811374e+01] [-2.40978788e-02 5.50030392e-05 9.99709602e-01 -7.93471202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:29.40, Z:-0.79 [[ 8.33889023e-01 -5.51577104e-01 1.97938143e-02 6.75812232e+01] [ 5.51423129e-01 8.34123909e-01 1.30321283e-02 2.93983720e+01] [-2.36987174e-02 4.74182262e-05 9.99719145e-01 -7.93866265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.61, Y:29.42, Z:-0.79 [[ 8.34321590e-01 -5.50908809e-01 2.01734467e-02 6.76089784e+01] [ 5.50749050e-01 8.34565445e-01 1.32665364e-02 2.94159374e+01] [-2.41447133e-02 4.19488275e-05 9.99708473e-01 -7.93570182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:29.44, Z:-0.79 [[ 8.35104285e-01 -5.49752346e-01 1.93181775e-02 6.76348609e+01] [ 5.49605839e-01 8.35327695e-01 1.26910983e-02 2.94350580e+01] [-2.31139697e-02 1.89925912e-05 9.99732836e-01 -7.93481130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:29.45, Z:-0.79 [[ 8.35673336e-01 -5.48886600e-01 1.93281125e-02 6.76617516e+01] [ 5.48740051e-01 8.35896824e-01 1.26829163e-02 2.94544218e+01] [-2.31177907e-02 7.33445611e-06 9.99732748e-01 -7.93631094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:29.47, Z:-0.79 [[ 8.36824628e-01 -5.47121536e-01 1.95593045e-02 6.76892518e+01] [ 5.46971327e-01 8.37053179e-01 1.28196522e-02 2.94730722e+01] [-2.33860858e-02 -2.94219443e-05 9.99726508e-01 -7.93012020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:29.49, Z:-0.79 [[ 8.37041298e-01 -5.46764774e-01 2.02520797e-02 6.77166295e+01] [ 5.46604006e-01 8.37286260e-01 1.32581800e-02 2.94914421e+01] [-2.42058939e-02 -2.77763297e-05 9.99706994e-01 -7.94169008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.74, Y:29.51, Z:-0.79 [[ 8.35259837e-01 -5.49581857e-01 1.73432328e-02 6.77436394e+01] [ 5.49464658e-01 8.35439872e-01 1.13494536e-02 2.95097204e+01] [-2.07266820e-02 4.97506762e-05 9.99785178e-01 -7.92194505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.77, Y:29.53, Z:-0.79 [[ 8.34357373e-01 -5.50929960e-01 1.79987012e-02 6.77708802e+01] [ 5.50804334e-01 8.34551478e-01 1.17650280e-02 2.95284341e+01] [-2.15025491e-02 9.75247283e-05 9.99768789e-01 -7.91708268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:29.55, Z:-0.79 [[ 8.33389103e-01 -5.52376080e-01 1.85275221e-02 6.77971765e+01] [ 5.52243593e-01 8.33595012e-01 1.20983423e-02 2.95477348e+01] [-2.21272849e-02 1.49078744e-04 9.99755151e-01 -7.91214898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.82, Y:29.57, Z:-0.79 [[ 8.32004158e-01 -5.54409119e-01 1.99902435e-02 6.78228696e+01] [ 5.54255786e-01 8.32244240e-01 1.30402307e-02 2.95672255e+01] [-2.38663878e-02 2.30181958e-04 9.99715131e-01 -7.91609281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.85, Y:29.59, Z:-0.79 [[ 8.31721198e-01 -5.54810140e-01 2.06290645e-02 6.78494371e+01] [ 5.54647305e-01 8.31976947e-01 1.34434237e-02 2.95852713e+01] [-2.46214539e-02 2.60674557e-04 9.99696812e-01 -7.92354910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:29.60, Z:-0.79 [[ 8.31681953e-01 -5.54889502e-01 2.00691277e-02 6.78779688e+01] [ 5.54735767e-01 8.31924016e-01 1.30637007e-02 2.96026036e+01] [-2.39448996e-02 2.68218833e-04 9.99713244e-01 -7.93819795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:29.62, Z:-0.79 [[ 8.31768931e-01 -5.54803327e-01 1.88072918e-02 6.79054307e+01] [ 5.54668570e-01 8.31981491e-01 1.22301239e-02 2.96186604e+01] [-2.24326321e-02 2.59176566e-04 9.99748323e-01 -7.94092102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:29.63, Z:-0.79 [[ 8.32014933e-01 -5.54503603e-01 1.66404631e-02 6.79331489e+01] [ 5.54398265e-01 8.32181291e-01 1.08103032e-02 2.96343313e+01] [-1.98422342e-02 2.31110168e-04 9.99803097e-01 -7.93483700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.96, Y:29.65, Z:-0.79 [[ 8.32126176e-01 -5.54316832e-01 1.72880932e-02 6.79629909e+01] [ 5.54203358e-01 8.32305707e-01 1.12182072e-02 2.96495866e+01] [-2.06074197e-02 2.46155470e-04 9.99787614e-01 -7.91386963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:29.66, Z:-0.79 [[ 8.32051932e-01 -5.54403897e-01 1.80527254e-02 6.79908649e+01] [ 5.54280439e-01 8.32247707e-01 1.17024957e-02 2.96649589e+01] [-2.15122485e-02 2.69188420e-04 9.99768549e-01 -7.89794073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:29.68, Z:-0.79 [[ 8.32137294e-01 -5.54289646e-01 1.76213596e-02 6.80191016e+01] [ 5.54172266e-01 8.32323804e-01 1.14098604e-02 2.96819830e+01] [-2.09910445e-02 2.70698471e-04 9.99779627e-01 -7.90891935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:29.70, Z:-0.79 [[ 8.32497784e-01 -5.53739435e-01 1.78907106e-02 6.80481149e+01] [ 5.53618593e-01 8.32689957e-01 1.15710892e-02 2.96985636e+01] [-2.13047834e-02 2.71723886e-04 9.99772990e-01 -7.91996445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:29.71, Z:-0.79 [[ 8.32990234e-01 -5.53033854e-01 1.67578673e-02 6.80771812e+01] [ 5.52927906e-01 8.33158746e-01 1.08275123e-02 2.97133639e+01] [-1.99499446e-02 2.46680518e-04 9.99800950e-01 -7.92730143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:29.73, Z:-0.79 [[ 8.33811461e-01 -5.51813562e-01 1.61319474e-02 6.81049368e+01] [ 5.51715355e-01 8.33967472e-01 1.04126197e-02 2.97291505e+01] [-1.91993442e-02 2.18081452e-04 9.99815652e-01 -7.90783753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:29.74, Z:-0.79 [[ 8.34489011e-01 -5.50805920e-01 1.55218805e-02 6.81341654e+01] [ 5.50715012e-01 8.34633332e-01 1.00088074e-02 2.97437761e+01] [-1.84679893e-02 1.95892790e-04 9.99829433e-01 -7.89143438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:29.76, Z:-0.79 [[ 8.35014079e-01 -5.50004561e-01 1.56993616e-02 6.81617829e+01] [ 5.49911638e-01 8.35161629e-01 1.01115580e-02 2.97609464e+01] [-1.86729075e-02 1.89968349e-04 9.99825628e-01 -7.89352005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:29.78, Z:-0.79 [[ 8.35588361e-01 -5.49113727e-01 1.63158317e-02 6.81894998e+01] [ 5.49013432e-01 8.35747617e-01 1.04962963e-02 2.97780402e+01] [-1.93995779e-02 1.87027777e-04 9.99811793e-01 -7.90200121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:29.80, Z:-0.79 [[ 8.36431268e-01 -5.47800453e-01 1.72452152e-02 6.82174862e+01] [ 5.47688390e-01 8.36609008e-01 1.10812702e-02 2.97950231e+01] [-2.04978272e-02 1.76283275e-04 9.99789882e-01 -7.90051332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:29.81, Z:-0.79 [[ 8.37693474e-01 -5.45867069e-01 1.72854602e-02 6.82448334e+01] [ 5.45754338e-01 8.37871782e-01 1.10941066e-02 2.98127829e+01] [-2.05389068e-02 1.40154194e-04 9.99789045e-01 -7.89223407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.27, Y:29.83, Z:-0.79 [[ 8.38625707e-01 -5.44459232e-01 1.64641323e-02 6.82714805e+01] [ 5.44356902e-01 8.38787299e-01 1.05561014e-02 2.98303700e+01] [-1.95572719e-02 1.09746073e-04 9.99808732e-01 -7.89250891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:29.85, Z:-0.79 [[ 8.39572190e-01 -5.43039246e-01 1.50636764e-02 6.82984396e+01] [ 5.42953534e-01 8.39707313e-01 9.64826412e-03 2.98475796e+01] [-1.78884653e-02 7.84620892e-05 9.99839986e-01 -7.88473034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:29.86, Z:-0.79 [[ 8.40407970e-01 -5.41689807e-01 1.69291823e-02 6.83261957e+01] [ 5.41581500e-01 8.40578461e-01 1.08318893e-02 2.98642235e+01] [-2.00978300e-02 6.53258690e-05 9.99798016e-01 -7.90046695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:29.88, Z:-0.79 [[ 8.41222255e-01 -5.40450475e-01 1.60748867e-02 6.83536827e+01] [ 5.40352799e-01 8.41375827e-01 1.02747326e-02 2.98807266e+01] [-1.90780052e-02 4.27762626e-05 9.99817997e-01 -7.90448421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97592 meters Centerline goodness [0,1] 0.9999502190362406 Centerline is valid? [True, True] Translation: X:68.38, Y:29.90, Z:-0.79 [[ 8.42509837e-01 -5.38420420e-01 1.67518698e-02 6.83821806e+01] [ 5.38314192e-01 8.42676362e-01 1.06948403e-02 2.98981710e+01] [-1.98747251e-02 7.26106983e-06 9.99802478e-01 -7.90674990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:29.92, Z:-0.79 [[ 8.43346241e-01 -5.37077528e-01 1.77438945e-02 6.84090243e+01] [ 5.36958332e-01 8.43532885e-01 1.13146716e-02 2.99167760e+01] [-2.10444144e-02 -1.44537544e-05 9.99778542e-01 -7.90779912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:29.94, Z:-0.79 [[ 8.46186920e-01 -5.32669254e-01 1.52040211e-02 6.84343840e+01] [ 5.32581206e-01 8.46323494e-01 9.68515547e-03 2.99363875e+01] [-1.80265048e-02 -9.80759723e-05 9.99837505e-01 -7.89064015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.46, Y:29.96, Z:-0.79 [[ 8.47014934e-01 -5.31318250e-01 1.63284763e-02 6.84610765e+01] [ 5.31216651e-01 8.47172297e-01 1.03908291e-02 2.99551566e+01] [-1.93538699e-02 -1.27228892e-04 9.99812688e-01 -7.91218425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.49, Y:29.97, Z:-0.79 [[ 8.48585359e-01 -5.28822465e-01 1.58015365e-02 6.84883758e+01] [ 5.28727103e-01 8.48732450e-01 1.00438703e-02 2.99729230e+01] [-1.87227011e-02 -1.68380708e-04 9.99824701e-01 -7.93821722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:29.99, Z:-0.79 [[ 8.48250335e-01 -5.29383912e-01 1.49680690e-02 6.85151085e+01] [ 5.29298604e-01 8.48382375e-01 9.50440845e-03 2.99908858e+01] [-1.77301268e-02 -1.39539648e-04 9.99842799e-01 -7.92828765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.54, Y:30.01, Z:-0.79 [[ 8.47484649e-01 -5.30608663e-01 1.49738402e-02 6.85421438e+01] [ 5.30523677e-01 8.47616915e-01 9.49699979e-03 3.00103759e+01] [-1.77312706e-02 -1.04584786e-04 9.99842783e-01 -7.90737404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.57, Y:30.03, Z:-0.79 [[ 8.47246764e-01 -5.30943632e-01 1.64857620e-02 6.85684018e+01] [ 5.30840891e-01 8.47407134e-01 1.04450223e-02 3.00288071e+01] [-1.95158704e-02 -9.81947780e-05 9.99809542e-01 -7.91293046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:30.05, Z:-0.79 [[ 8.46805812e-01 -5.31620863e-01 1.72966736e-02 6.85949088e+01] [ 5.31508169e-01 8.46982439e-01 1.09459618e-02 3.00491488e+01] [-2.04690804e-02 -7.57807541e-05 9.99790484e-01 -7.91576533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:30.07, Z:-0.79 [[ 8.46816843e-01 -5.31592972e-01 1.76109499e-02 6.86217381e+01] [ 5.31476413e-01 8.46999945e-01 1.11317208e-02 3.00682824e+01] [-2.08340181e-02 -6.67241595e-05 9.99782946e-01 -7.92132973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:30.09, Z:-0.79 [[ 8.46922136e-01 -5.31417530e-01 1.78410982e-02 6.86483352e+01] [ 5.31298145e-01 8.47110032e-01 1.12639292e-02 3.00873191e+01] [-2.10992227e-02 -6.07286200e-05 9.99777385e-01 -7.92404011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:30.11, Z:-0.79 [[ 8.47533010e-01 -5.30429744e-01 1.82231567e-02 6.86758852e+01] [ 5.30305254e-01 8.47728896e-01 1.14915813e-02 3.01054952e+01] [-2.15437731e-02 -7.56586990e-05 9.99767903e-01 -7.93438792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33592 meters Centerline goodness [0,1] 0.9999501917617174 Centerline is valid? [True, True] Translation: X:68.70, Y:30.12, Z:-0.79 [[ 8.47538038e-01 -5.30489736e-01 1.61218256e-02 6.87036786e+01] [ 5.30392516e-01 8.47691357e-01 1.01559319e-02 3.01214110e+01] [-1.90539499e-02 -5.66429900e-05 9.99818455e-01 -7.91932090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:30.14, Z:-0.79 [[ 8.46856717e-01 -5.31587963e-01 1.57460761e-02 6.87309013e+01] [ 5.31495629e-01 8.47003091e-01 9.90753259e-03 3.01395923e+01] [-1.86037002e-02 -2.12898960e-05 9.99826936e-01 -7.92124170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.76, Y:30.16, Z:-0.79 [[ 8.46436084e-01 -5.32236003e-01 1.64557860e-02 6.87583054e+01] [ 5.32135519e-01 8.46596030e-01 1.03417521e-02 3.01578913e+01] [-1.94356559e-02 3.07605832e-06 9.99811110e-01 -7.90997160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:30.18, Z:-0.79 [[ 8.45296140e-01 -5.34084765e-01 1.50963030e-02 6.87855013e+01] [ 5.34000670e-01 8.45430932e-01 9.47753207e-03 3.01758340e+01] [-1.78246870e-02 5.01146595e-05 9.99841126e-01 -7.91641913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:30.19, Z:-0.79 [[ 8.45355050e-01 -5.33990490e-01 1.51326100e-02 6.88138311e+01] [ 5.33906176e-01 8.45490481e-01 9.48906184e-03 3.01932690e+01] [-1.78615465e-02 5.77676160e-05 9.99840468e-01 -7.91470056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.84, Y:30.21, Z:-0.79 [[ 8.44927636e-01 -5.34616928e-01 1.67937485e-02 6.88407762e+01] [ 5.34513431e-01 8.45094511e-01 1.05195167e-02 3.02107044e+01] [-1.98162164e-02 8.82537004e-05 9.99803636e-01 -7.92334348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:30.23, Z:-0.79 [[ 8.44974640e-01 -5.34525110e-01 1.73425696e-02 6.88686055e+01] [ 5.34414979e-01 8.45152588e-01 1.08505035e-02 3.02280246e+01] [-2.04569842e-02 9.97286718e-05 9.99790729e-01 -7.91790508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:30.24, Z:-0.79 [[ 8.44287493e-01 -5.35574101e-01 1.84122783e-02 6.88962589e+01] [ 5.35450474e-01 8.44488225e-01 1.15077256e-02 3.02449117e+01] [-2.17121920e-02 1.43034399e-04 9.99764252e-01 -7.91711836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.92, Y:30.26, Z:-0.79 [[ 8.44635826e-01 -5.35058536e-01 1.73978484e-02 6.89233635e+01] [ 5.34948278e-01 8.44814977e-01 1.08625190e-02 3.02615063e+01] [-2.05100464e-02 1.32076337e-04 9.99789638e-01 -7.90645388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:30.28, Z:-0.79 [[ 8.44476973e-01 -5.35323554e-01 1.69509369e-02 6.89505237e+01] [ 5.35219190e-01 8.44647069e-01 1.05710322e-02 3.02796426e+01] [-1.99764817e-02 1.45473413e-04 9.99800440e-01 -7.90826553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:30.30, Z:-0.79 [[ 8.44722514e-01 -5.34975511e-01 1.56549509e-02 6.89771185e+01] [ 5.34886624e-01 8.44867554e-01 9.75268061e-03 3.02979621e+01] [-1.84438054e-02 1.35314952e-04 9.99829889e-01 -7.90917036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.01, Y:30.32, Z:-0.79 [[ 8.45294323e-01 -5.34070051e-01 1.57062996e-02 6.90054892e+01] [ 5.33980637e-01 8.45440220e-01 9.77316370e-03 3.03153450e+01] [-1.84982914e-02 1.25660042e-04 9.99828884e-01 -7.90501569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:30.34, Z:-0.79 [[ 8.44574317e-01 -5.35209678e-01 1.56468376e-02 6.90323662e+01] [ 5.35121348e-01 8.44719228e-01 9.72460557e-03 3.03351957e+01] [-1.84218876e-02 1.59804708e-04 9.99830290e-01 -7.89872904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:30.35, Z:-0.79 [[ 8.44912882e-01 -5.34649471e-01 1.64974371e-02 6.90591605e+01] [ 5.34551406e-01 8.45073911e-01 1.02410246e-02 3.03540400e+01] [-1.94169121e-02 1.65954632e-04 9.99811460e-01 -7.90543394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:30.37, Z:-0.79 [[ 8.45406777e-01 -5.33898252e-01 1.54931284e-02 6.90857243e+01] [ 5.33811819e-01 8.45548718e-01 9.60765919e-03 3.03720224e+01] [-1.82297073e-02 1.48034885e-04 9.99833814e-01 -7.90443883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:30.39, Z:-0.79 [[ 8.45100125e-01 -5.34390156e-01 1.52623633e-02 6.91134412e+01] [ 5.34306559e-01 8.45237915e-01 9.45345111e-03 3.03895644e+01] [-1.79521594e-02 1.65668103e-04 9.99838833e-01 -7.90139760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:30.41, Z:-0.79 [[ 8.45385124e-01 -5.33939040e-01 1.52674037e-02 6.91408942e+01] [ 5.33855516e-01 8.45522959e-01 9.44530846e-03 3.04069298e+01] [-1.79521593e-02 1.65664395e-04 9.99838833e-01 -7.90167849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:30.43, Z:-0.79 [[ 8.45099423e-01 -5.34386429e-01 1.54308104e-02 6.91676988e+01] [ 5.34301388e-01 8.45240267e-01 9.53503622e-03 3.04259663e+01] [-1.81381362e-02 1.86649801e-04 9.99835473e-01 -7.90702587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:30.44, Z:-0.79 [[ 8.45070359e-01 -5.34403528e-01 1.63999331e-02 6.91942450e+01] [ 5.34307673e-01 8.45229452e-01 1.01234135e-02 3.04436100e+01] [-1.92716943e-02 2.07613412e-04 9.99814262e-01 -7.91265309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90592 meters Centerline goodness [0,1] 0.9999501793543244 Centerline is valid? [True, True] Translation: X:69.22, Y:30.46, Z:-0.79 [[ 8.46024221e-01 -5.32895674e-01 1.62854924e-02 6.92221697e+01] [ 5.32801099e-01 8.46180931e-01 1.00409804e-02 3.04615936e+01] [-1.91312681e-02 1.82015640e-04 9.99816964e-01 -7.92285984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:30.48, Z:-0.79 [[ 8.46279276e-01 -5.32475429e-01 1.67721076e-02 6.92486283e+01] [ 5.32375277e-01 8.46445439e-01 1.03287392e-02 3.04812940e+01] [-1.96964739e-02 1.88057514e-04 9.99805988e-01 -7.92877705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:30.50, Z:-0.79 [[ 8.46764624e-01 -5.31721751e-01 1.61756478e-02 6.92751771e+01] [ 5.31628682e-01 8.46919093e-01 9.94962529e-03 3.05002669e+01] [-1.89898972e-02 1.74447625e-04 9.99819660e-01 -7.91923198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:30.52, Z:-0.79 [[ 8.47683730e-01 -5.30155833e-01 1.91594991e-02 6.93005028e+01] [ 5.30025116e-01 8.47900208e-01 1.17734321e-02 3.05195434e+01] [-2.24870970e-02 1.74868931e-04 9.99747118e-01 -7.91762295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:30.54, Z:-0.79 [[ 8.48022635e-01 -5.29609008e-01 1.92849599e-02 6.93278513e+01] [ 5.29476751e-01 8.48241869e-01 1.18364350e-02 3.05389775e+01] [-2.26269930e-02 1.73373124e-04 9.99743962e-01 -7.92317644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:30.56, Z:-0.79 [[ 8.48516368e-01 -5.28830787e-01 1.89201704e-02 6.93542470e+01] [ 5.28703598e-01 8.48727267e-01 1.15987891e-02 3.05582590e+01] [-2.21918612e-02 1.61399789e-04 9.99753717e-01 -7.92056841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:30.58, Z:-0.79 [[ 8.48607927e-01 -5.28771923e-01 1.62738881e-02 6.93797067e+01] [ 5.28678015e-01 8.48763944e-01 9.96616186e-03 3.05783057e+01] [-1.90825160e-02 1.46282903e-04 9.99817902e-01 -7.93459094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:30.60, Z:-0.79 [[ 8.48439035e-01 -5.29041739e-01 1.63107950e-02 6.94069617e+01] [ 5.28947679e-01 8.48595788e-01 9.97701374e-03 3.05961281e+01] [-1.91195287e-02 1.62669260e-04 9.99817192e-01 -7.91998388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:30.62, Z:-0.79 [[ 8.46841778e-01 -5.31481310e-01 1.96626461e-02 6.94324241e+01] [ 5.31345560e-01 8.47069975e-01 1.20147092e-02 3.06158440e+01] [-2.30412305e-02 2.73101984e-04 9.99734478e-01 -7.91293032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:30.64, Z:-0.79 [[ 8.46225045e-01 -5.32461575e-01 1.96937826e-02 6.94591187e+01] [ 5.32325983e-01 8.46454118e-01 1.20197124e-02 3.06360500e+01] [-2.30699183e-02 3.12130544e-04 9.99733805e-01 -7.90364376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:30.65, Z:-0.79 [[ 8.45563140e-01 -5.33472604e-01 2.07354084e-02 6.94854211e+01] [ 5.33322907e-01 8.45817265e-01 1.26424761e-02 3.06543203e+01] [-2.42827811e-02 3.68656452e-04 9.99705062e-01 -7.91075112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.51, Y:30.67, Z:-0.79 [[ 8.44518467e-01 -5.35158040e-01 1.98602836e-02 6.95138887e+01] [ 5.35021503e-01 8.44751859e-01 1.20949709e-02 3.06709701e+01] [-2.32497324e-02 4.11252492e-04 9.99729604e-01 -7.91507702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.54, Y:30.69, Z:-0.79 [[ 8.44345561e-01 -5.35425279e-01 2.00086168e-02 6.95423489e+01] [ 5.35287100e-01 8.44582490e-01 1.21712018e-02 3.06882997e+01] [-2.34156965e-02 4.33654264e-04 9.99725721e-01 -7.90922097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29592 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:69.57, Y:30.71, Z:-0.79 [[ 8.43871291e-01 -5.36200122e-01 1.92528736e-02 6.95682489e+01] [ 5.36072691e-01 8.44090770e-01 1.16979687e-02 3.07089845e+01] [-2.25236252e-02 4.49359786e-04 9.99746210e-01 -7.90526306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:30.73, Z:-0.79 [[ 8.43786878e-01 -5.36287906e-01 2.04691528e-02 6.95955451e+01] [ 5.36144189e-01 8.44034976e-01 1.24244582e-02 3.07266945e+01] [-2.39397675e-02 4.90822535e-04 9.99713282e-01 -7.91151615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:30.74, Z:-0.79 [[ 8.43763219e-01 -5.36407905e-01 1.81711313e-02 6.96229294e+01] [ 5.36294913e-01 8.43958742e-01 1.10185022e-02 3.07427952e+01] [-2.12460968e-02 4.48078432e-04 9.99774176e-01 -7.90958446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:30.76, Z:-0.79 [[ 8.42874291e-01 -5.37847920e-01 1.68090627e-02 6.96529009e+01] [ 5.37751748e-01 8.43041758e-01 1.01809643e-02 3.07571078e+01] [-1.96465522e-02 4.57829806e-04 9.99806883e-01 -7.91036779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:30.77, Z:-0.79 [[ 8.43224862e-01 -5.37259640e-01 1.79975149e-02 6.96817629e+01] [ 5.37149516e-01 8.43416767e-01 1.08882792e-02 3.07733824e+01] [-2.10292388e-02 4.86088635e-04 9.99778743e-01 -7.90865838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:30.79, Z:-0.79 [[ 8.43319078e-01 -5.37078413e-01 1.89660750e-02 6.97096312e+01] [ 5.36956326e-01 8.43532164e-01 1.14626568e-02 3.07887552e+01] [-2.21548398e-02 5.17276759e-04 9.99754418e-01 -7.91422776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:30.81, Z:-0.79 [[ 8.43585119e-01 -5.36680588e-01 1.83872997e-02 6.97384012e+01] [ 5.36566017e-01 8.43785337e-01 1.11002183e-02 3.08056310e+01] [-2.14722055e-02 5.02021198e-04 9.99769320e-01 -7.91154117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.77, Y:30.82, Z:-0.79 [[ 8.44241581e-01 -5.35687716e-01 1.71704083e-02 6.97663936e+01] [ 5.35587812e-01 8.44416049e-01 1.03552660e-02 3.08213917e+01] [-2.00461571e-02 4.53915255e-04 9.99798953e-01 -7.91797099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:30.84, Z:-0.79 [[ 8.45441905e-01 -5.33841706e-01 1.55247452e-02 6.97960499e+01] [ 5.33759834e-01 8.45584349e-01 9.35669908e-03 3.08353578e+01] [-1.81224778e-02 3.75939938e-04 9.99835704e-01 -7.93055739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56591999999999 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:69.83, Y:30.85, Z:-0.79 [[ 8.47099086e-01 -5.31206741e-01 1.55735861e-02 6.98252391e+01] [ 5.31124077e-01 8.47242168e-01 9.37674636e-03 3.08500370e+01] [-1.81755897e-02 3.28473263e-04 9.99834756e-01 -7.92249009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:30.86, Z:-0.79 [[ 8.49267540e-01 -5.27705681e-01 1.64729883e-02 6.98555486e+01] [ 5.27612730e-01 8.49427241e-01 9.90806818e-03 3.08616108e+01] [-1.92211489e-02 2.76757660e-04 9.99815218e-01 -7.92390184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.88, Y:30.88, Z:-0.79 [[ 8.50878670e-01 -5.25102442e-01 1.65201060e-02 6.98842954e+01] [ 5.25008666e-01 8.51038996e-01 9.92610272e-03 3.08759463e+01] [-1.92714752e-02 2.27289712e-04 9.99814262e-01 -7.92580456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:30.89, Z:-0.79 [[ 8.52098593e-01 -5.23107476e-01 1.69279824e-02 6.99141901e+01] [ 5.23008856e-01 8.52266701e-01 1.01590785e-02 3.08908845e+01] [-1.97414456e-02 1.96948183e-04 9.99805099e-01 -7.92948376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.95, Y:30.90, Z:-0.79 [[ 8.54291387e-01 -5.19471908e-01 1.83074391e-02 6.99450742e+01] [ 5.19356007e-01 8.54487518e-01 1.09735470e-02 3.09035381e+01] [-2.13439276e-02 1.33471767e-04 9.99772184e-01 -7.92865502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:30.92, Z:-0.79 [[ 8.56230208e-01 -5.16271630e-01 1.82601915e-02 6.99751327e+01] [ 5.16155882e-01 8.56424894e-01 1.09318806e-02 3.09171183e+01] [-2.12823024e-02 6.48988529e-05 9.99773504e-01 -7.92024655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.00, Y:30.93, Z:-0.79 [[ 8.57599508e-01 -5.13962523e-01 1.91208970e-02 7.00046312e+01] [ 5.13835341e-01 8.57812640e-01 1.14331578e-02 3.09324229e+01] [-2.22783618e-02 1.99221760e-05 9.99751806e-01 -7.93205594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.03, Y:30.95, Z:-0.79 [[ 8.58949128e-01 -5.11736154e-01 1.82347164e-02 7.00329559e+01] [ 5.11620234e-01 8.59142659e-01 1.08916345e-02 3.09468731e+01] [-2.12398659e-02 -2.61101217e-05 9.99774408e-01 -7.93652329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:30.96, Z:-0.80 [[ 8.60958198e-01 -5.08370954e-01 1.76055220e-02 7.00628882e+01] [ 5.08262452e-01 8.61138179e-01 1.05031491e-02 3.09600890e+01] [-2.05002831e-02 -9.45465601e-05 9.99789843e-01 -7.96159758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:30.97, Z:-0.79 [[ 8.61926955e-01 -5.06771227e-01 1.62741337e-02 7.00915554e+01] [ 5.06678424e-01 8.62080571e-01 9.69868666e-03 3.09748808e+01] [-1.89446298e-02 -1.13807071e-04 9.99820528e-01 -7.93917567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:30.99, Z:-0.79 [[ 8.63683760e-01 -5.03803500e-01 1.52445597e-02 7.01214716e+01] [ 5.03721796e-01 8.63818273e-01 9.07432415e-03 3.09885766e+01] [-1.77402055e-02 -1.58329387e-04 9.99842618e-01 -7.92735601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.15, Y:31.00, Z:-0.79 [[ 8.64646702e-01 -5.02078189e-01 1.74233209e-02 7.01494971e+01] [ 5.01971331e-01 8.64822205e-01 1.03603087e-02 3.10040975e+01] [-2.02697598e-02 -2.11999204e-04 9.99794525e-01 -7.93130288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:31.02, Z:-0.79 [[ 8.65847184e-01 -4.99988426e-01 1.78949068e-02 7.01773600e+01] [ 4.99875486e-01 8.66032047e-01 1.06297497e-02 3.10200752e+01] [-2.08123146e-02 -2.58513619e-04 9.99783367e-01 -7.93103650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.21, Y:31.04, Z:-0.79 [[ 8.67630838e-01 -4.96873898e-01 1.82498887e-02 7.02050048e+01] [ 4.96755979e-01 8.67822689e-01 1.08294516e-02 3.10362647e+01] [-2.12185393e-02 -3.30224833e-04 9.99774807e-01 -7.92960125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.23, Y:31.05, Z:-0.79 [[ 8.68950644e-01 -4.94560973e-01 1.82817379e-02 7.02315827e+01] [ 4.94442364e-01 8.69142855e-01 1.08372858e-02 3.10541677e+01] [-2.12491404e-02 -3.77800763e-04 9.99774140e-01 -7.92687881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.26, Y:31.07, Z:-0.79 [[ 8.69673687e-01 -4.93317977e-01 1.74657173e-02 7.02596169e+01] [ 4.93209715e-01 8.69848969e-01 1.03415418e-02 3.10716124e+01] [-2.02942047e-02 -3.79505378e-04 9.99793979e-01 -7.93007988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:31.09, Z:-0.79 [[ 8.69495933e-01 -4.93642258e-01 1.71506235e-02 7.02861821e+01] [ 4.93538139e-01 8.69664989e-01 1.01445166e-02 3.10890749e+01] [-1.99230589e-02 -3.56129120e-04 9.99801453e-01 -7.93466067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:31.11, Z:-0.79 [[ 8.69794574e-01 -4.93106990e-01 1.74038859e-02 7.03140874e+01] [ 4.92999908e-01 8.69968600e-01 1.02823022e-02 3.11063919e+01] [-2.02111093e-02 -3.63376501e-04 9.99795669e-01 -7.94046973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.34, Y:31.13, Z:-0.79 [[ 8.68745985e-01 -4.94961692e-01 1.71270972e-02 7.03407620e+01] [ 4.94858555e-01 8.68914743e-01 1.01084295e-02 3.11252402e+01] [-1.98852726e-02 -3.06166955e-04 9.99802222e-01 -7.93468663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:31.14, Z:-0.79 [[ 8.66007220e-01 -4.99646791e-01 1.96106866e-02 7.03682364e+01] [ 4.99513079e-01 8.66229206e-01 1.15605407e-02 3.11442189e+01] [-2.27635366e-02 -2.15717238e-04 9.99740854e-01 -7.94173765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:31.16, Z:-0.79 [[ 8.64029657e-01 -5.03048051e-01 1.98848934e-02 7.03953937e+01] [ 5.02911757e-01 8.64258436e-01 1.17098642e-02 3.11622941e+01] [-2.30763112e-02 -1.17323221e-04 9.99733700e-01 -7.94005248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:31.18, Z:-0.80 [[ 8.62577866e-01 -5.05567325e-01 1.90027824e-02 7.04231881e+01] [ 5.05443727e-01 8.62787157e-01 1.11785360e-02 3.11791822e+01] [-2.20468591e-02 -3.75205409e-05 9.99756938e-01 -7.95174355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:31.19, Z:-0.80 [[ 8.59850305e-01 -5.10208807e-01 1.85586978e-02 7.04527074e+01] [ 5.10092280e-01 8.60050559e-01 1.09041561e-02 3.11943403e+01] [-2.15248149e-02 9.07065210e-05 9.99768310e-01 -7.96765983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:31.21, Z:-0.80 [[ 8.58891321e-01 -5.11869341e-01 1.71894608e-02 7.04801277e+01] [ 5.11769923e-01 8.59063304e-01 1.00888570e-02 3.12109820e+01] [-1.99310116e-02 1.31817361e-04 9.99801349e-01 -7.96274012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:31.23, Z:-0.80 [[ 8.59218807e-01 -5.11344686e-01 1.64211323e-02 7.05076306e+01] [ 5.11254085e-01 8.59375702e-01 9.62619602e-03 3.12288836e+01] [-1.90342262e-02 1.24362296e-04 9.99818825e-01 -7.96384704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:31.24, Z:-0.80 [[ 8.60193128e-01 -5.09702053e-01 1.64802474e-02 7.05362138e+01] [ 5.09610725e-01 8.60350979e-01 9.64895272e-03 3.12446305e+01] [-1.90968880e-02 9.85479856e-05 9.99817633e-01 -7.96082562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:31.26, Z:-0.80 [[ 8.61534713e-01 -5.07393630e-01 1.75966582e-02 7.05654083e+01] [ 5.07289285e-01 8.61714396e-01 1.02898377e-02 3.12597385e+01] [-2.03842918e-02 6.15437974e-05 9.99792217e-01 -7.95608225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:31.27, Z:-0.80 [[ 8.63896944e-01 -5.03350599e-01 1.78953895e-02 7.05958221e+01] [ 5.03242079e-01 8.64082273e-01 1.04516106e-02 3.12731247e+01] [-2.07239133e-02 -2.34013830e-05 9.99785236e-01 -7.96038992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:31.29, Z:-0.80 [[ 8.64872204e-01 -5.01704902e-01 1.69782895e-02 7.06242929e+01] [ 5.01607141e-01 8.65038837e-01 9.90388360e-03 3.12899541e+01] [-1.96557067e-02 -4.91623938e-05 9.99806807e-01 -7.95945090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:31.31, Z:-0.80 [[ 8.65576489e-01 -5.00428234e-01 1.86795047e-02 7.06516471e+01] [ 5.00309854e-01 8.65778018e-01 1.08845265e-02 3.13063709e+01] [-2.16192289e-02 -7.58499383e-05 9.99766274e-01 -7.98229712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:31.32, Z:-0.80 [[ 8.66128482e-01 -4.99460133e-01 1.90007654e-02 7.06807559e+01] [ 4.99337707e-01 8.66336867e-01 1.10583468e-02 3.13221933e+01] [-2.19842669e-02 -9.01505204e-05 9.99758313e-01 -7.96868888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:31.34, Z:-0.80 [[ 8.66074395e-01 -4.99505185e-01 2.02413412e-02 7.07085441e+01] [ 4.99366557e-01 8.66310893e-01 1.17677083e-02 3.13387847e+01] [-2.34133257e-02 -8.38619742e-05 9.99725867e-01 -7.96616702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.73, Y:31.36, Z:-0.79 [[ 8.66811118e-01 -4.98313079e-01 1.79599611e-02 7.07349505e+01] [ 4.98203916e-01 8.66997155e-01 1.04303156e-02 3.13571531e+01] [-2.07687978e-02 -9.33906284e-05 9.99784301e-01 -7.94936724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:31.37, Z:-0.79 [[ 8.67174358e-01 -4.97787595e-01 1.47017920e-02 7.07624185e+01] [ 4.97714433e-01 8.67298970e-01 8.53463592e-03 3.13749014e+01] [-1.69992850e-02 -8.37233533e-05 9.99855498e-01 -7.94952681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:31.39, Z:-0.80 [[ 8.67989776e-01 -4.96353802e-01 1.50549640e-02 7.07901705e+01] [ 4.96277047e-01 8.68120321e-01 8.72931825e-03 3.13919702e+01] [-1.74023505e-02 -1.05525927e-04 9.99848562e-01 -7.96684026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61592 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:70.82, Y:31.41, Z:-0.80 [[ 8.68634446e-01 -4.95222527e-01 1.51277369e-02 7.08188738e+01] [ 4.95145043e-01 8.68766157e-01 8.76080343e-03 3.14087703e+01] [-1.74810131e-02 -1.19511689e-04 9.99847188e-01 -7.95943508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64591999999999 meters Centerline goodness [0,1] 0.999800548491648 Centerline is valid? [True, True] Translation: X:70.85, Y:31.43, Z:-0.79 [[ 8.69362645e-01 -4.93904673e-01 1.63329660e-02 7.08455607e+01] [ 4.93814309e-01 8.69516045e-01 9.44858156e-03 3.14264054e+01] [-1.88684746e-02 -1.48791517e-04 9.99821963e-01 -7.94704687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67591999999999 meters Centerline goodness [0,1] 0.9996011566457274 Centerline is valid? [True, True] Translation: X:70.87, Y:31.44, Z:-0.79 [[ 8.69324766e-01 -4.93992648e-01 1.56752839e-02 7.08723623e+01] [ 4.93909604e-01 8.69466070e-01 9.05853374e-03 3.14434054e+01] [-1.81039766e-02 -1.32634445e-04 9.99836101e-01 -7.93870026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70591999999999 meters Centerline goodness [0,1] 0.9996011566457274 Centerline is valid? [True, True] Translation: X:70.90, Y:31.46, Z:-0.79 [[ 8.69586871e-01 -4.93530962e-01 1.56800598e-02 7.09003228e+01] [ 4.93447992e-01 8.69728217e-01 9.05026405e-03 3.14599222e+01] [-1.81039760e-02 -1.32696765e-04 9.99836101e-01 -7.93898109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73592 meters Centerline goodness [0,1] 0.9997006436162251 Centerline is valid? [True, True] Translation: X:70.93, Y:31.48, Z:-0.79 [[ 8.69162119e-01 -4.94290499e-01 1.53007676e-02 7.09283905e+01] [ 4.94211804e-01 8.69296780e-01 8.82050819e-03 3.14771594e+01] [-1.76608014e-02 -1.04631625e-04 9.99844030e-01 -7.93749209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76592 meters Centerline goodness [0,1] 0.9998506124887959 Centerline is valid? [True, True] Translation: X:70.96, Y:31.49, Z:-0.80 [[ 8.68183623e-01 -4.96004611e-01 1.53825108e-02 7.09569255e+01] [ 4.95925535e-01 8.68319884e-01 8.85675451e-03 3.14932927e+01] [-1.77499311e-02 -6.07093211e-05 9.99842456e-01 -7.95361643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79592 meters Centerline goodness [0,1] 0.9999501420950292 Centerline is valid? [True, True] Translation: X:70.99, Y:31.51, Z:-0.80 [[ 8.67555719e-01 -4.97110572e-01 1.51047959e-02 7.09852054e+01] [ 4.97034679e-01 8.67687201e-01 8.68613403e-03 3.15103316e+01] [-1.74242071e-02 -2.80978736e-05 9.99848187e-01 -7.95590723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82592 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:71.01, Y:31.53, Z:-0.80 [[ 8.65864243e-01 -4.99982781e-01 1.72143026e-02 7.10124479e+01] [ 4.99884989e-01 8.66035344e-01 9.88842335e-03 3.15278993e+01] [-1.98522359e-02 4.31392807e-05 9.99802924e-01 -7.95927784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85592 meters Centerline goodness [0,1] 0.9999501222006085 Centerline is valid? [True, True] Translation: X:71.04, Y:31.54, Z:-0.80 [[ 8.65378478e-01 -5.00814991e-01 1.74480370e-02 7.10407005e+01] [ 5.00714943e-01 8.65554354e-01 1.00103565e-02 3.15444757e+01] [-2.01155610e-02 7.37457678e-05 9.99797659e-01 -7.95290601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.07, Y:31.56, Z:-0.79 [[ 8.65254513e-01 -5.01055995e-01 1.66588590e-02 7.10699945e+01] [ 5.00965066e-01 8.65414862e-01 9.54569763e-03 3.15600685e+01] [-1.91997532e-02 8.60484214e-05 9.99815664e-01 -7.94544387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.10, Y:31.57, Z:-0.79 [[ 8.65655183e-01 -5.00356346e-01 1.68710203e-02 7.10994061e+01] [ 5.00263185e-01 8.65819566e-01 9.65533075e-03 3.15741696e+01] [-1.94383655e-02 8.17632302e-05 9.99811054e-01 -7.94503769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94592 meters Centerline goodness [0,1] 0.9998502246630054 Centerline is valid? [True, True] Translation: X:71.13, Y:31.59, Z:-0.80 [[ 8.66963779e-01 -4.98072819e-01 1.72416024e-02 7.11282087e+01] [ 4.97975314e-01 8.67135206e-01 9.85502542e-03 3.15898918e+01] [-1.98593207e-02 4.19422794e-05 9.99802783e-01 -7.95891632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97592 meters Centerline goodness [0,1] 0.9997507601814466 Centerline is valid? [True, True] Translation: X:71.16, Y:31.61, Z:-0.80 [[ 8.67852929e-01 -4.96545455e-01 1.65500780e-02 7.11568787e+01] [ 4.96455560e-01 8.68010721e-01 9.44804372e-03 3.16055153e+01] [-1.90570283e-02 1.68658551e-05 9.99818398e-01 -7.95311492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:31.62, Z:-0.79 [[ 8.68789660e-01 -4.94908026e-01 1.64490846e-02 7.11858209e+01] [ 4.94819152e-01 8.68945364e-01 9.37874397e-03 3.16203379e+01] [-1.89349715e-02 -8.83369040e-06 9.99820717e-01 -7.94368378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03591999999999 meters Centerline goodness [0,1] 0.9999500474549178 Centerline is valid? [True, True] Translation: X:71.22, Y:31.63, Z:-0.79 [[ 8.70390656e-01 -4.92088551e-01 1.64001031e-02 7.12161269e+01] [ 4.91999922e-01 8.70545148e-01 9.33928556e-03 3.16343036e+01] [-1.88727857e-02 -5.99774245e-05 9.99821891e-01 -7.92882878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:31.65, Z:-0.79 [[ 8.71321405e-01 -4.90411322e-01 1.71972141e-02 7.12454292e+01] [ 4.90313780e-01 8.71491094e-01 9.78108702e-03 3.16500451e+01] [-1.97839748e-02 -9.04394239e-05 9.99804274e-01 -7.93171059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09591999999999 meters Centerline goodness [0,1] 0.9998007471980075 Centerline is valid? [True, True] Translation: X:71.27, Y:31.67, Z:-0.79 [[ 8.72362799e-01 -4.88616624e-01 1.53929113e-02 7.12741369e+01] [ 4.88538365e-01 8.72498586e-01 8.74542547e-03 3.16650352e+01] [-1.77034536e-02 -1.09156124e-04 9.99843276e-01 -7.92964484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12592 meters Centerline goodness [0,1] 0.9995520605216006 Centerline is valid? [True, True] Translation: X:71.30, Y:31.68, Z:-0.79 [[ 8.72521980e-01 -4.88291151e-01 1.66477063e-02 7.13025458e+01] [ 4.88199748e-01 8.72680777e-01 9.44814247e-03 3.16810014e+01] [-1.91415776e-02 -1.16305963e-04 9.99816776e-01 -7.93625469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15592 meters Centerline goodness [0,1] 0.9999500099980004 Centerline is valid? [True, True] Translation: X:71.33, Y:31.70, Z:-0.79 [[ 8.72809470e-01 -4.87779949e-01 1.65635152e-02 7.13311561e+01] [ 4.87689595e-01 8.72966613e-01 9.38890892e-03 3.16972422e+01] [-1.90391172e-02 -1.16874620e-04 9.99818733e-01 -7.93940858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.36, Y:31.71, Z:-0.79 [[ 8.72374080e-01 -4.88498440e-01 1.82411434e-02 7.13588121e+01] [ 4.88389246e-01 8.72564762e-01 1.03286421e-02 3.17127851e+01] [-2.09621045e-02 -1.01661378e-04 9.99780266e-01 -7.93733647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:31.73, Z:-0.79 [[ 8.72215259e-01 -4.88801116e-01 1.77203541e-02 7.13878691e+01] [ 4.88698380e-01 8.72395244e-01 1.00215383e-02 3.17281560e+01] [-2.03576918e-02 -8.10302269e-05 9.99792757e-01 -7.93504352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:31.74, Z:-0.79 [[ 8.71777768e-01 -4.89562869e-01 1.82132001e-02 7.14178813e+01] [ 4.89454771e-01 8.71968001e-01 1.02875191e-02 3.17423644e+01] [-2.09177151e-02 -5.38927532e-05 9.99781199e-01 -7.93741635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:31.76, Z:-0.79 [[ 8.71842986e-01 -4.89431179e-01 1.86260230e-02 7.14470263e+01] [ 4.89318372e-01 8.72041925e-01 1.05076784e-02 3.17581697e+01] [-2.13854584e-02 -4.69904427e-05 9.99771304e-01 -7.94684240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30592 meters Centerline goodness [0,1] 0.9999501346364815 Centerline is valid? [True, True] Translation: X:71.48, Y:31.77, Z:-0.80 [[ 8.71680102e-01 -4.89722916e-01 1.85813337e-02 7.14759711e+01] [ 4.89610991e-01 8.71878125e-01 1.04695690e-02 3.17734435e+01] [-2.13278462e-02 -2.84897481e-05 9.99772535e-01 -7.95060424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33592 meters Centerline goodness [0,1] 0.9999000849278114 Centerline is valid? [True, True] Translation: X:71.51, Y:31.79, Z:-0.80 [[ 8.71972443e-01 -4.89139831e-01 2.01565097e-02 7.15054179e+01] [ 4.89008255e-01 8.72205380e-01 1.13446855e-02 3.17861348e+01] [-2.31297538e-02 -3.55534699e-05 9.99732471e-01 -7.95972057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:71.53, Y:31.80, Z:-0.80 [[ 8.72338952e-01 -4.88504484e-01 1.97007914e-02 7.15341182e+01] [ 4.88378939e-01 8.72561383e-01 1.10744747e-02 3.18020076e+01] [-2.26000803e-02 -3.92440858e-05 9.99744585e-01 -7.95809736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:31.82, Z:-0.80 [[ 8.73336677e-01 -4.86745975e-01 1.90106406e-02 7.15634313e+01] [ 4.86628944e-01 8.73543560e-01 1.06733328e-02 3.18173957e+01] [-2.18018245e-02 -7.02850804e-05 9.99762310e-01 -7.96905793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42591999999999 meters Centerline goodness [0,1] 0.999950231423879 Centerline is valid? [True, True] Translation: X:71.59, Y:31.83, Z:-0.80 [[ 8.74004589e-01 -4.85591166e-01 1.78100668e-02 7.15921410e+01] [ 4.85488432e-01 8.74186029e-01 9.98850868e-03 3.18317976e+01] [-2.04196431e-02 -8.34210347e-05 9.99791494e-01 -7.97032171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:31.84, Z:-0.80 [[ 8.75199210e-01 -4.83467535e-01 1.68963328e-02 7.16229553e+01] [ 4.83374752e-01 8.75362284e-01 9.47210840e-03 3.18434015e+01] [-1.93698694e-02 -1.22721106e-04 9.99812379e-01 -7.96284594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48592 meters Centerline goodness [0,1] 0.9998506124887959 Centerline is valid? [True, True] Translation: X:71.65, Y:31.86, Z:-0.80 [[ 8.75708196e-01 -4.82570960e-01 1.61376371e-02 7.16522406e+01] [ 4.82486375e-01 8.75856868e-01 9.03575655e-03 3.18594569e+01] [-1.84946540e-02 -1.26496038e-04 9.99828951e-01 -7.95224120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51592 meters Centerline goodness [0,1] 0.9998006776958341 Centerline is valid? [True, True] Translation: X:71.68, Y:31.88, Z:-0.80 [[ 8.76387614e-01 -4.81232923e-01 1.89637243e-02 7.16800160e+01] [ 4.81116060e-01 8.76592747e-01 1.06062572e-02 3.18756320e+01] [-2.17275433e-02 -1.71440110e-04 9.99763914e-01 -7.95366471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54592 meters Centerline goodness [0,1] 0.999652052887961 Centerline is valid? [True, True] Translation: X:71.71, Y:31.89, Z:-0.79 [[ 8.77111539e-01 -4.79921890e-01 1.87170714e-02 7.17082768e+01] [ 4.79808028e-01 8.77311201e-01 1.04552403e-02 3.18936286e+01] [-2.14383950e-02 -1.89810747e-04 9.99770153e-01 -7.93591614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57592 meters Centerline goodness [0,1] 0.999052935898714 Centerline is valid? [True, True] Translation: X:71.74, Y:31.91, Z:-0.79 [[ 8.77162379e-01 -4.79821050e-01 1.89188062e-02 7.17367102e+01] [ 4.79704987e-01 8.77366358e-01 1.05545549e-02 3.19105714e+01] [-2.16630217e-02 -1.82612786e-04 9.99765313e-01 -7.94274847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60592 meters Centerline goodness [0,1] 0.9995022646956349 Centerline is valid? [True, True] Translation: X:71.76, Y:31.93, Z:-0.79 [[ 8.77381245e-01 -4.79533679e-01 1.57987948e-02 7.17643014e+01] [ 4.79452873e-01 8.77523463e-01 8.80422064e-03 3.19261920e+01] [-1.80857335e-02 -1.49880508e-04 9.99836429e-01 -7.93651080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63592 meters Centerline goodness [0,1] 0.9994527090900045 Centerline is valid? [True, True] Translation: X:71.79, Y:31.94, Z:-0.79 [[ 8.77368215e-01 -4.79561840e-01 1.56670690e-02 7.17930847e+01] [ 4.79482579e-01 8.77508075e-01 8.71977987e-03 3.19428753e+01] [-1.79296532e-02 -1.38371072e-04 9.99839241e-01 -7.94671786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66592 meters Centerline goodness [0,1] 0.9988057324840764 Centerline is valid? [True, True] Translation: X:71.82, Y:31.96, Z:-0.79 [[ 8.76470018e-01 -4.81232446e-01 1.46846769e-02 7.18198407e+01] [ 4.81163201e-01 8.76593021e-01 8.16391029e-03 3.19600735e+01] [-1.68012238e-02 -8.96964550e-05 9.99858845e-01 -7.93140709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69592 meters Centerline goodness [0,1] 0.9985044865403788 Centerline is valid? [True, True] Translation: X:71.85, Y:31.98, Z:-0.79 [[ 8.76292164e-01 -4.81538628e-01 1.52510016e-02 7.18479380e+01] [ 4.81464171e-01 8.76424865e-01 8.46804585e-03 3.19775732e+01] [-1.74440482e-02 -7.76713834e-05 9.99847838e-01 -7.93369336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72592 meters Centerline goodness [0,1] 0.9987058237929318 Centerline is valid? [True, True] Translation: X:71.88, Y:32.00, Z:-0.79 [[ 8.75480333e-01 -4.83022995e-01 1.49322766e-02 7.18756474e+01] [ 4.82952015e-01 8.75607666e-01 8.28047503e-03 3.19965502e+01] [-1.70744757e-02 -3.78199690e-05 9.99854220e-01 -7.92447855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75592 meters Centerline goodness [0,1] 0.9989527751458634 Centerline is valid? [True, True] Translation: X:71.90, Y:32.01, Z:-0.79 [[ 8.75482784e-01 -4.83058851e-01 1.35661693e-02 7.19025903e+01] [ 4.83000401e-01 8.75587886e-01 7.51446110e-03 3.20137828e+01] [-1.55083004e-02 -2.63161350e-05 9.99879739e-01 -7.92918644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78591999999999 meters Centerline goodness [0,1] 0.9984475160256411 Centerline is valid? [True, True] Translation: X:71.93, Y:32.03, Z:-0.79 [[ 8.75458604e-01 -4.83069902e-01 1.46868340e-02 7.19304895e+01] [ 4.83001575e-01 8.75581789e-01 8.12461859e-03 3.20311238e+01] [-1.67842831e-02 -1.90033188e-05 9.99859134e-01 -7.93900944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81591999999999 meters Centerline goodness [0,1] 0.9984557138587227 Centerline is valid? [True, True] Translation: X:71.96, Y:32.05, Z:-0.79 [[ 8.75485261e-01 -4.83042838e-01 1.39704670e-02 7.19581795e+01] [ 4.82981166e-01 8.75596720e-01 7.71855285e-03 3.20487474e+01] [-1.59608868e-02 -1.00067997e-05 9.99872617e-01 -7.93750729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84591999999999 meters Centerline goodness [0,1] 0.9984049446715183 Centerline is valid? [True, True] Translation: X:71.99, Y:32.07, Z:-0.79 [[ 8.75481705e-01 -4.83047881e-01 1.40188534e-02 7.19862357e+01] [ 4.82985939e-01 8.75593938e-01 7.73553899e-03 3.20656400e+01] [-1.60114587e-02 -1.41381091e-06 9.99871808e-01 -7.92873593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87592 meters Centerline goodness [0,1] 0.998103129835771 Centerline is valid? [True, True] Translation: X:72.01, Y:32.08, Z:-0.79 [[ 8.75694727e-01 -4.82665674e-01 1.38777779e-02 7.20139369e+01] [ 4.82605078e-01 8.75804686e-01 7.64800073e-03 3.20831292e+01] [-1.58456503e-02 1.72158782e-07 9.99874450e-01 -7.92566196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90592 meters Centerline goodness [0,1] 0.9983552631578947 Centerline is valid? [True, True] Translation: X:72.04, Y:32.10, Z:-0.79 [[ 8.75910485e-01 -4.82294412e-01 1.31500252e-02 7.20421417e+01] [ 4.82240101e-01 8.76009190e-01 7.23771935e-03 3.21011775e+01] [-1.50102545e-02 1.87523121e-06 9.99887340e-01 -7.92217423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93592 meters Centerline goodness [0,1] 0.9985548412817062 Centerline is valid? [True, True] Translation: X:72.07, Y:32.12, Z:-0.79 [[ 8.76524937e-01 -4.81167298e-01 1.34931631e-02 7.20700344e+01] [ 4.81110128e-01 8.76628787e-01 7.41712682e-03 3.21190923e+01] [-1.53973741e-02 -9.59921357e-06 9.99881453e-01 -7.92757879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96592 meters Centerline goodness [0,1] 0.9981028457314028 Centerline is valid? [True, True] Translation: X:72.10, Y:32.14, Z:-0.79 [[ 8.77079935e-01 -4.80136578e-01 1.41298824e-02 7.20967700e+01] [ 4.80073910e-01 8.77193745e-01 7.75726535e-03 3.21392332e+01] [-1.61191913e-02 -2.03539099e-05 9.99870077e-01 -7.93677156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99592 meters Centerline goodness [0,1] 0.9986070344758967 Centerline is valid? [True, True] Translation: X:72.12, Y:32.16, Z:-0.79 [[ 8.77464665e-01 -4.79437429e-01 1.39826415e-02 7.21248766e+01] [ 4.79376127e-01 8.77576066e-01 7.66666551e-03 3.21556639e+01] [-1.59465179e-02 -2.42835415e-05 9.99872846e-01 -7.93527603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02592 meters Centerline goodness [0,1] 0.9979032499625581 Centerline is valid? [True, True] Translation: X:72.15, Y:32.17, Z:-0.79 [[ 8.78323085e-01 -4.77877897e-01 1.34637974e-02 7.21539990e+01] [ 4.77821020e-01 8.78426271e-01 7.37288481e-03 3.21720593e+01] [-1.53502921e-02 -4.24895133e-05 9.99882176e-01 -7.92952444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05592 meters Centerline goodness [0,1] 0.9982090443261529 Centerline is valid? [True, True] Translation: X:72.18, Y:32.19, Z:-0.79 [[ 8.78981441e-01 -4.76648636e-01 1.40607284e-02 7.21824276e+01] [ 4.76586602e-01 8.79093894e-01 7.69001010e-03 3.21882736e+01] [-1.60261333e-02 -5.82213838e-05 9.99871572e-01 -7.93296931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08592 meters Centerline goodness [0,1] 0.9982055627554581 Centerline is valid? [True, True] Translation: X:72.21, Y:32.21, Z:-0.79 [[ 8.80348532e-01 -4.74120674e-01 1.40017244e-02 7.22109932e+01] [ 4.74058992e-01 8.80459867e-01 7.64815894e-03 3.22054136e+01] [-1.59541067e-02 -9.54021136e-05 9.99872721e-01 -7.92708733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11592 meters Centerline goodness [0,1] 0.998352389035898 Centerline is valid? [True, True] Translation: X:72.24, Y:32.22, Z:-0.79 [[ 8.80612177e-01 -4.73657133e-01 1.30810240e-02 7.22395972e+01] [ 4.73603380e-01 8.80709323e-01 7.13629029e-03 3.22225089e+01] [-1.49007346e-02 -8.90869411e-05 9.99888974e-01 -7.92076557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14591999999999 meters Centerline goodness [0,1] 0.9985046356295484 Centerline is valid? [True, True] Translation: X:72.27, Y:32.24, Z:-0.79 [[ 8.82049424e-01 -4.70960414e-01 1.36052580e-02 7.22673324e+01] [ 4.70902071e-01 8.82154335e-01 7.41404477e-03 3.22387029e+01] [-1.54936589e-02 -1.32809754e-04 9.99879957e-01 -7.92952260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17591999999999 meters Centerline goodness [0,1] 0.9982049364248318 Centerline is valid? [True, True] Translation: X:72.29, Y:32.26, Z:-0.79 [[ 8.83011433e-01 -4.69165272e-01 1.32195879e-02 7.22944092e+01] [ 4.69110124e-01 8.83110370e-01 7.19489796e-03 3.22586558e+01] [-1.50499514e-02 -1.51734633e-04 9.99886732e-01 -7.92311923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20591999999999 meters Centerline goodness [0,1] 0.9981069097793055 Centerline is valid? [True, True] Translation: X:72.32, Y:32.27, Z:-0.79 [[ 8.84234326e-01 -4.66778018e-01 1.57460765e-02 7.23222102e+01] [ 4.66699567e-01 8.84374487e-01 8.56044430e-03 3.22749651e+01] [-1.79212556e-02 -2.20751587e-04 9.99839377e-01 -7.93318746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23592 meters Centerline goodness [0,1] 0.9980544747081712 Centerline is valid? [True, True] Translation: X:72.35, Y:32.29, Z:-0.79 [[ 8.84921710e-01 -4.65473613e-01 1.57442792e-02 7.23496287e+01] [ 4.65395162e-01 8.85061726e-01 8.54889183e-03 3.22928788e+01] [-1.79139425e-02 -2.37788606e-04 9.99839504e-01 -7.91590663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26592 meters Centerline goodness [0,1] 0.9975555001247194 Centerline is valid? [True, True] Translation: X:72.38, Y:32.31, Z:-0.79 [[ 8.85543456e-01 -4.64251538e-01 1.68314201e-02 7.23774193e+01] [ 4.64161849e-01 8.85703357e-01 9.12920945e-03 3.23098475e+01] [-1.91458948e-02 -2.71808609e-04 9.99816664e-01 -7.91945523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29592 meters Centerline goodness [0,1] 0.9975619464623345 Centerline is valid? [True, True] Translation: X:72.40, Y:32.33, Z:-0.79 [[ 8.85352689e-01 -4.64596383e-01 1.73440732e-02 7.24048790e+01] [ 4.64501443e-01 8.85522519e-01 9.39558720e-03 3.23276314e+01] [-1.97237232e-02 -2.62061379e-04 9.99805434e-01 -7.91875104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32592 meters Centerline goodness [0,1] 0.9980077696981771 Centerline is valid? [True, True] Translation: X:72.43, Y:32.35, Z:-0.79 [[ 8.84308172e-01 -4.66630422e-01 1.59720599e-02 7.24298888e+01] [ 4.66550412e-01 8.84452380e-01 8.64292452e-03 3.23485688e+01] [-1.81595779e-02 -1.91237645e-04 9.99835083e-01 -7.92975520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35592 meters Centerline goodness [0,1] 0.9984053421039517 Centerline is valid? [True, True] Translation: X:72.46, Y:32.37, Z:-0.79 [[ 8.83744045e-01 -4.67748113e-01 1.44279747e-02 7.24568706e+01] [ 4.67683114e-01 8.83861800e-01 7.79889965e-03 3.23667243e+01] [-1.64002563e-02 -1.44511001e-04 9.99865496e-01 -7.92426091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38592 meters Centerline goodness [0,1] 0.9981036977893109 Centerline is valid? [True, True] Translation: X:72.48, Y:32.39, Z:-0.79 [[ 8.82737679e-01 -4.69649531e-01 1.42656159e-02 7.24824522e+01] [ 4.69586373e-01 8.82852937e-01 7.70261638e-03 3.23878234e+01] [-1.62119711e-02 -1.00450869e-04 9.99868572e-01 -7.91758616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41592 meters Centerline goodness [0,1] 0.9980568011958146 Centerline is valid? [True, True] Translation: X:72.51, Y:32.41, Z:-0.79 [[ 8.82201779e-01 -4.70625919e-01 1.52073740e-02 7.25096275e+01] [ 4.70554472e-01 8.82332838e-01 8.20066194e-03 3.24067324e+01] [-1.72774095e-02 -7.87407044e-05 9.99850731e-01 -7.91881861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44592 meters Centerline goodness [0,1] 0.998504188272836 Centerline is valid? [True, True] Translation: X:72.54, Y:32.43, Z:-0.79 [[ 8.80018055e-01 -4.74685557e-01 1.55513586e-02 7.25359819e+01] [ 4.74611663e-01 8.80155453e-01 8.37538438e-03 3.24282909e+01] [-1.76632871e-02 1.03666904e-05 9.99843992e-01 -7.92628865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47592 meters Centerline goodness [0,1] 0.9986531650621041 Centerline is valid? [True, True] Translation: X:72.56, Y:32.45, Z:-0.79 [[ 8.78558467e-01 -4.77423078e-01 1.42205617e-02 7.25642631e+01] [ 4.77361808e-01 8.78673546e-01 7.64883142e-03 3.24457742e+01] [-1.61469600e-02 6.84074338e-05 9.99869627e-01 -7.93027373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50591999999999 meters Centerline goodness [0,1] 0.9983071944236993 Centerline is valid? [True, True] Translation: X:72.59, Y:32.46, Z:-0.79 [[ 8.77146927e-01 -4.80010506e-01 1.42542257e-02 7.25922879e+01] [ 4.79949447e-01 8.77262731e-01 7.65703237e-03 3.24629299e+01] [-1.61801569e-02 1.24965332e-04 9.99869085e-01 -7.93193732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53591999999999 meters Centerline goodness [0,1] 0.9986556462856004 Centerline is valid? [True, True] Translation: X:72.62, Y:32.48, Z:-0.79 [[ 8.74433103e-01 -4.84919820e-01 1.48160943e-02 7.26192913e+01] [ 4.84854704e-01 8.74558582e-01 7.94998191e-03 3.24810124e+01] [-1.68126462e-02 2.31925671e-04 9.99858631e-01 -7.93964135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56591999999999 meters Centerline goodness [0,1] 0.9986045352604037 Centerline is valid? [True, True] Translation: X:72.65, Y:32.50, Z:-0.79 [[ 8.72479655e-01 -4.88460143e-01 1.36360098e-02 7.26470843e+01] [ 4.88405541e-01 8.72586161e-01 7.30886181e-03 3.24976447e+01] [-1.54686811e-02 2.83069512e-04 9.99880313e-01 -7.93635471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59591999999999 meters Centerline goodness [0,1] 0.9992027107833367 Centerline is valid? [True, True] Translation: X:72.68, Y:32.51, Z:-0.79 [[ 8.71626215e-01 -4.89948504e-01 1.47717596e-02 7.26753724e+01] [ 4.89884784e-01 8.71751310e-01 7.90901095e-03 3.25136196e+01] [-1.67523088e-02 3.42758958e-04 9.99859611e-01 -7.94588714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62592 meters Centerline goodness [0,1] 0.9992027107833367 Centerline is valid? [True, True] Translation: X:72.70, Y:32.53, Z:-0.79 [[ 8.71879872e-01 -4.89496847e-01 1.47758272e-02 7.27038804e+01] [ 4.89433191e-01 8.72005000e-01 7.90140881e-03 3.25292272e+01] [-1.67523099e-02 3.42700957e-04 9.99859611e-01 -7.94616804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65592 meters Centerline goodness [0,1] 0.9987542355989635 Centerline is valid? [True, True] Translation: X:72.73, Y:32.55, Z:-0.79 [[ 8.71413155e-01 -4.90342999e-01 1.42428030e-02 7.27322008e+01] [ 4.90284118e-01 8.71529471e-01 7.60692307e-03 3.25462102e+01] [-1.61430240e-02 3.54247259e-04 9.99869630e-01 -7.94234600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68592 meters Centerline goodness [0,1] 0.9988556075231366 Centerline is valid? [True, True] Translation: X:72.76, Y:32.56, Z:-0.79 [[ 8.71311405e-01 -4.90424902e-01 1.73161948e-02 7.27599443e+01] [ 4.90338081e-01 8.71483345e-01 9.23825616e-03 3.25618932e+01] [-1.96214462e-02 4.41391768e-04 9.99807383e-01 -7.94025545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71592 meters Centerline goodness [0,1] 0.9988552087999601 Centerline is valid? [True, True] Translation: X:72.79, Y:32.58, Z:-0.80 [[ 8.71431997e-01 -4.90144276e-01 1.91014137e-02 7.27887918e+01] [ 4.90038799e-01 8.71641182e-01 1.01796786e-02 3.25760438e+01] [-2.16390900e-02 4.89536159e-04 9.99765728e-01 -7.95359963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74592 meters Centerline goodness [0,1] 0.9987568992093879 Centerline is valid? [True, True] Translation: X:72.82, Y:32.59, Z:-0.80 [[ 8.70754448e-01 -4.91343084e-01 1.92006588e-02 7.28186319e+01] [ 4.91237037e-01 8.70965953e-01 1.02216560e-02 3.25894052e+01] [-2.17454600e-02 5.31522281e-04 9.99763398e-01 -7.95022949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77592 meters Centerline goodness [0,1] 0.9989555356609967 Centerline is valid? [True, True] Translation: X:72.85, Y:32.60, Z:-0.80 [[ 8.70628633e-01 -4.91536187e-01 1.99489439e-02 7.28470606e+01] [ 4.91422019e-01 8.70856966e-01 1.06086518e-02 3.26043118e+01] [-2.25872130e-02 5.67154280e-04 9.99744715e-01 -7.95799628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80592 meters Centerline goodness [0,1] 0.9991045667097801 Centerline is valid? [True, True] Translation: X:72.88, Y:32.62, Z:-0.79 [[ 8.70371579e-01 -4.92060596e-01 1.81572047e-02 7.28760526e+01] [ 4.91966371e-01 8.70560784e-01 9.64419786e-03 3.26191383e+01] [-2.05524801e-02 5.38698379e-04 9.99788630e-01 -7.94116702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83592 meters Centerline goodness [0,1] 0.9993025457081652 Centerline is valid? [True, True] Translation: X:72.91, Y:32.63, Z:-0.79 [[ 8.69773089e-01 -4.93173270e-01 1.65800728e-02 7.29065267e+01] [ 4.93095107e-01 8.69930946e-01 8.79573581e-03 3.26314325e+01] [-1.87613402e-02 5.25258478e-04 9.99823853e-01 -7.94142135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86592 meters Centerline goodness [0,1] 0.9991043884963678 Centerline is valid? [True, True] Translation: X:72.94, Y:32.64, Z:-0.79 [[ 8.69510739e-01 -4.93632834e-01 1.66643496e-02 7.29364755e+01] [ 4.93554138e-01 8.69670240e-01 8.83096979e-03 3.26442546e+01] [-1.88517456e-02 5.46135655e-04 9.99822141e-01 -7.94407639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89591999999999 meters Centerline goodness [0,1] 0.999203187250996 Centerline is valid? [True, True] Translation: X:72.97, Y:32.65, Z:-0.79 [[ 8.69935754e-01 -4.92782330e-01 1.94257415e-02 7.29672050e+01] [ 4.92675421e-01 8.70152392e-01 1.02832297e-02 3.26548815e+01] [-2.19707494e-02 6.24836186e-04 9.99758419e-01 -7.94612694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92591999999999 meters Centerline goodness [0,1] 0.9995519267151249 Centerline is valid? [True, True] Translation: X:73.00, Y:32.67, Z:-0.79 [[ 8.70592558e-01 -4.91579943e-01 2.04391005e-02 7.29969811e+01] [ 4.91461561e-01 8.70832219e-01 1.08065185e-02 3.26683833e+01] [-2.31112950e-02 6.36957646e-04 9.99732695e-01 -7.93777554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95591999999999 meters Centerline goodness [0,1] 0.9992519822470454 Centerline is valid? [True, True] Translation: X:73.03, Y:32.68, Z:-0.79 [[ 8.73298670e-01 -4.86757267e-01 2.04155959e-02 7.30275149e+01] [ 4.86637989e-01 8.73537119e-01 1.07874381e-02 3.26803180e+01] [-2.30846447e-02 5.14349221e-04 9.99733382e-01 -7.93762042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98592 meters Centerline goodness [0,1] 0.9989046006771559 Centerline is valid? [True, True] Translation: X:73.06, Y:32.69, Z:-0.79 [[ 8.75026420e-01 -4.83636738e-01 2.05978027e-02 7.30574439e+01] [ 4.83514632e-01 8.75268707e-01 1.08761598e-02 3.26934066e+01] [-2.32887226e-02 4.42411780e-04 9.99728683e-01 -7.94499147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01592 meters Centerline goodness [0,1] 0.9990040832586395 Centerline is valid? [True, True] Translation: X:73.09, Y:32.71, Z:-0.79 [[ 8.76687414e-01 -4.80624423e-01 2.04778533e-02 7.30875211e+01] [ 4.80503187e-01 8.76926466e-01 1.08009422e-02 3.27060998e+01] [-2.31487681e-02 3.70623745e-04 9.99731963e-01 -7.94383037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04592 meters Centerline goodness [0,1] 0.9991525846169184 Centerline is valid? [True, True] Translation: X:73.12, Y:32.72, Z:-0.79 [[ 8.79675148e-01 -4.75092333e-01 2.14221771e-02 7.31188649e+01] [ 4.74958321e-01 8.79935915e-01 1.12862138e-02 3.27156129e+01] [-2.42121367e-02 2.46439444e-04 9.99706813e-01 -7.94960260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07592 meters Centerline goodness [0,1] 0.9988043640711404 Centerline is valid? [True, True] Translation: X:73.15, Y:32.73, Z:-0.79 [[ 8.80880868e-01 -4.72877424e-01 2.08767437e-02 7.31482409e+01] [ 4.72749821e-01 8.81128200e-01 1.09864039e-02 3.27282920e+01] [-2.35903100e-02 1.91763831e-04 9.99721692e-01 -7.94513539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10592 meters Centerline goodness [0,1] 0.998557429239417 Centerline is valid? [True, True] Translation: X:73.18, Y:32.74, Z:-0.80 [[ 8.83081058e-01 -4.68778460e-01 2.03617280e-02 7.31786272e+01] [ 4.68656264e-01 8.83315769e-01 1.07032347e-02 3.27395312e+01] [-2.30032814e-02 9.08275435e-05 9.99735385e-01 -7.95448352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13592 meters Centerline goodness [0,1] 0.998704211313232 Centerline is valid? [True, True] Translation: X:73.21, Y:32.75, Z:-0.80 [[ 8.84403123e-01 -4.66286219e-01 2.02059087e-02 7.32088615e+01] [ 4.66165549e-01 8.84633913e-01 1.06075421e-02 3.27533631e+01] [-2.28209828e-02 3.79551533e-05 9.99739567e-01 -7.95920127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16592 meters Centerline goodness [0,1] 0.9987554759060135 Centerline is valid? [True, True] Translation: X:73.24, Y:32.77, Z:-0.80 [[ 8.86906919e-01 -4.61529805e-01 1.96559154e-02 7.32391619e+01] [ 4.61414746e-01 8.87124700e-01 1.03052798e-02 3.27667729e+01] [-2.21934418e-02 -7.02947946e-05 9.99753693e-01 -7.97092783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19592 meters Centerline goodness [0,1] 0.9988494247123562 Centerline is valid? [True, True] Translation: X:73.27, Y:32.78, Z:-0.80 [[ 8.88255636e-01 -4.58869364e-01 2.09960079e-02 7.32683532e+01] [ 4.58737630e-01 8.88503736e-01 1.09953720e-02 3.27806854e+01] [-2.37004708e-02 -1.35042206e-04 9.99719095e-01 -7.97991725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22592 meters Centerline goodness [0,1] 0.9983580455766743 Centerline is valid? [True, True] Translation: X:73.30, Y:32.79, Z:-0.80 [[ 8.90921913e-01 -4.53601313e-01 2.24497931e-02 7.32985165e+01] [ 4.53449358e-01 8.91204673e-01 1.17435579e-02 3.27930716e+01] [-2.53342538e-02 -2.82748852e-04 9.99678996e-01 -7.96983068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25591999999999 meters Centerline goodness [0,1] 0.9983076157292186 Centerline is valid? [True, True] Translation: X:73.33, Y:32.81, Z:-0.80 [[ 8.92224972e-01 -4.51060585e-01 2.18848630e-02 7.33283729e+01] [ 4.50915773e-01 8.92493270e-01 1.14336472e-02 3.28075033e+01] [-2.46893606e-02 -3.33155652e-04 9.99695116e-01 -7.95827412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28591999999999 meters Centerline goodness [0,1] 0.9986069651741294 Centerline is valid? [True, True] Translation: X:73.36, Y:32.82, Z:-0.80 [[ 8.93751764e-01 -4.48053578e-01 2.13488902e-02 7.33571042e+01] [ 4.47915208e-01 8.94006619e-01 1.11414136e-02 3.28214440e+01] [-2.40779994e-02 -3.95165513e-04 9.99710005e-01 -7.95883470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31591999999999 meters Centerline goodness [0,1] 0.9987548560613607 Centerline is valid? [True, True] Translation: X:73.38, Y:32.84, Z:-0.80 [[ 8.96078247e-01 -4.43385774e-01 2.12797944e-02 7.33845253e+01] [ 4.43247250e-01 8.96330740e-01 1.10941044e-02 3.28374594e+01] [-2.39927019e-02 -5.08975298e-04 9.99712004e-01 -7.96007195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34591999999999 meters Centerline goodness [0,1] 0.9985059760956175 Centerline is valid? [True, True] Translation: X:73.41, Y:32.85, Z:-0.80 [[ 8.96631769e-01 -4.42191956e-01 2.27540204e-02 7.34121412e+01] [ 4.42033517e-01 8.96920260e-01 1.18497551e-02 3.28536392e+01] [-2.56484083e-02 -5.66827215e-04 9.99670865e-01 -7.96479269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37592 meters Centerline goodness [0,1] 0.9979566409170196 Centerline is valid? [True, True] Translation: X:73.44, Y:32.87, Z:-0.80 [[ 8.97804790e-01 -4.39824434e-01 2.23836146e-02 7.34403164e+01] [ 4.39670695e-01 8.98083566e-01 1.16442268e-02 3.28687869e+01] [-2.52237719e-02 -6.12823212e-04 9.99681642e-01 -7.96402624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40592 meters Centerline goodness [0,1] 0.9985053806297329 Centerline is valid? [True, True] Translation: X:73.47, Y:32.89, Z:-0.80 [[ 8.98270626e-01 -4.38920644e-01 2.14138098e-02 7.34687401e+01] [ 4.38780014e-01 8.98525631e-01 1.11260618e-02 3.28850674e+01] [-2.41243152e-02 -5.98262738e-04 9.99708787e-01 -7.95713204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43592 meters Centerline goodness [0,1] 0.998804066175005 Centerline is valid? [True, True] Translation: X:73.50, Y:32.90, Z:-0.80 [[ 8.98143971e-01 -4.39194089e-01 2.11177594e-02 7.34961018e+01] [ 4.39057679e-01 8.98392022e-01 1.09603733e-02 3.29023873e+01] [-2.37857577e-02 -5.72078757e-04 9.99716915e-01 -7.96089204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46592 meters Centerline goodness [0,1] 0.9993027541212212 Centerline is valid? [True, True] Translation: X:73.52, Y:32.92, Z:-0.80 [[ 8.98286867e-01 -4.38943750e-01 2.02259178e-02 7.35209419e+01] [ 4.38818813e-01 8.98514378e-01 1.04862584e-02 3.29237317e+01] [-2.27761556e-02 -5.44155014e-04 9.99740442e-01 -7.96296985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49592 meters Centerline goodness [0,1] 0.9997510951812028 Centerline is valid? [True, True] Translation: X:73.55, Y:32.94, Z:-0.80 [[ 8.98016688e-01 -4.39489933e-01 2.03623812e-02 7.35477628e+01] [ 4.39363706e-01 8.98247363e-01 1.05455933e-02 3.29409138e+01] [-2.29251373e-02 -5.23627501e-04 9.99737047e-01 -7.97017972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52592 meters Centerline goodness [0,1] 0.9999004033663662 Centerline is valid? [True, True] Translation: X:73.58, Y:32.96, Z:-0.80 [[ 8.97846480e-01 -4.39775388e-01 2.16634608e-02 7.35750217e+01] [ 4.39632935e-01 8.98107632e-01 1.12054926e-02 3.29593597e+01] [-2.43840194e-02 -5.36841266e-04 9.99702521e-01 -7.97549919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55592 meters Centerline goodness [0,1] 0.9997509712122722 Centerline is valid? [True, True] Translation: X:73.60, Y:32.98, Z:-0.80 [[ 8.97543010e-01 -4.40378859e-01 2.19773831e-02 7.36029833e+01] [ 4.40232779e-01 8.97811893e-01 1.13536398e-02 3.29778559e+01] [-2.47314588e-02 -5.15215606e-04 9.99693998e-01 -7.97612350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:33.00, Z:-0.80 [[ 8.96166650e-01 -4.43214697e-01 2.11202927e-02 7.36282850e+01] [ 4.43080686e-01 8.96415394e-01 1.09062626e-02 3.29998457e+01] [-2.37663713e-02 -4.15835015e-04 9.99717453e-01 -7.97450035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61592 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:73.66, Y:33.02, Z:-0.80 [[ 8.95438560e-01 -4.44711108e-01 2.05381454e-02 7.36556849e+01] [ 4.44585041e-01 8.95673994e-01 1.05942188e-02 3.30177170e+01] [-2.31068496e-02 -3.55519806e-04 9.99732938e-01 -7.97545808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.68, Y:33.04, Z:-0.80 [[ 8.94816512e-01 -4.45918367e-01 2.14527363e-02 7.36840973e+01] [ 4.45781507e-01 8.95073574e-01 1.10519183e-02 3.30353660e+01] [-2.41300307e-02 -3.26205823e-04 9.99708775e-01 -7.98441210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.71, Y:33.05, Z:-0.80 [[ 8.92649138e-01 -4.50153765e-01 2.32186310e-02 7.37111621e+01] [ 4.49995273e-01 8.92951030e-01 1.19462265e-02 3.30546286e+01] [-2.61107393e-02 -2.15514563e-04 9.99659033e-01 -7.99006773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.74, Y:33.07, Z:-0.80 [[ 8.91787132e-01 -4.51847008e-01 2.34519343e-02 7.37393369e+01] [ 4.51686311e-01 8.92095431e-01 1.20506578e-02 3.30711405e+01] [-2.63664171e-02 -1.53703801e-04 9.99652334e-01 -7.98785504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.77, Y:33.09, Z:-0.80 [[ 8.89765323e-01 -4.55826556e-01 2.32340478e-02 7.37663299e+01] [ 4.55670543e-01 8.90068621e-01 1.19250189e-02 3.30890898e+01] [-2.61156372e-02 -2.33971587e-05 9.99658928e-01 -7.97748742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76592 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:73.79, Y:33.11, Z:-0.80 [[ 8.88846488e-01 -4.57591998e-01 2.36956486e-02 7.37940979e+01] [ 4.57430777e-01 8.89162281e-01 1.21458996e-02 3.31064274e+01] [-2.66271434e-02 4.32787153e-05 9.99645434e-01 -7.97775312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79592 meters Centerline goodness [0,1] 0.999950137122912 Centerline is valid? [True, True] Translation: X:73.82, Y:33.12, Z:-0.80 [[ 8.87159204e-01 -4.60997169e-01 2.07402344e-02 7.38212539e+01] [ 4.60874874e-01 8.87401595e-01 1.06188354e-02 3.31233498e+01] [-2.33001702e-02 1.38055339e-04 9.99728505e-01 -7.97269356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.85, Y:33.14, Z:-0.80 [[ 8.86627278e-01 -4.61976955e-01 2.16647591e-02 7.38499939e+01] [ 4.61844112e-01 8.86891910e-01 1.10795769e-02 3.31376616e+01] [-2.43328087e-02 1.82286340e-04 9.99703897e-01 -7.97807804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:33.15, Z:-0.80 [[ 8.84988967e-01 -4.64985322e-01 2.41490967e-02 7.38791419e+01] [ 4.64821755e-01 8.85318336e-01 1.23361398e-02 3.31514854e+01] [-2.71157620e-02 3.07677848e-04 9.99632253e-01 -7.97914208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.91, Y:33.17, Z:-0.80 [[ 8.84531309e-01 -4.65835875e-01 2.45214521e-02 7.39074669e+01] [ 4.65667939e-01 8.84871072e-01 1.25122449e-02 3.31663388e+01] [-2.75269762e-02 3.51381753e-04 9.99620999e-01 -7.97644754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91592 meters Centerline goodness [0,1] 0.9999005667694143 Centerline is valid? [True, True] Translation: X:73.94, Y:33.18, Z:-0.80 [[ 8.84843557e-01 -4.65322742e-01 2.29483290e-02 7.39361889e+01] [ 4.65175833e-01 8.85141028e-01 1.16963822e-02 3.31814823e+01] [-2.57551002e-02 3.25539610e-04 9.99668229e-01 -7.98114137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.97, Y:33.19, Z:-0.80 [[ 8.85367723e-01 -4.64444563e-01 2.03775154e-02 7.39656514e+01] [ 4.64328760e-01 8.85602152e-01 1.03745543e-02 3.31948684e+01] [-2.28647769e-02 2.76570925e-04 9.99738529e-01 -7.98652356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97592 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:74.00, Y:33.21, Z:-0.80 [[ 8.85943443e-01 -4.63356347e-01 2.01273773e-02 7.39956437e+01] [ 4.63243387e-01 8.86172009e-01 1.02340148e-02 3.32087437e+01] [-2.25783141e-02 2.57116149e-04 9.99745044e-01 -7.98689252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:33.22, Z:-0.80 [[ 8.86655863e-01 -4.61993264e-01 2.00899309e-02 7.40255654e+01] [ 4.61880672e-01 8.86883402e-01 1.02017243e-02 3.32230164e+01] [-2.25305542e-02 2.33732136e-04 9.99746128e-01 -7.97292528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:33.24, Z:-0.80 [[ 8.87003788e-01 -4.61241641e-01 2.19186661e-02 7.40542134e+01] [ 4.61107702e-01 8.87274528e-01 1.11174934e-02 3.32380712e+01] [-2.45757251e-02 2.45607010e-04 9.99697941e-01 -7.98015845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06591999999999 meters Centerline goodness [0,1] 0.9999004430285231 Centerline is valid? [True, True] Translation: X:74.08, Y:33.25, Z:-0.80 [[ 8.87806336e-01 -4.59705785e-01 2.16910450e-02 7.40838422e+01] [ 4.59574501e-01 8.88071250e-01 1.09878231e-02 3.32527053e+01] [-2.43143592e-02 2.13592228e-04 9.99704339e-01 -7.99995429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.11, Y:33.27, Z:-0.80 [[ 8.88066685e-01 -4.59216847e-01 2.13880689e-02 7.41131869e+01] [ 4.59089403e-01 8.88324177e-01 1.08202125e-02 3.32676557e+01] [-2.39683626e-02 2.09965546e-04 9.99712695e-01 -7.99808146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:33.28, Z:-0.80 [[ 8.89459435e-01 -4.56493997e-01 2.17978079e-02 7.41427694e+01] [ 4.56361158e-01 8.89726479e-01 1.10129921e-02 3.32829565e+01] [-2.44214517e-02 1.52063200e-04 9.99701740e-01 -8.00150019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.17, Y:33.30, Z:-0.80 [[ 8.90173954e-01 -4.55114925e-01 2.14648011e-02 7.41714697e+01] [ 4.54986056e-01 8.90432698e-01 1.08304599e-02 3.32983495e+01] [-2.40420647e-02 1.25191929e-04 9.99710940e-01 -8.00070463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18592 meters Centerline goodness [0,1] 0.999900457893689 Centerline is valid? [True, True] Translation: X:74.20, Y:33.31, Z:-0.80 [[ 8.90547325e-01 -4.54412549e-01 2.08493860e-02 7.42001432e+01] [ 4.54291096e-01 8.90791346e-01 1.05060998e-02 3.33137021e+01] [-2.33465562e-02 1.15511337e-04 9.99727425e-01 -7.99804142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:33.33, Z:-0.80 [[ 8.90431164e-01 -4.54617581e-01 2.13353468e-02 7.42295432e+01] [ 4.54490800e-01 8.90686722e-01 1.07366751e-02 3.33282863e+01] [-2.38841914e-02 1.36448732e-04 9.99714723e-01 -8.01305377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.26, Y:33.34, Z:-0.80 [[ 8.90920935e-01 -4.53626177e-01 2.19813359e-02 7.42590318e+01] [ 4.53491658e-01 8.91192053e-01 1.10471732e-02 3.33440167e+01] [-2.46008788e-02 1.26194605e-04 9.99697345e-01 -8.00906412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.29, Y:33.36, Z:-0.80 [[ 8.90595464e-01 -4.54247099e-01 2.23448539e-02 7.42875192e+01] [ 4.54108659e-01 8.90875720e-01 1.12150769e-02 3.33604801e+01] [-2.50009040e-02 1.58895028e-04 9.99687416e-01 -7.99563495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:74.32, Y:33.38, Z:-0.80 [[ 8.90227766e-01 -4.54961252e-01 2.24673931e-02 7.43164644e+01] [ 4.54821890e-01 8.90511214e-01 1.12617303e-02 3.33754485e+01] [-2.51311164e-02 1.93157201e-04 9.99684145e-01 -7.99155878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33592 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:74.35, Y:33.39, Z:-0.80 [[ 8.90012886e-01 -4.55326127e-01 2.35622665e-02 7.43454198e+01] [ 4.55173337e-01 8.90324698e-01 1.17968592e-02 3.33893128e+01] [-2.63494860e-02 2.25558807e-04 9.99652767e-01 -7.99322394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36592 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:74.37, Y:33.40, Z:-0.80 [[ 8.90456622e-01 -4.54437970e-01 2.39402418e-02 7.43749850e+01] [ 4.54280340e-01 8.90778359e-01 1.19703205e-02 3.34046549e+01] [-2.67652175e-02 2.16530034e-04 9.99641724e-01 -7.99637310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39591999999999 meters Centerline goodness [0,1] 0.9998505827273633 Centerline is valid? [True, True] Translation: X:74.40, Y:33.42, Z:-0.80 [[ 8.90731910e-01 -4.53909097e-01 2.37317608e-02 7.44039155e+01] [ 4.53754429e-01 8.91047971e-01 1.18503986e-02 3.34211591e+01] [-2.65251411e-02 2.12863392e-04 9.99648124e-01 -7.99490907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42591999999999 meters Centerline goodness [0,1] 0.999950206642434 Centerline is valid? [True, True] Translation: X:74.43, Y:33.44, Z:-0.80 [[ 8.91641702e-01 -4.52185364e-01 2.24381999e-02 7.44317000e+01] [ 4.52046735e-01 8.91923972e-01 1.11972204e-02 3.34377886e+01] [-2.50763876e-02 1.59206361e-04 9.99685525e-01 -7.98563257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45591999999999 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:74.46, Y:33.45, Z:-0.80 [[ 8.92212564e-01 -4.51102507e-01 2.15236780e-02 7.44597137e+01] [ 4.50974931e-01 8.92472134e-01 1.07285409e-02 3.34526013e+01] [-2.40489545e-02 1.34500211e-04 9.99710773e-01 -7.98439811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:33.47, Z:-0.80 [[ 8.92119542e-01 -4.51291893e-01 2.14091346e-02 7.44882135e+01] [ 4.51166063e-01 8.92376381e-01 1.06573372e-02 3.34685803e+01] [-2.39145759e-02 1.51456227e-04 9.99713994e-01 -7.98975945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:33.48, Z:-0.80 [[ 8.92358014e-01 -4.50819901e-01 2.14147682e-02 7.45171655e+01] [ 4.50694207e-01 8.92614919e-01 1.06460123e-02 3.34833420e+01] [-2.39145758e-02 1.51457594e-04 9.99713994e-01 -7.99004038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:33.50, Z:-0.80 [[ 8.92344804e-01 -4.50828629e-01 2.17783859e-02 7.45465878e+01] [ 4.50698982e-01 8.92610508e-01 1.08124105e-02 3.34983405e+01] [-2.43141603e-02 1.67098025e-04 9.99704353e-01 -7.99628467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:33.51, Z:-0.80 [[ 8.92105840e-01 -4.51359327e-01 2.05409088e-02 7.45751573e+01] [ 4.51244409e-01 8.92342269e-01 1.01861771e-02 3.35126502e+01] [-2.29271472e-02 1.81822201e-04 9.99737122e-01 -7.99478475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:33.53, Z:-0.80 [[ 8.91572514e-01 -4.52356414e-01 2.17284713e-02 7.46026731e+01] [ 4.52228400e-01 8.91837217e-01 1.07634710e-02 3.35284918e+01] [-2.42471845e-02 2.29816926e-04 9.99705967e-01 -8.01059840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63592 meters Centerline goodness [0,1] 0.9999004975124378 Centerline is valid? [True, True] Translation: X:74.63, Y:33.55, Z:-0.80 [[ 8.90700541e-01 -4.54052113e-01 2.21184268e-02 7.46301698e+01] [ 4.53920295e-01 8.90975080e-01 1.09440752e-02 3.35450164e+01] [-2.46761476e-02 2.92109086e-04 9.99695455e-01 -8.00794411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66592 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:74.66, Y:33.56, Z:-0.80 [[ 8.90810927e-01 -4.53818553e-01 2.24635719e-02 7.46595097e+01] [ 4.53682880e-01 8.91094063e-01 1.11002461e-02 3.35596184e+01] [-2.50546532e-02 3.03117511e-04 9.99686037e-01 -8.00811967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69592 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:74.69, Y:33.57, Z:-0.80 [[ 8.90695719e-01 -4.54042755e-01 2.25013800e-02 7.46893101e+01] [ 4.53907064e-01 8.90979838e-01 1.11042735e-02 3.35738276e+01] [-2.50900909e-02 3.23006460e-04 9.99685142e-01 -8.00122358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:33.59, Z:-0.80 [[ 8.90857381e-01 -4.53692700e-01 2.31529891e-02 7.47189861e+01] [ 4.53549306e-01 8.91158135e-01 1.14107699e-02 3.35883240e+01] [-2.58099575e-02 3.35653571e-04 9.99666811e-01 -8.00212002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:33.60, Z:-0.80 [[ 8.90752126e-01 -4.53750012e-01 2.59147955e-02 7.47476280e+01] [ 4.53570812e-01 8.91128932e-01 1.27571344e-02 3.36032324e+01] [-2.88819739e-02 3.90750277e-04 9.99582752e-01 -7.99625927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78591999999999 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:74.78, Y:33.62, Z:-0.80 [[ 8.90822329e-01 -4.53621869e-01 2.57444794e-02 7.47775309e+01] [ 4.53445438e-01 8.91194166e-01 1.26567598e-02 3.36176528e+01] [-2.86847129e-02 3.98792490e-04 9.99588429e-01 -7.99346687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:33.63, Z:-0.80 [[ 8.91149641e-01 -4.53093789e-01 2.36291320e-02 7.48068260e+01] [ 4.52945329e-01 8.91462779e-01 1.16035417e-02 3.36309787e+01] [-2.63219844e-02 3.62212931e-04 9.99653451e-01 -7.98582228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.84, Y:33.64, Z:-0.80 [[ 8.92044017e-01 -4.51349438e-01 2.32627680e-02 7.48371743e+01] [ 4.51205293e-01 8.92347233e-01 1.14105042e-02 3.36430532e+01] [-2.59085913e-02 3.17612075e-04 9.99664266e-01 -8.00533010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:33.66, Z:-0.80 [[ 8.92875335e-01 -4.49671642e-01 2.38547755e-02 7.48675675e+01] [ 4.49519881e-01 8.93193893e-01 1.16853173e-02 3.36568082e+01] [-2.65614956e-02 2.89664269e-04 9.99647139e-01 -8.01086811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:74.90, Y:33.67, Z:-0.80 [[ 8.95126624e-01 -4.45076238e-01 2.56021357e-02 7.48987045e+01] [ 4.44900016e-01 8.95492663e-01 1.25246078e-02 3.36689642e+01] [-2.85009300e-02 1.79280663e-04 9.99593750e-01 -7.99087378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:33.68, Z:-0.80 [[ 8.96616338e-01 -4.42061509e-01 2.57053302e-02 7.49281487e+01] [ 4.41883103e-01 8.96984734e-01 1.25583030e-02 3.36830747e+01] [-2.86088312e-02 9.87713961e-05 9.99590679e-01 -7.97966581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:33.70, Z:-0.80 [[ 8.98227215e-01 -4.38811135e-01 2.51527127e-02 7.49572402e+01] [ 4.38639450e-01 8.98579316e-01 1.22737370e-02 3.36975646e+01] [-2.79875599e-02 8.36753503e-06 9.99608271e-01 -7.98371315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:33.71, Z:-0.80 [[ 9.00528002e-01 -4.34064395e-01 2.52471337e-02 7.49860062e+01] [ 4.33890018e-01 9.00881838e-01 1.23031379e-02 3.37128465e+01] [-2.80850383e-02 -1.24840928e-04 9.99605530e-01 -7.99813878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.02, Y:33.73, Z:-0.80 [[ 9.02049645e-01 -4.30897425e-01 2.51763318e-02 7.50161602e+01] [ 4.30723252e-01 9.02400890e-01 1.22521036e-02 3.37268718e+01] [-2.79985441e-02 -2.07974149e-04 9.99607942e-01 -8.00095041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05592 meters Centerline goodness [0,1] 0.9997514663485436 Centerline is valid? [True, True] Translation: X:75.05, Y:33.74, Z:-0.80 [[ 9.02171798e-01 -4.30630031e-01 2.53736843e-02 7.50453684e+01] [ 4.30453477e-01 9.02528523e-01 1.23316135e-02 3.37412966e+01] [-2.82108369e-02 -2.03043299e-04 9.99601975e-01 -7.99570996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.07, Y:33.76, Z:-0.80 [[ 9.01873116e-01 -4.31305696e-01 2.45005931e-02 7.50734907e+01] [ 4.31141714e-01 9.02205836e-01 1.18933742e-02 3.37559547e+01] [-2.72342581e-02 -1.63086767e-04 9.99629066e-01 -8.00157007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11592 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:75.10, Y:33.77, Z:-0.80 [[ 9.00501213e-01 -4.34097983e-01 2.56223856e-02 7.51026121e+01] [ 4.33920241e-01 9.00865660e-01 1.24212557e-02 3.37720934e+01] [-2.84743693e-02 -6.72841338e-05 9.99594521e-01 -8.01710045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:33.79, Z:-0.80 [[ 8.99482683e-01 -4.36206552e-01 2.55880157e-02 7.51313891e+01] [ 4.36030617e-01 8.99846567e-01 1.23877636e-02 3.37877251e+01] [-2.84289117e-02 1.45794477e-05 9.99595817e-01 -8.02853569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17591999999999 meters Centerline goodness [0,1] 0.9999501644572909 Centerline is valid? [True, True] Translation: X:75.16, Y:33.81, Z:-0.80 [[ 8.97675796e-01 -4.39863148e-01 2.64305770e-02 7.51583453e+01] [ 4.39677462e-01 8.98064802e-01 1.27804565e-02 3.38055208e+01] [-2.93580228e-02 1.48222530e-04 9.99568949e-01 -8.02373331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.19, Y:33.82, Z:-0.80 [[ 8.97098541e-01 -4.40933308e-01 2.81429558e-02 7.51869729e+01] [ 4.40723803e-01 8.97539845e-01 1.35924626e-02 3.38210459e+01] [-3.12527937e-02 2.09492175e-04 9.99511490e-01 -8.02712157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.22, Y:33.83, Z:-0.80 [[ 8.95786904e-01 -4.43512643e-01 2.93659270e-02 7.52166787e+01] [ 4.43286454e-01 8.96268056e-01 1.41665680e-02 3.38333404e+01] [-3.26027943e-02 3.27291523e-04 9.99468334e-01 -8.01319085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:33.85, Z:-0.80 [[ 8.95316744e-01 -4.44588200e-01 2.73726184e-02 7.52462152e+01] [ 4.44392652e-01 8.95735009e-01 1.31895710e-02 3.38459405e+01] [-3.03825402e-02 3.55346703e-04 9.99538281e-01 -8.01179855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:33.86, Z:-0.80 [[ 8.95083582e-01 -4.45129915e-01 2.61675441e-02 7.52753122e+01] [ 4.44951869e-01 8.95465924e-01 1.25941709e-02 3.38590536e+01] [-2.90381862e-02 3.70462059e-04 9.99578234e-01 -8.01944592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:75.31, Y:33.87, Z:-0.80 [[ 8.94320079e-01 -4.46743972e-01 2.47268885e-02 7.53064297e+01] [ 4.46586042e-01 8.94661753e-01 1.18850838e-02 3.38704302e+01] [-2.74317909e-02 4.13614160e-04 9.99623592e-01 -8.02958746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35592 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:75.34, Y:33.88, Z:-0.80 [[ 8.93952997e-01 -4.47423430e-01 2.56965519e-02 7.53364818e+01] [ 4.47253560e-01 8.94322122e-01 1.23367162e-02 3.38817110e+01] [-2.85007307e-02 4.64429908e-04 9.99593664e-01 -8.03587528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38592 meters Centerline goodness [0,1] 0.999950231423879 Centerline is valid? [True, True] Translation: X:75.37, Y:33.89, Z:-0.80 [[ 8.93027505e-01 -4.49313584e-01 2.48833034e-02 7.53682089e+01] [ 4.49155462e-01 8.93373959e-01 1.19306282e-02 3.38922844e+01] [-2.75906885e-02 5.22092514e-04 9.99619168e-01 -8.01494279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.40, Y:33.91, Z:-0.80 [[ 8.92934533e-01 -4.49552280e-01 2.38886474e-02 7.53978253e+01] [ 4.49407035e-01 8.93253869e-01 1.14386339e-02 3.39073453e+01] [-2.64808906e-02 5.21774993e-04 9.99649184e-01 -8.01536721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.43, Y:33.92, Z:-0.80 [[ 8.93006873e-01 -4.49442916e-01 2.32333921e-02 7.54280285e+01] [ 4.49305873e-01 8.93308904e-01 1.11101284e-02 3.39207080e+01] [-2.57479646e-02 5.17478471e-04 9.99668332e-01 -8.02235947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47592 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:75.46, Y:33.93, Z:-0.80 [[ 8.93335304e-01 -4.48689988e-01 2.50864407e-02 7.54586176e+01] [ 4.48530300e-01 8.93687303e-01 1.19822699e-02 3.39321558e+01] [-2.77957581e-02 5.47844046e-04 9.99613473e-01 -8.03359912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.49, Y:33.94, Z:-0.80 [[ 8.93857759e-01 -4.47637333e-01 2.52809090e-02 7.54892766e+01] [ 4.47474959e-01 8.94215042e-01 1.20672990e-02 3.39420336e+01] [-2.80083427e-02 5.26124868e-04 9.99607551e-01 -8.03647727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.52, Y:33.95, Z:-0.80 [[ 8.94500716e-01 -4.46255321e-01 2.69194592e-02 7.55204214e+01] [ 4.46071030e-01 8.94905532e-01 1.28345509e-02 3.39516378e+01] [-2.98178596e-02 5.27475931e-04 9.99555210e-01 -8.03790582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:33.96, Z:-0.80 [[ 8.94932292e-01 -4.45365658e-01 2.73061160e-02 7.55511216e+01] [ 4.45176142e-01 8.95348625e-01 1.30016457e-02 3.39644154e+01] [-3.02389799e-02 5.20438827e-04 9.99542562e-01 -8.03626152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:33.97, Z:-0.80 [[ 8.95852096e-01 -4.43628378e-01 2.53551683e-02 7.55821598e+01] [ 4.43464680e-01 8.96210727e-01 1.20586099e-02 3.39743342e+01] [-2.80731154e-02 4.41390643e-04 9.99605775e-01 -8.03079730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:33.99, Z:-0.80 [[ 8.96227674e-01 -4.42900164e-01 2.48072665e-02 7.56117998e+01] [ 4.42743566e-01 8.96570837e-01 1.17842209e-02 3.39865644e+01] [-2.74607051e-02 4.21912724e-04 9.99622795e-01 -8.04005091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:34.00, Z:-0.80 [[ 8.97728342e-01 -4.39959195e-01 2.27976120e-02 7.56412249e+01] [ 4.39826118e-01 8.98017712e-01 1.08247285e-02 3.39993578e+01] [-2.52350982e-02 3.09319591e-04 9.99681496e-01 -8.03947141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68592 meters Centerline goodness [0,1] 0.999900502462564 Centerline is valid? [True, True] Translation: X:75.67, Y:34.01, Z:-0.80 [[ 8.98783813e-01 -4.37778337e-01 2.31901724e-02 7.56710887e+01] [ 4.37640292e-01 8.99082898e-01 1.09962579e-02 3.40122747e+01] [-2.56638109e-02 2.65695201e-04 9.99670595e-01 -8.03572679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:34.02, Z:-0.80 [[ 9.00576789e-01 -4.34040505e-01 2.38806955e-02 7.57029912e+01] [ 4.33893214e-01 9.00893339e-01 1.13079824e-02 3.40230318e+01] [-2.64220819e-02 1.77965287e-04 9.99650860e-01 -8.02877214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:34.04, Z:-0.80 [[ 9.01449748e-01 -4.32195456e-01 2.44016326e-02 7.57330207e+01] [ 4.32041422e-01 9.01779944e-01 1.15387199e-02 3.40363008e+01] [-2.69918852e-02 1.40939931e-04 9.99635643e-01 -8.02133226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:34.05, Z:-0.80 [[ 9.02066992e-01 -4.30880118e-01 2.48488519e-02 7.57631793e+01] [ 4.30720331e-01 9.02409170e-01 1.17339800e-02 3.40504693e+01] [-2.74797705e-02 1.18069663e-04 9.99622353e-01 -8.02421156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:34.06, Z:-0.80 [[ 9.02510126e-01 -4.29980623e-01 2.43338334e-02 7.57927799e+01] [ 4.29827495e-01 9.02838110e-01 1.14748295e-02 3.40641593e+01] [-2.69034665e-02 1.03200792e-04 9.99638031e-01 -8.02541645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:34.08, Z:-0.80 [[ 9.02563744e-01 -4.29909507e-01 2.35903181e-02 7.58217362e+01] [ 4.29765922e-01 9.02871975e-01 1.11107391e-02 3.40775384e+01] [-2.60756495e-02 1.10164482e-04 9.99659966e-01 -8.02703698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:34.09, Z:-0.80 [[ 9.02642330e-01 -4.29711216e-01 2.41887491e-02 7.58518532e+01] [ 4.29560601e-01 9.02966365e-01 1.13769248e-02 3.40910765e+01] [-2.67304190e-02 1.21239641e-04 9.99642671e-01 -8.01751877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:34.11, Z:-0.80 [[ 9.02471144e-01 -4.30001250e-01 2.53921044e-02 7.58806850e+01] [ 4.29835796e-01 9.02828280e-01 1.19283588e-02 3.41051835e+01] [-2.80539191e-02 1.49435847e-04 9.99606400e-01 -8.01781797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:34.12, Z:-0.80 [[ 9.01950246e-01 -4.31072513e-01 2.57340516e-02 7.59101462e+01] [ 4.30903484e-01 9.02317266e-01 1.20722520e-02 3.41201039e+01] [-2.84242951e-02 2.00321776e-04 9.99595928e-01 -8.01943740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.94, Y:34.13, Z:-0.80 [[ 9.01738391e-01 -4.31465399e-01 2.65609410e-02 7.59392009e+01] [ 4.31285947e-01 9.02129456e-01 1.24449618e-02 3.41340007e+01] [-2.93309777e-02 2.33260736e-04 9.99569727e-01 -8.03047978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:34.15, Z:-0.80 [[ 9.01215304e-01 -4.32660729e-01 2.48127033e-02 7.59687593e+01] [ 4.32504723e-01 9.01556779e-01 1.16205972e-02 3.41478066e+01] [-2.73978370e-02 2.58951343e-04 9.99624575e-01 -8.02977280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:34.16, Z:-0.80 [[ 9.00775346e-01 -4.33585041e-01 2.46533414e-02 7.59982200e+01] [ 4.33431804e-01 9.01112603e-01 1.15303571e-02 3.41618541e+01] [-2.72148270e-02 2.99280796e-04 9.99629563e-01 -8.02060469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:76.03, Y:34.17, Z:-0.80 [[ 9.00177972e-01 -4.34829739e-01 2.45502945e-02 7.60283546e+01] [ 4.34678674e-01 9.00512618e-01 1.14662118e-02 3.41746949e+01] [-2.70936999e-02 3.49858203e-04 9.99632837e-01 -8.01769022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.06, Y:34.19, Z:-0.80 [[ 9.00157665e-01 -4.34881686e-01 2.43741108e-02 7.60583080e+01] [ 4.34733228e-01 9.00487528e-01 1.13680822e-02 3.41891846e+01] [-2.68923535e-02 3.63169555e-04 9.99638269e-01 -8.01597629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:34.20, Z:-0.80 [[ 8.99716056e-01 -4.35811750e-01 2.40652613e-02 7.60881587e+01] [ 4.35667770e-01 9.00037754e-01 1.12087320e-02 3.42029899e+01] [-2.65445409e-02 3.99782590e-04 9.99647552e-01 -8.02485806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.12, Y:34.22, Z:-0.80 [[ 8.99953765e-01 -4.35331018e-01 2.38772835e-02 7.61186015e+01] [ 4.35189508e-01 9.00270375e-01 1.11060576e-02 3.42152601e+01] [-2.63308223e-02 3.96204931e-04 9.99653205e-01 -8.03445156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.15, Y:34.23, Z:-0.80 [[ 9.00117479e-01 -4.35089325e-01 2.20409537e-02 7.61488160e+01] [ 4.34968973e-01 9.00387218e-01 1.02396515e-02 3.42259444e+01] [-2.43005560e-02 3.70241712e-04 9.99704629e-01 -8.02987711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.18, Y:34.24, Z:-0.80 [[ 9.00461111e-01 -4.34459981e-01 2.03546947e-02 7.61787481e+01] [ 4.34357435e-01 9.00691075e-01 9.44493006e-03 3.42387257e+01] [-2.24367360e-02 3.36420775e-04 9.99748208e-01 -8.01636784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.21, Y:34.25, Z:-0.80 [[ 9.00923895e-01 -4.33535337e-01 1.95767065e-02 7.62078897e+01] [ 4.33440500e-01 9.01136513e-01 9.07291904e-03 3.42517354e+01] [-2.15747160e-02 3.11327888e-04 9.99767190e-01 -8.00544261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.24, Y:34.26, Z:-0.80 [[ 9.02452414e-01 -4.30263582e-01 2.12812162e-02 7.62380998e+01] [ 4.30150920e-01 9.02703262e-01 9.84919187e-03 3.42648015e+01] [-2.34483719e-02 2.65707756e-04 9.99725014e-01 -8.00281476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.27, Y:34.28, Z:-0.80 [[ 9.03948563e-01 -4.27050091e-01 2.24769934e-02 7.62681526e+01] [ 4.26923779e-01 9.04227945e-01 1.03879541e-02 3.42778428e+01] [-2.47605023e-02 2.05786771e-04 9.99693391e-01 -8.00231681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.30, Y:34.29, Z:-0.80 [[ 9.06062417e-01 -4.22377005e-01 2.54668714e-02 7.62975582e+01] [ 4.22213379e-01 9.06420242e-01 1.17561844e-02 3.42897444e+01] [-2.80492297e-02 1.00617000e-04 9.99606538e-01 -8.01904069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.33, Y:34.30, Z:-0.80 [[ 9.07272153e-01 -4.19864589e-01 2.38949044e-02 7.63267660e+01] [ 4.19720022e-01 9.07586759e-01 1.10171302e-02 3.43023664e+01] [-2.63124017e-02 3.36343389e-05 9.99653768e-01 -8.02206616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:34.32, Z:-0.80 [[ 9.08570197e-01 -4.17269539e-01 1.96552409e-02 7.63560985e+01] [ 4.17171358e-01 9.08782774e-01 9.05135150e-03 3.43163433e+01] [-2.16391976e-02 -2.41846984e-05 9.99765845e-01 -8.03358332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.38, Y:34.33, Z:-0.80 [[ 9.08916270e-01 -4.16557546e-01 1.87356492e-02 7.63849809e+01] [ 4.16468402e-01 9.09109350e-01 8.61743115e-03 3.43302086e+01] [-2.06224099e-02 -2.97174809e-05 9.99787335e-01 -8.03666117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.41, Y:34.34, Z:-0.80 [[ 9.09137918e-01 -4.16073371e-01 1.87402095e-02 7.64143395e+01] [ 4.15984329e-01 9.09331045e-01 8.60750920e-03 3.43440595e+01] [-2.06224097e-02 -2.97795182e-05 9.99787335e-01 -8.03694198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.44, Y:34.36, Z:-0.80 [[ 9.09035267e-01 -4.16180890e-01 2.11742644e-02 7.64429447e+01] [ 4.16067522e-01 9.09281841e-01 9.71342837e-03 3.43582322e+01] [-2.32959174e-02 -1.99252207e-05 9.99728613e-01 -8.03097550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.47, Y:34.37, Z:-0.80 [[ 9.09187637e-01 -4.15824020e-01 2.16385237e-02 7.64727689e+01] [ 4.15705854e-01 9.09445097e-01 9.91257019e-03 3.43732141e+01] [-2.38009340e-02 -1.71253028e-05 9.99716718e-01 -8.02864715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.50, Y:34.39, Z:-0.80 [[ 9.09447823e-01 -4.15275884e-01 2.12272994e-02 7.65020869e+01] [ 4.15162338e-01 9.09695520e-01 9.71049469e-03 3.43877779e+01] [-2.33429134e-02 -1.84130204e-05 9.99727517e-01 -8.03153029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.53, Y:34.40, Z:-0.80 [[ 9.09876629e-01 -4.14365189e-01 2.06399820e-02 7.65316315e+01] [ 4.14257906e-01 9.10110701e-01 9.42858187e-03 3.44021739e+01] [-2.26915446e-02 -2.85705434e-05 9.99742513e-01 -8.03427736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.56, Y:34.42, Z:-0.80 [[ 9.10722145e-01 -4.12481590e-01 2.10739579e-02 7.65609424e+01] [ 4.12369537e-01 9.10965934e-01 9.61410043e-03 3.44161072e+01] [-2.31632971e-02 -6.55159184e-05 9.99731693e-01 -8.04127036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.59, Y:34.43, Z:-0.81 [[ 9.11357065e-01 -4.11048804e-01 2.16143799e-02 7.65906200e+01] [ 4.10930854e-01 9.11613335e-01 9.84688332e-03 3.44300478e+01] [-2.37515066e-02 -9.20110857e-05 9.99717889e-01 -8.05119908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.62, Y:34.44, Z:-0.81 [[ 9.11896774e-01 -4.09747315e-01 2.34821549e-02 7.66195439e+01] [ 4.09607854e-01 9.12199058e-01 1.06904161e-02 3.44428855e+01] [-2.58007689e-02 -1.30080855e-04 9.99667096e-01 -8.06411828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:34.46, Z:-0.80 [[ 9.13229061e-01 -4.06791140e-01 2.31008763e-02 7.66499130e+01] [ 4.06655587e-01 9.13521171e-01 1.05025536e-02 3.44567664e+01] [-2.53754853e-02 -1.97136736e-04 9.99677971e-01 -8.04236988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.68, Y:34.47, Z:-0.80 [[ 9.14052206e-01 -4.04973465e-01 2.24735023e-02 7.66792225e+01] [ 4.04844975e-01 9.14328410e-01 1.02031890e-02 3.44712686e+01] [-2.46801824e-02 -2.27962870e-04 9.99695372e-01 -8.03667176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.71, Y:34.49, Z:-0.80 [[ 9.14994704e-01 -4.02849191e-01 2.22984287e-02 7.67084660e+01] [ 4.02722406e-01 9.15266331e-01 1.01097662e-02 3.44869831e+01] [-2.44817122e-02 -2.70305704e-04 9.99700241e-01 -8.03983134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:34.50, Z:-0.80 [[ 9.15386788e-01 -4.01920127e-01 2.29616908e-02 7.67381056e+01] [ 4.01785711e-01 9.15674683e-01 1.03979029e-02 3.45003939e+01] [-2.52045654e-02 -2.92423679e-04 9.99682272e-01 -8.04137753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:34.51, Z:-0.80 [[ 9.14816950e-01 -4.03268062e-01 2.20185732e-02 7.67673984e+01] [ 4.03145142e-01 9.15081863e-01 9.95886194e-03 3.45129914e+01] [-2.41648880e-02 -2.33854867e-04 9.99707959e-01 -8.04838386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:34.53, Z:-0.80 [[ 9.14586843e-01 -4.03846404e-01 2.09520606e-02 7.67964240e+01] [ 4.03735357e-01 9.14826782e-01 9.47212661e-03 3.45260993e+01] [-2.29927905e-02 -2.03994691e-04 9.99735610e-01 -8.03832218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.83, Y:34.54, Z:-0.80 [[ 9.14286969e-01 -4.04460256e-01 2.21639259e-02 7.68256338e+01] [ 4.04336505e-01 9.14555557e-01 1.00062335e-02 3.45409100e+01] [-2.43172653e-02 -1.86884588e-04 9.99704274e-01 -8.04351722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:34.56, Z:-0.80 [[ 9.14336476e-01 -4.04304967e-01 2.29412790e-02 7.68555594e+01] [ 4.04172701e-01 9.14624218e-01 1.03425560e-02 3.45554441e+01] [-2.51641961e-02 -1.84337556e-04 9.99683314e-01 -8.03858825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:34.57, Z:-0.80 [[ 9.14958756e-01 -4.02886728e-01 2.30815859e-02 7.68847118e+01] [ 4.02752758e-01 9.15249824e-01 1.03911457e-02 3.45707265e+01] [-2.53118721e-02 -2.11297388e-04 9.99679581e-01 -8.03897498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:34.59, Z:-0.80 [[ 9.15154880e-01 -4.02446978e-01 2.29777100e-02 7.69144699e+01] [ 4.02314437e-01 9.15443273e-01 1.03299497e-02 3.45858011e+01] [-2.51920471e-02 -2.09239425e-04 9.99682608e-01 -8.04389359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:34.60, Z:-0.80 [[ 9.15436248e-01 -4.01848682e-01 2.22286285e-02 7.69436438e+01] [ 4.01724763e-01 9.15706063e-01 9.98100704e-03 3.45994002e+01] [-2.43657444e-02 -2.07185102e-04 9.99703090e-01 -8.04244849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:34.61, Z:-0.80 [[ 9.15258285e-01 -4.02188775e-01 2.33765031e-02 7.69725969e+01] [ 4.02052143e-01 9.15556744e-01 1.04844361e-02 3.46121022e+01] [-2.56192375e-02 -1.97393861e-04 9.99671754e-01 -8.04464934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:34.63, Z:-0.80 [[ 9.14847107e-01 -4.03132671e-01 2.32124901e-02 7.70023650e+01] [ 4.02998622e-01 9.15141533e-01 1.03964128e-02 3.46273962e+01] [-2.54338474e-02 -1.56526662e-04 9.99676495e-01 -8.04504836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:34.64, Z:-0.81 [[ 9.14743426e-01 -4.03402976e-01 2.25943127e-02 7.70311545e+01] [ 4.03276362e-01 9.15022416e-01 1.01071491e-02 3.46420254e+01] [-2.47515566e-02 -1.33695976e-04 9.99693624e-01 -8.05496646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:34.66, Z:-0.81 [[ 9.14564677e-01 -4.03759897e-01 2.34392291e-02 7.70606104e+01] [ 4.03624130e-01 9.14864980e-01 1.04704186e-02 3.46560606e+01] [-2.56712650e-02 -1.15236546e-04 9.99670432e-01 -8.05786432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:34.67, Z:-0.80 [[ 9.14167344e-01 -4.04785964e-01 2.11279523e-02 7.70898024e+01] [ 4.04676198e-01 9.14411460e-01 9.42633214e-03 3.46697998e+01] [-2.31352886e-02 -6.72656123e-05 9.99732341e-01 -8.04402016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:34.68, Z:-0.80 [[ 9.14126663e-01 -4.04869541e-01 2.12860948e-02 7.71195236e+01] [ 4.04758462e-01 9.14374459e-01 9.48342412e-03 3.46845736e+01] [-2.33030110e-02 -5.33238284e-05 9.99728447e-01 -8.04288430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:34.70, Z:-0.80 [[ 9.14353509e-01 -4.04323823e-01 2.19067745e-02 7.71499203e+01] [ 4.04206349e-01 9.14615899e-01 9.74596034e-03 3.46979387e+01] [-2.39768082e-02 -5.63957040e-05 9.99712513e-01 -8.03989954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:34.71, Z:-0.80 [[ 9.14518198e-01 -4.03877400e-01 2.32273805e-02 7.71798117e+01] [ 4.03745525e-01 9.14813119e-01 1.03203299e-02 3.47102929e+01] [-2.54168604e-02 -6.01786029e-05 9.99676938e-01 -8.04932353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.21, Y:34.72, Z:-0.80 [[ 9.15462569e-01 -4.01785049e-01 2.22948176e-02 7.72094162e+01] [ 4.01663232e-01 9.15734003e-01 9.89362492e-03 3.47222188e+01] [-2.43912332e-02 -1.02234778e-04 9.99702484e-01 -8.04376258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.24, Y:34.74, Z:-0.81 [[ 9.16122557e-01 -4.00210566e-01 2.34725961e-02 7.72388306e+01] [ 4.00075350e-01 9.16423201e-01 1.04034080e-02 3.47354259e+01] [-2.56743855e-02 -1.39989604e-04 9.99670349e-01 -8.05052180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:34.75, Z:-0.81 [[ 9.17367415e-01 -3.97257370e-01 2.49721364e-02 7.72684146e+01] [ 3.97103600e-01 9.17707215e-01 1.10543685e-02 3.47487223e+01] [-2.73085391e-02 -2.24392213e-04 9.99627027e-01 -8.07083850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.30, Y:34.76, Z:-0.81 [[ 9.17913376e-01 -3.96043165e-01 2.41835729e-02 7.72980955e+01] [ 3.95898929e-01 9.18231863e-01 1.06903600e-02 3.47623460e+01] [-2.64399712e-02 -2.38573869e-04 9.99650374e-01 -8.07064639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:34.78, Z:-0.81 [[ 9.18441706e-01 -3.94898526e-01 2.28032046e-02 7.73274750e+01] [ 3.94770243e-01 9.18724711e-01 1.00678145e-02 3.47764838e+01] [-2.49256326e-02 -2.44674145e-04 9.99689278e-01 -8.06958784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.36, Y:34.79, Z:-0.81 [[ 9.18631474e-01 -3.94428087e-01 2.32959006e-02 7.73568661e+01] [ 3.94294415e-01 9.18926777e-01 1.02709710e-02 3.47904637e+01] [-2.54583863e-02 -2.49793770e-04 9.99675852e-01 -8.07272721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:34.80, Z:-0.81 [[ 9.18659413e-01 -3.94366010e-01 2.32450491e-02 7.73864033e+01] [ 3.94233267e-01 9.18953423e-01 1.02341228e-02 3.48043028e+01] [-2.53971077e-02 -2.37701612e-04 9.99677413e-01 -8.08181313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.42, Y:34.82, Z:-0.81 [[ 9.18622281e-01 -3.94448889e-01 2.33061884e-02 7.74165672e+01] [ 3.94315843e-01 9.18917855e-01 1.02465490e-02 3.48185937e+01] [-2.54582125e-02 -2.22708855e-04 9.99675862e-01 -8.06984998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:34.83, Z:-0.81 [[ 9.18284537e-01 -3.95178061e-01 2.42447931e-02 7.74459758e+01] [ 3.95034736e-01 9.18604519e-01 1.06440549e-02 3.48338728e+01] [-2.64776735e-02 -1.96735576e-04 9.99649386e-01 -8.07725775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.47, Y:34.85, Z:-0.81 [[ 9.16949678e-01 -3.98305506e-01 2.35799173e-02 7.74737018e+01] [ 3.98171302e-01 9.17252809e-01 1.03392164e-02 3.48513768e+01] [-2.57469122e-02 -9.16948324e-05 9.99668489e-01 -8.08529701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:34.87, Z:-0.81 [[ 9.15065612e-01 -4.02551497e-01 2.46417943e-02 7.75021800e+01] [ 4.02406886e-01 9.15397340e-01 1.07892374e-02 3.48675420e+01] [-2.69002566e-02 4.31675977e-05 9.99638122e-01 -8.09015433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.53, Y:34.88, Z:-0.81 [[ 9.14533791e-01 -4.03775633e-01 2.43553447e-02 7.75319723e+01] [ 4.03635210e-01 9.14858038e-01 1.06483850e-02 3.48813934e+01] [-2.65812413e-02 9.23667395e-05 9.99646652e-01 -8.07666465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.56, Y:34.90, Z:-0.81 [[ 9.13948893e-01 -4.05091708e-01 2.44566888e-02 7.75620527e+01] [ 4.04950999e-01 9.14276045e-01 1.06771444e-02 3.48957725e+01] [-2.66853874e-02 1.45396250e-04 9.99643871e-01 -8.06296202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63592 meters Centerline goodness [0,1] 0.999900259325753 Centerline is valid? [True, True] Translation: X:77.59, Y:34.91, Z:-0.81 [[ 9.13029284e-01 -4.07274019e-01 2.24811161e-02 7.75904821e+01] [ 4.07156094e-01 9.13305990e-01 9.80220484e-03 3.49099790e+01] [-2.45243213e-02 2.03623350e-04 9.99699213e-01 -8.05111178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:34.92, Z:-0.81 [[ 9.11831502e-01 -4.09776375e-01 2.54289972e-02 7.76191862e+01] [ 4.09626857e-01 9.12185957e-01 1.10732909e-02 3.49241640e+01] [-2.77335471e-02 3.19424736e-04 9.99615300e-01 -8.07786109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:34.94, Z:-0.81 [[ 9.11645286e-01 -4.10130149e-01 2.63843436e-02 7.76480768e+01] [ 4.09969746e-01 9.12026937e-01 1.14748942e-02 3.49374573e+01] [-2.87694321e-02 3.55749402e-04 9.99586011e-01 -8.07056403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.68, Y:34.95, Z:-0.81 [[ 9.11713236e-01 -4.09977884e-01 2.64028235e-02 7.76787307e+01] [ 4.09817666e-01 9.12095390e-01 1.14665036e-02 3.49506233e+01] [-2.87829065e-02 3.66180348e-04 9.99585619e-01 -8.07259040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:34.96, Z:-0.81 [[ 9.11331176e-01 -4.10933971e-01 2.46730620e-02 7.77088307e+01] [ 4.10794774e-01 9.11665029e-01 1.07018083e-02 3.49629568e+01] [-2.68913043e-02 3.82673401e-04 9.99638290e-01 -8.08623461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:34.97, Z:-0.81 [[ 9.10963862e-01 -4.11707192e-01 2.53383249e-02 7.77383361e+01] [ 4.11561064e-01 9.11316084e-01 1.09766205e-02 3.49749973e+01] [-2.76103766e-02 4.28963384e-04 9.99618669e-01 -8.08708828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:34.99, Z:-0.81 [[ 9.10713619e-01 -4.12143404e-01 2.71756980e-02 7.77679503e+01] [ 4.11975941e-01 9.11118860e-01 1.17578850e-02 3.49866428e+01] [-2.96062257e-02 4.87667774e-04 9.99561521e-01 -8.08847192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:35.00, Z:-0.81 [[ 9.10298904e-01 -4.13114626e-01 2.63099292e-02 7.77988822e+01] [ 4.12958536e-01 9.10678889e-01 1.13670292e-02 3.49971715e+01] [-2.86557831e-02 5.17515585e-04 9.99589205e-01 -8.08515982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:35.01, Z:-0.81 [[ 9.09483071e-01 -4.15048577e-01 2.39837974e-02 7.78297480e+01] [ 4.14919931e-01 9.09799091e-01 1.03472313e-02 3.50079560e+01] [-2.61150407e-02 5.40723813e-04 9.99658798e-01 -8.09153423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:35.02, Z:-0.81 [[ 9.09340402e-01 -4.15358161e-01 2.40339512e-02 7.78596563e+01] [ 4.15229472e-01 9.09657782e-01 1.03540000e-02 3.50207071e+01] [-2.61632891e-02 5.64294370e-04 9.99657523e-01 -8.09806580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:35.03, Z:-0.81 [[ 9.09253254e-01 -4.15537269e-01 2.42342231e-02 7.78901700e+01] [ 4.15406881e-01 9.09575963e-01 1.04254870e-02 3.50333945e+01] [-2.63750452e-02 5.87654975e-04 9.99651945e-01 -8.09582450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96592 meters Centerline goodness [0,1] 0.9999502932697087 Centerline is valid? [True, True] Translation: X:77.92, Y:35.04, Z:-0.81 [[ 9.09638938e-01 -4.14709686e-01 2.39348628e-02 7.79214958e+01] [ 4.14582597e-01 9.09953598e-01 1.02819939e-02 3.50447951e+01] [-2.60436570e-02 5.70075543e-04 9.99660644e-01 -8.09756072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.95, Y:35.06, Z:-0.81 [[ 9.10151094e-01 -4.13498002e-01 2.53848125e-02 7.79523050e+01] [ 4.13354975e-01 9.10504840e-01 1.08903836e-02 3.50553861e+01] [-2.76161466e-02 5.81043981e-04 9.99618433e-01 -8.09716640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:35.07, Z:-0.81 [[ 9.11118365e-01 -4.11258770e-01 2.70101787e-02 7.79834645e+01] [ 4.11096074e-01 9.11518469e-01 1.15801329e-02 3.50657803e+01] [-2.93827079e-02 5.52906629e-04 9.99568082e-01 -8.08614610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05592 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:78.01, Y:35.08, Z:-0.81 [[ 9.11791924e-01 -4.09802751e-01 2.64044226e-02 7.80128431e+01] [ 4.09647067e-01 9.12174023e-01 1.13063106e-02 3.50785510e+01] [-2.87187856e-02 5.07491589e-04 9.99587402e-01 -8.09241612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08592 meters Centerline goodness [0,1] 0.9999007493424644 Centerline is valid? [True, True] Translation: X:78.04, Y:35.09, Z:-0.81 [[ 9.13421330e-01 -4.06211162e-01 2.55727673e-02 7.80437891e+01] [ 4.06064110e-01 9.13779150e-01 1.09363033e-02 3.50885026e+01] [-2.78103101e-02 3.94730269e-04 9.99613141e-01 -8.10355382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11592 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:78.07, Y:35.10, Z:-0.81 [[ 9.13864516e-01 -4.05367798e-01 2.29911865e-02 7.80748503e+01] [ 4.05248792e-01 9.14153617e-01 9.82754783e-03 3.50990630e+01] [-2.50012477e-02 3.36103318e-04 9.99687363e-01 -8.09512356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14591999999999 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:78.11, Y:35.11, Z:-0.81 [[ 9.14134316e-01 -4.04793189e-01 2.23814007e-02 7.81058902e+01] [ 4.04680573e-01 9.14408207e-01 9.55325452e-03 3.51098690e+01] [-2.43328288e-02 3.24360258e-04 9.99703860e-01 -8.09598118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17591999999999 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:78.14, Y:35.12, Z:-0.81 [[ 9.14324833e-01 -4.04314823e-01 2.32298162e-02 7.81357522e+01] [ 4.04193722e-01 9.14619817e-01 9.90073950e-03 3.51237161e+01] [-2.52494660e-02 3.36853897e-04 9.99681125e-01 -8.10178765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:35.14, Z:-0.81 [[ 9.14845757e-01 -4.03073014e-01 2.42772847e-02 7.81660590e+01] [ 4.02940707e-01 9.15167764e-01 1.03319783e-02 3.51378148e+01] [-2.63823300e-02 3.30139806e-04 9.99651871e-01 -8.10347501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:35.15, Z:-0.81 [[ 9.14836519e-01 -4.03114166e-01 2.39397582e-02 7.81964672e+01] [ 4.02985918e-01 9.15149634e-01 1.01733029e-02 3.51501909e+01] [-2.60094635e-02 3.40476476e-04 9.99661639e-01 -8.11073142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:35.16, Z:-0.81 [[ 9.14834049e-01 -4.03136177e-01 2.36619155e-02 7.82269637e+01] [ 4.03011276e-01 9.15139935e-01 1.00404654e-02 3.51616912e+01] [-2.57016387e-02 3.50659153e-04 9.99669597e-01 -8.10920807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:35.17, Z:-0.81 [[ 9.14678946e-01 -4.03382621e-01 2.53946180e-02 7.82564661e+01] [ 4.03239234e-01 9.15031313e-01 1.07617951e-02 3.51743578e+01] [-2.75779917e-02 3.96518874e-04 9.99619576e-01 -8.11429539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:35.19, Z:-0.81 [[ 9.14891631e-01 -4.02899652e-01 2.54002714e-02 7.82862425e+01] [ 4.02756450e-01 9.15244073e-01 1.07484446e-02 3.51873068e+01] [-2.75779924e-02 3.96461118e-04 9.99619576e-01 -8.11457628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:35.20, Z:-0.81 [[ 9.14803856e-01 -4.03116573e-01 2.51183970e-02 7.83166857e+01] [ 4.02977039e-01 9.15148544e-01 1.06135621e-02 3.52004699e+01] [-2.72655672e-02 4.12809737e-04 9.99628140e-01 -8.10399173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:35.21, Z:-0.81 [[ 9.13778353e-01 -4.05507334e-01 2.39358405e-02 7.83465377e+01] [ 4.05381835e-01 9.14091668e-01 1.00990751e-02 3.52135051e+01] [-2.59748013e-02 4.74838753e-04 9.99662485e-01 -8.10728186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:35.22, Z:-0.81 [[ 9.12839744e-01 -4.07700264e-01 2.24521052e-02 7.83780555e+01] [ 4.07590840e-01 9.13115671e-01 9.45930388e-03 3.52246330e+01] [-2.43579298e-02 5.16443901e-04 9.99703168e-01 -8.11391224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:35.24, Z:-0.81 [[ 9.12283584e-01 -4.08877638e-01 2.36165073e-02 7.84083728e+01] [ 4.08757288e-01 9.12589027e-01 9.93720250e-03 3.52363760e+01] [-2.56152653e-02 5.87872768e-04 9.99671702e-01 -8.10687508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:35.25, Z:-0.81 [[ 9.11837568e-01 -4.09821199e-01 2.44710869e-02 7.84380343e+01] [ 4.09692667e-01 9.12165645e-01 1.02837084e-02 3.52484851e+01] [-2.65361665e-02 6.48553220e-04 9.99647644e-01 -8.09834221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50591999999999 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:78.47, Y:35.26, Z:-0.81 [[ 9.11085015e-01 -4.11474468e-01 2.47559438e-02 7.84680163e+01] [ 4.11343865e-01 9.11421005e-01 1.03911313e-02 3.52589752e+01] [-2.68387724e-02 7.16001578e-04 9.99639519e-01 -8.08905780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:35.27, Z:-0.81 [[ 9.10933546e-01 -4.11916606e-01 2.29081840e-02 7.84987015e+01] [ 4.11805026e-01 9.11221295e-01 9.61099077e-03 3.52690942e+01] [-2.48333518e-02 6.78731412e-04 9.99691374e-01 -8.09106760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:35.28, Z:-0.81 [[ 9.11080811e-01 -4.11655683e-01 2.17106916e-02 7.85295593e+01] [ 4.11555659e-01 9.11339223e-01 9.09722657e-03 3.52774946e+01] [-2.35307299e-02 6.46849435e-04 9.99722905e-01 -8.10209587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.56, Y:35.29, Z:-0.81 [[ 9.11465805e-01 -4.10778382e-01 2.21632080e-02 7.85598428e+01] [ 4.10674166e-01 9.11734995e-01 9.27511868e-03 3.52886131e+01] [-2.40169906e-02 6.47903458e-04 9.99711341e-01 -8.10135856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:35.30, Z:-0.81 [[ 9.12934687e-01 -4.07464781e-01 2.28628652e-02 7.85904972e+01] [ 4.07352857e-01 9.13220739e-01 9.56727945e-03 3.52957089e+01] [-2.47771721e-02 5.78952209e-04 9.99692831e-01 -8.09776750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:35.30, Z:-0.81 [[ 9.13842266e-01 -4.05491984e-01 2.16463283e-02 7.86200983e+01] [ 4.05391102e-01 9.14098465e-01 9.05819582e-03 3.53038005e+01] [-2.34599012e-02 4.97466678e-04 9.99724655e-01 -8.09194456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.65, Y:35.31, Z:-0.81 [[ 9.15932247e-01 -4.00797952e-01 2.07152201e-02 7.86496833e+01] [ 4.00704326e-01 9.16166400e-01 8.67010041e-03 3.53097132e+01] [-2.24535471e-02 3.59453750e-04 9.99747823e-01 -8.08639601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:35.32, Z:-0.81 [[ 9.17455123e-01 -3.97347660e-01 1.97720588e-02 7.86776077e+01] [ 3.97261515e-01 9.17668115e-01 8.27763796e-03 3.53191312e+01] [-2.14332880e-02 2.60316679e-04 9.99770247e-01 -8.09158146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:35.33, Z:-0.81 [[ 9.18609996e-01 -3.94708841e-01 1.89896508e-02 7.87050836e+01] [ 3.94628755e-01 9.18806234e-01 7.95299678e-03 3.53292020e+01] [-2.05869277e-02 1.88159904e-04 9.99788049e-01 -8.09963862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:78.73, Y:35.34, Z:-0.81 [[ 9.20640647e-01 -3.90140900e-01 1.45216142e-02 7.87338810e+01] [ 3.90093473e-01 9.20755165e-01 6.08345414e-03 3.53361540e+01] [-1.57442556e-02 6.41117648e-05 9.99876049e-01 -8.09284188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80592 meters Centerline goodness [0,1] 0.999950258654994 Centerline is valid? [True, True] Translation: X:78.76, Y:35.34, Z:-0.81 [[ 9.21901670e-01 -3.87171602e-01 1.39807414e-02 7.87610340e+01] [ 3.87127268e-01 9.22007674e-01 5.85901858e-03 3.53447707e+01] [-1.51587965e-02 1.08872213e-05 9.99885099e-01 -8.07667902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83592 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:78.79, Y:35.36, Z:-0.81 [[ 9.22222069e-01 -3.86341044e-01 1.57179310e-02 7.87876069e+01] [ 3.86284844e-01 9.22356004e-01 6.58950059e-03 3.53563819e+01] [-1.70433225e-02 -5.38435829e-06 9.99854752e-01 -8.08338682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:35.37, Z:-0.81 [[ 9.22310114e-01 -3.86074738e-01 1.70396606e-02 7.88138556e+01] [ 3.86008593e-01 9.22467504e-01 7.14625380e-03 3.53682897e+01] [-1.84775213e-02 -1.36067412e-05 9.99829276e-01 -8.07580400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89591999999999 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:78.84, Y:35.38, Z:-0.81 [[ 9.23049673e-01 -3.84318115e-01 1.66999272e-02 7.88399160e+01] [ 3.84254248e-01 9.23200728e-01 7.00635768e-03 3.53814992e+01] [-1.81100551e-02 -5.01981842e-05 9.99835998e-01 -8.07940647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:35.39, Z:-0.81 [[ 9.23815842e-01 -3.82537454e-01 1.51454985e-02 7.88666987e+01] [ 3.82484646e-01 9.23939982e-01 6.35652494e-03 3.53931111e+01] [-1.64251405e-02 -7.93377835e-05 9.99865095e-01 -8.08021921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.89, Y:35.40, Z:-0.81 [[ 9.24240000e-01 -3.81500403e-01 1.54228794e-02 7.88934646e+01] [ 3.81445459e-01 9.24368667e-01 6.47531117e-03 3.54049370e+01] [-1.67267603e-02 -1.01754272e-04 9.99860093e-01 -8.08852151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:35.42, Z:-0.81 [[ 9.24362761e-01 -3.81155613e-01 1.65494431e-02 7.89197481e+01] [ 3.81092248e-01 9.24510889e-01 6.95083016e-03 3.54178919e+01] [-1.79494883e-02 -1.18224102e-04 9.99838888e-01 -8.08515109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:35.43, Z:-0.81 [[ 9.25169466e-01 -3.79165003e-01 1.71859967e-02 7.89445415e+01] [ 3.79096261e-01 9.25329062e-01 7.22164243e-03 3.54321635e+01] [-1.86408963e-02 -1.66095987e-04 9.99826230e-01 -8.08336201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.97, Y:35.44, Z:-0.81 [[ 9.25047580e-01 -3.79503562e-01 1.62487146e-02 7.89707175e+01] [ 3.79442122e-01 9.25190263e-01 6.83030077e-03 3.54436350e+01] [-1.76252760e-02 -1.52906450e-04 9.99844651e-01 -8.07850641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.00, Y:35.46, Z:-0.81 [[ 9.24946731e-01 -3.79706382e-01 1.72223162e-02 7.89966910e+01] [ 3.79637344e-01 9.25107041e-01 7.24219015e-03 3.54554176e+01] [-1.86823918e-02 -1.60405711e-04 9.99825456e-01 -8.08282674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.02, Y:35.47, Z:-0.81 [[ 9.24565380e-01 -3.80620495e-01 1.75184621e-02 7.90234842e+01] [ 3.80549199e-01 9.24731322e-01 7.36810839e-03 3.54690958e+01] [-1.90043237e-02 -1.45661216e-04 9.99819391e-01 -8.08901198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:35.48, Z:-0.81 [[ 9.24143936e-01 -3.81625867e-01 1.78796696e-02 7.90507098e+01] [ 3.81551763e-01 9.24316873e-01 7.52139193e-03 3.54818082e+01] [-1.93968380e-02 -1.28829290e-04 9.99811855e-01 -8.10503913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:35.49, Z:-0.81 [[ 9.23913125e-01 -3.82168775e-01 1.82089249e-02 7.90780912e+01] [ 3.82091994e-01 9.24092535e-01 7.66128834e-03 3.54926389e+01] [-1.97546367e-02 -1.20880438e-04 9.99804851e-01 -8.10103197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.10, Y:35.50, Z:-0.81 [[ 9.23882815e-01 -3.82193585e-01 1.91991406e-02 7.91048086e+01] [ 3.82108200e-01 9.24082273e-01 8.07938607e-03 3.55044535e+01] [-2.08294750e-02 -1.28256882e-04 9.99783035e-01 -8.10024278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:35.52, Z:-0.81 [[ 9.24259149e-01 -3.81299246e-01 1.88655830e-02 7.91311644e+01] [ 3.81216615e-01 9.24451656e-01 7.93907806e-03 3.55209892e+01] [-2.04674839e-02 -1.45891849e-04 9.99790508e-01 -8.09017196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:35.53, Z:-0.81 [[ 9.24647677e-01 -3.80291267e-01 2.01301982e-02 7.91587692e+01] [ 3.80196946e-01 9.24866758e-01 8.47125768e-03 3.55328570e+01] [-2.18392965e-02 -1.79488856e-04 9.99761478e-01 -8.08325432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.19, Y:35.54, Z:-0.81 [[ 9.24424364e-01 -3.80744170e-01 2.17594361e-02 7.91875042e+01] [ 3.80634105e-01 9.24680401e-01 9.15607190e-03 3.55440835e+01] [-2.36066451e-02 -1.81712448e-04 9.99721308e-01 -8.08422629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:35.56, Z:-0.81 [[ 9.24636402e-01 -3.80199449e-01 2.22688733e-02 7.92167591e+01] [ 3.80084289e-01 9.24904505e-01 9.35896451e-03 3.55578812e+01] [-2.41548544e-02 -1.89590391e-04 9.99708211e-01 -8.08690592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:35.58, Z:-0.81 [[ 9.25094695e-01 -3.79232769e-01 1.95527899e-02 7.92444636e+01] [ 3.79143993e-01 9.25301289e-01 8.20717697e-03 3.55753048e+01] [-2.12046521e-02 -1.79093053e-04 9.99775140e-01 -8.08092642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:35.59, Z:-0.81 [[ 9.25320448e-01 -3.78722995e-01 1.87339824e-02 7.92735403e+01] [ 3.78641598e-01 9.25510055e-01 7.85351820e-03 3.55893993e+01] [-2.03127970e-02 -1.73555959e-04 9.99793659e-01 -8.08365891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:35.60, Z:-0.81 [[ 9.25625854e-01 -3.78004254e-01 1.81538853e-02 7.93022760e+01] [ 3.77927872e-01 9.25803842e-01 7.60061690e-03 3.56032405e+01] [-1.96800023e-02 -1.74468238e-04 9.99806315e-01 -8.07615710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:35.62, Z:-0.81 [[ 9.25423266e-01 -3.78538823e-01 1.73244868e-02 7.93310034e+01] [ 3.78469529e-01 9.25585403e-01 7.24414886e-03 3.56174749e+01] [-1.87774837e-02 -1.47113536e-04 9.99823677e-01 -8.07586303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:35.63, Z:-0.81 [[ 9.24937881e-01 -3.79608685e-01 1.96764497e-02 7.93595543e+01] [ 3.79519764e-01 9.25147139e-01 8.21708061e-03 3.56324699e+01] [-2.13228863e-02 -1.32687589e-04 9.99772633e-01 -8.09010444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:35.65, Z:-0.81 [[ 9.24947509e-01 -3.79621573e-01 1.89622578e-02 7.93885756e+01] [ 3.79539201e-01 9.25141853e-01 7.90872248e-03 3.56452447e+01] [-2.05451000e-02 -1.18232973e-04 9.99788920e-01 -8.09596741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:35.66, Z:-0.81 [[ 9.24375584e-01 -3.81034795e-01 1.85003791e-02 7.94182138e+01] [ 3.80956870e-01 9.24560695e-01 7.70608008e-03 3.56588458e+01] [-2.00410080e-02 -7.54657559e-05 9.99799156e-01 -8.09888433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:35.68, Z:-0.81 [[ 9.23102860e-01 -3.84015058e-01 2.03358275e-02 7.94462092e+01] [ 3.83921867e-01 9.23326830e-01 8.45958034e-03 3.56750496e+01] [-2.20252214e-02 -1.69392384e-06 9.99757415e-01 -8.10187768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:35.69, Z:-0.81 [[ 9.22690575e-01 -3.85013448e-01 2.01679992e-02 7.94764470e+01] [ 3.84922300e-01 9.22910962e-01 8.37729321e-03 3.56892524e+01] [-2.18386381e-02 3.34631561e-05 9.99761508e-01 -8.10166930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.51, Y:35.70, Z:-0.81 [[ 9.22214096e-01 -3.86114719e-01 2.08946188e-02 7.95079787e+01] [ 3.86017460e-01 9.22450767e-01 8.66617186e-03 3.56991619e+01] [-2.26203936e-02 7.36218146e-05 9.99744123e-01 -8.10843960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.54, Y:35.71, Z:-0.81 [[ 9.22190291e-01 -3.86215834e-01 2.00598483e-02 7.95373725e+01] [ 3.86126454e-01 9.22408436e-01 8.30894631e-03 3.57117538e+01] [-2.17124199e-02 8.32084838e-05 9.99764254e-01 -8.11285661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.57, Y:35.73, Z:-0.81 [[ 9.22429229e-01 -3.85723320e-01 1.84888464e-02 7.95656528e+01] [ 3.85647494e-01 9.22614500e-01 7.64825301e-03 3.57275026e+01] [-2.00081873e-02 7.52051438e-05 9.99799813e-01 -8.11422524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:35.74, Z:-0.81 [[ 9.23252928e-01 -3.83684922e-01 1.97461934e-02 7.95960740e+01] [ 3.83598226e-01 9.23464065e-01 8.15615451e-03 3.57399928e+01] [-2.13642935e-02 4.44112211e-05 9.99771756e-01 -8.10995673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:35.75, Z:-0.81 [[ 9.24175255e-01 -3.81417279e-01 2.05172372e-02 7.96278355e+01] [ 3.81323402e-01 9.24402975e-01 8.46187220e-03 3.57484425e+01] [-2.21936994e-02 3.44980812e-06 9.99753690e-01 -8.10020729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:35.76, Z:-0.81 [[ 9.24236132e-01 -3.81265047e-01 2.06042585e-02 7.96580838e+01] [ 3.81170621e-01 9.24465772e-01 8.48495758e-03 3.57605562e+01] [-2.22829495e-02 1.16336324e-05 9.99751704e-01 -8.08818764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79592 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:79.69, Y:35.77, Z:-0.81 [[ 9.24646854e-01 -3.80075959e-01 2.38843061e-02 7.96868784e+01] [ 3.79949010e-01 9.24955278e-01 9.82262687e-03 3.57744195e+01] [-2.58252593e-02 -7.64257421e-06 9.99666472e-01 -8.10120433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:35.79, Z:-0.81 [[ 9.25177724e-01 -3.78703768e-01 2.50925292e-02 7.97164983e+01] [ 3.78563509e-01 9.25517939e-01 1.03060483e-02 3.57871582e+01] [-2.71265253e-02 -3.58104311e-05 9.99632007e-01 -8.10641947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:35.80, Z:-0.81 [[ 9.25384634e-01 -3.78247751e-01 2.43293600e-02 7.97458016e+01] [ 3.78116079e-01 9.25704401e-01 9.97963796e-03 3.57996898e+01] [-2.62965712e-02 -3.56814235e-05 9.99654185e-01 -8.09802704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:35.81, Z:-0.81 [[ 9.26490452e-01 -3.75499333e-01 2.48131540e-02 7.97760096e+01] [ 3.75361793e-01 9.26822659e-01 1.01628784e-02 3.58124102e+01] [-2.68135475e-02 -1.01899838e-04 9.99640447e-01 -8.10413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.81, Y:35.83, Z:-0.81 [[ 9.27296845e-01 -3.73440570e-01 2.57430166e-02 7.98054373e+01] [ 3.73292114e-01 9.27654093e-01 1.05299905e-02 3.58252267e+01] [-2.78129404e-02 -1.54761883e-04 9.99613133e-01 -8.09876727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.84, Y:35.84, Z:-0.81 [[ 9.27359452e-01 -3.73289572e-01 2.56776448e-02 7.98356041e+01] [ 3.73142241e-01 9.27714867e-01 1.04877941e-02 3.58386018e+01] [-2.77365171e-02 -1.44541070e-04 9.99615258e-01 -8.09832397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.87, Y:35.85, Z:-0.81 [[ 9.27436779e-01 -3.73051636e-01 2.63343415e-02 7.98657999e+01] [ 3.72897032e-01 9.27810572e-01 1.07399494e-02 3.58517221e+01] [-2.84398361e-02 -1.40626297e-04 9.99595496e-01 -8.09235559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:35.87, Z:-0.81 [[ 9.27333065e-01 -3.73374088e-01 2.54003154e-02 7.98947071e+01] [ 3.73230752e-01 9.27680860e-01 1.03454710e-02 3.58657025e+01] [-2.74261172e-02 -1.13518508e-04 9.99623827e-01 -8.10323463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.93, Y:35.88, Z:-0.81 [[ 9.27420038e-01 -3.73162701e-01 2.53312314e-02 7.99250195e+01] [ 3.73020486e-01 9.27765912e-01 1.03019109e-02 3.58795300e+01] [-2.73457419e-02 -1.05130322e-04 9.99626030e-01 -8.11600918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:35.89, Z:-0.81 [[ 9.27276898e-01 -3.73591057e-01 2.42337709e-02 7.99541304e+01] [ 3.73461385e-01 9.27593508e-01 9.84265539e-03 3.58932002e+01] [-2.61562166e-02 -7.64893315e-05 9.99657865e-01 -8.10831558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:35.91, Z:-0.81 [[ 9.27089574e-01 -3.74000968e-01 2.50638496e-02 7.99843615e+01] [ 3.73862822e-01 9.27428311e-01 1.01645160e-02 3.59067786e+01] [-2.70464625e-02 -5.29752518e-05 9.99634176e-01 -8.10452277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.01, Y:35.92, Z:-0.81 [[ 9.25854452e-01 -3.76887327e-01 2.73765558e-02 8.00130087e+01] [ 3.76724204e-01 9.26259111e-01 1.10875677e-02 3.59209333e+01] [-2.95365480e-02 4.79372341e-05 9.99563700e-01 -8.11322206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.04, Y:35.93, Z:-0.81 [[ 9.25504696e-01 -3.77719536e-01 2.77310328e-02 8.00431323e+01] [ 3.77553041e-01 9.25920053e-01 1.12141734e-02 3.59341783e+01] [-2.99125317e-02 9.11656275e-05 9.99552516e-01 -8.11046263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:35.95, Z:-0.81 [[ 9.24241207e-01 -3.80701634e-01 2.90595554e-02 8.00721007e+01] [ 3.80520760e-01 9.24697908e-01 1.17358326e-02 3.59476540e+01] [-3.13391608e-02 2.11024033e-04 9.99508786e-01 -8.11157123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:35.96, Z:-0.81 [[ 9.23959475e-01 -3.81316348e-01 2.99454816e-02 8.01009514e+01] [ 3.81125117e-01 9.24444578e-01 1.20775583e-02 3.59609263e+01] [-3.22883085e-02 2.53800748e-04 9.99478564e-01 -8.13302062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:35.97, Z:-0.81 [[ 9.24160075e-01 -3.80829418e-01 2.99518170e-02 8.01309507e+01] [ 3.80638440e-01 9.24645278e-01 1.20618379e-02 3.59733637e+01] [-3.22883089e-02 2.53743926e-04 9.99478564e-01 -8.13330153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:35.99, Z:-0.81 [[ 9.23911966e-01 -3.81497562e-01 2.90910436e-02 8.01604649e+01] [ 3.81318225e-01 9.24369801e-01 1.16996286e-02 3.59872859e+01] [-3.13542620e-02 2.83518270e-04 9.99508294e-01 -8.14281037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:36.00, Z:-0.81 [[ 9.24673564e-01 -3.79664621e-01 2.88716951e-02 8.01899907e+01] [ 3.79487567e-01 9.25124165e-01 1.15959304e-02 3.59996205e+01] [-3.11124674e-02 2.33999033e-04 9.99515863e-01 -8.14641945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:36.01, Z:-0.81 [[ 9.24885415e-01 -3.79212125e-01 2.80202372e-02 8.02202012e+01] [ 3.79045606e-01 9.25309739e-01 1.12390201e-02 3.60115640e+01] [-3.01893711e-02 2.26142053e-04 9.99544171e-01 -8.14468565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36592 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:80.25, Y:36.02, Z:-0.81 [[ 9.25178863e-01 -3.78536087e-01 2.74682190e-02 8.02500743e+01] [ 3.78376206e-01 9.25586509e-01 1.10027873e-02 3.60229057e+01] [-2.95891649e-02 2.13774240e-04 9.99562122e-01 -8.14792060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:36.03, Z:-0.81 [[ 9.25733809e-01 -3.77207511e-01 2.70445463e-02 8.02796511e+01] [ 3.77052381e-01 9.26128749e-01 1.08185911e-02 3.60345159e+01] [-2.91275856e-02 1.82074976e-04 9.99575685e-01 -8.14369736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:36.05, Z:-0.81 [[ 9.26215918e-01 -3.75930426e-01 2.82911466e-02 8.03088458e+01] [ 3.75760495e-01 9.26647878e-01 1.13031607e-02 3.60466320e+01] [-3.04651329e-02 1.61527853e-04 9.99535817e-01 -8.14816905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:36.06, Z:-0.81 [[ 9.27511804e-01 -3.72720568e-01 2.83060322e-02 8.03393587e+01] [ 3.72549492e-01 9.27943626e-01 1.12917172e-02 3.60598054e+01] [-3.04750574e-02 7.21968900e-05 9.99535525e-01 -8.14375221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:36.07, Z:-0.81 [[ 9.28000669e-01 -3.71520938e-01 2.80526494e-02 8.03691912e+01] [ 3.71352883e-01 9.28424574e-01 1.11734660e-02 3.60728896e+01] [-3.01959456e-02 4.84482982e-05 9.99543997e-01 -8.14099516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:36.09, Z:-0.81 [[ 9.28692681e-01 -3.69751226e-01 2.85295523e-02 8.03991145e+01] [ 3.69577107e-01 9.29130793e-01 1.13459599e-02 3.60865798e+01] [-3.07028682e-02 6.95946031e-06 9.99528556e-01 -8.13565339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:36.10, Z:-0.81 [[ 9.29735062e-01 -3.67238036e-01 2.69988628e-02 8.04275980e+01] [ 3.67081463e-01 9.30126992e-01 1.07227676e-02 3.61025220e+01] [-2.90501792e-02 -5.85509836e-05 9.99577953e-01 -8.13458766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:36.12, Z:-0.81 [[ 9.30157401e-01 -3.66170093e-01 2.69568739e-02 8.04574578e+01] [ 3.66014031e-01 9.30547934e-01 1.06898248e-02 3.61168132e+01] [-2.89989575e-02 -7.66255228e-05 9.99579439e-01 -8.14108835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:36.13, Z:-0.82 [[ 9.30423205e-01 -3.65669132e-01 2.44692741e-02 8.04867330e+01] [ 3.65540721e-01 9.30744906e-01 9.69026176e-03 3.61311466e+01] [-2.63180819e-02 -7.15283096e-05 9.99653617e-01 -8.15195236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.52, Y:36.15, Z:-0.81 [[ 9.30233843e-01 -3.66206447e-01 2.36185276e-02 8.05155357e+01] [ 3.66087301e-01 9.30533630e-01 9.34084090e-03 3.61452936e+01] [-2.53985104e-02 -4.27232937e-05 9.99677405e-01 -8.13857169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.54, Y:36.16, Z:-0.81 [[ 9.29658568e-01 -3.67660684e-01 2.36763159e-02 8.05436983e+01] [ 3.67541795e-01 9.29960011e-01 9.34919940e-03 3.61638598e+01] [-2.54553600e-02 1.04723018e-05 9.99675960e-01 -8.13204135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:36.18, Z:-0.81 [[ 9.29423620e-01 -3.68261017e-01 2.35702830e-02 8.05730526e+01] [ 3.68143751e-01 9.29722443e-01 9.29286225e-03 3.61792210e+01] [-2.53360200e-02 4.02466993e-05 9.99678991e-01 -8.13776203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:36.19, Z:-0.81 [[ 9.28518084e-01 -3.70546806e-01 2.34357074e-02 8.06024410e+01] [ 3.70431965e-01 9.28813787e-01 9.22539810e-03 3.61945273e+01] [-2.51858500e-02 1.15386181e-04 9.99682780e-01 -8.13982463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.63, Y:36.21, Z:-0.81 [[ 9.28221555e-01 -3.71229996e-01 2.43523206e-02 8.06318445e+01] [ 3.71106574e-01 9.28540935e-01 9.57304734e-03 3.62069741e+01] [-2.61659289e-02 1.51397388e-04 9.99657602e-01 -8.14033995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:36.22, Z:-0.81 [[ 9.27326834e-01 -3.73563068e-01 2.27063364e-02 8.06610948e+01] [ 3.73456763e-01 9.27604759e-01 8.91387224e-03 3.62193476e+01] [-2.43923991e-02 2.13761966e-04 9.99702438e-01 -8.14112428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:36.23, Z:-0.81 [[ 9.27561428e-01 -3.73027440e-01 2.19163654e-02 8.06913421e+01] [ 3.72928531e-01 9.27820289e-01 8.59202359e-03 3.62310778e+01] [-2.35395091e-02 2.03608306e-04 9.99722887e-01 -8.14995241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:36.24, Z:-0.81 [[ 9.27463860e-01 -3.73282522e-01 2.17013106e-02 8.07224174e+01] [ 3.73185920e-01 9.27717689e-01 8.49463629e-03 3.62427710e+01] [-2.33035889e-02 2.20155396e-04 9.99728410e-01 -8.14580163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:36.26, Z:-0.82 [[ 9.27468036e-01 -3.73242083e-01 2.22123689e-02 8.07534905e+01] [ 3.73141187e-01 9.27733955e-01 8.68117807e-03 3.62550358e+01] [-2.38473498e-02 2.36834520e-04 9.99715583e-01 -8.15464584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:36.27, Z:-0.82 [[ 9.27669104e-01 -3.72750298e-01 2.20737169e-02 8.07843666e+01] [ 3.72650837e-01 9.27931657e-01 8.61354911e-03 3.62669358e+01] [-2.36936037e-02 2.35265706e-04 9.99719239e-01 -8.15077499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93592 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:80.81, Y:36.28, Z:-0.82 [[ 9.27691240e-01 -3.72751370e-01 2.11040282e-02 8.08149699e+01] [ 3.72660709e-01 9.27931226e-01 8.22402071e-03 3.62767018e+01] [-2.26486018e-02 2.35290165e-04 9.99743460e-01 -8.15320848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.85, Y:36.29, Z:-0.81 [[ 9.27908881e-01 -3.72295522e-01 1.95231187e-02 8.08460237e+01] [ 3.72218052e-01 9.28114216e-01 7.59764292e-03 3.62857980e+01] [-2.09482525e-02 2.16936886e-04 9.99780538e-01 -8.14301437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.88, Y:36.30, Z:-0.81 [[ 9.28183441e-01 -3.71584617e-01 2.00092973e-02 8.08773041e+01] [ 3.71503337e-01 9.28399066e-01 7.77467548e-03 3.62958204e+01] [-2.14655628e-02 2.17195703e-04 9.99769565e-01 -8.13667639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:36.30, Z:-0.81 [[ 9.27836911e-01 -3.72509445e-01 1.88515258e-02 8.09101719e+01] [ 3.72437721e-01 9.28028371e-01 7.31341937e-03 3.63027425e+01] [-2.02190686e-02 2.35358867e-04 9.99795546e-01 -8.13462703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:36.31, Z:-0.81 [[ 9.27902020e-01 -3.72347563e-01 1.88449704e-02 8.09419754e+01] [ 3.72276085e-01 9.28093332e-01 7.29950467e-03 3.63124265e+01] [-2.02078441e-02 2.42306649e-04 9.99795771e-01 -8.13339086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:36.32, Z:-0.81 [[ 9.27728186e-01 -3.72849988e-01 1.74154863e-02 8.09733097e+01] [ 3.72789230e-01 9.27891603e-01 6.73523372e-03 3.63234059e+01] [-1.86709153e-02 2.43839558e-04 9.99825654e-01 -8.13759222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:36.33, Z:-0.81 [[ 9.28292533e-01 -3.71529862e-01 1.54445675e-02 8.10049583e+01] [ 3.71482031e-01 9.28420983e-01 5.96478535e-03 3.63302629e+01] [-1.65551564e-02 2.00313586e-04 9.99862934e-01 -8.14653831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:36.33, Z:-0.81 [[ 9.29383015e-01 -3.68823789e-01 1.47045810e-02 8.10361690e+01] [ 3.68780100e-01 9.29499323e-01 5.67859039e-03 3.63328311e+01] [-1.57622973e-02 1.45171378e-04 9.99875757e-01 -8.12475190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:36.34, Z:-0.81 [[ 9.30371354e-01 -3.66306519e-01 1.51220959e-02 8.10659764e+01] [ 3.66259980e-01 9.30494236e-01 5.83982559e-03 3.63412771e+01] [-1.62101892e-02 1.05412087e-04 9.99868601e-01 -8.12659321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:36.35, Z:-0.81 [[ 9.31681509e-01 -3.63030177e-01 1.33662107e-02 8.10949483e+01] [ 3.62993482e-01 9.31777382e-01 5.16174080e-03 3.63507403e+01] [-1.43282005e-02 4.27488860e-05 9.99897345e-01 -8.12816479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:36.36, Z:-0.81 [[ 9.34030396e-01 -3.56902298e-01 1.44211570e-02 8.11233455e+01] [ 3.56858825e-01 9.34141716e-01 5.57069702e-03 3.63578023e+01] [-1.54595989e-02 -5.68831911e-05 9.99880492e-01 -8.14916352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:36.37, Z:-0.82 [[ 9.34995465e-01 -3.54336500e-01 1.51369132e-02 8.11511492e+01] [ 3.54288230e-01 9.35117978e-01 5.84949722e-03 3.63657901e+01] [-1.62274900e-02 -1.06423206e-04 9.99868320e-01 -8.15055859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:36.37, Z:-0.81 [[ 9.35558424e-01 -3.52850590e-01 1.50630815e-02 8.11800106e+01] [ 3.52802578e-01 9.35679669e-01 5.82216180e-03 3.63738764e+01] [-1.61485724e-02 -1.32678518e-04 9.99869595e-01 -8.14280851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:36.39, Z:-0.81 [[ 9.35628524e-01 -3.52653306e-01 1.53267840e-02 8.12078652e+01] [ 3.52603553e-01 9.35754042e-01 5.92523064e-03 3.63851264e+01] [-1.64316522e-02 -1.39536330e-04 9.99864982e-01 -8.13735985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.24, Y:36.40, Z:-0.81 [[ 9.35755414e-01 -3.52305500e-01 1.55769203e-02 8.12360167e+01] [ 3.52254041e-01 9.35885042e-01 6.02310448e-03 3.63959136e+01] [-1.67001796e-02 -1.49119491e-04 9.99860531e-01 -8.13979270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:36.41, Z:-0.81 [[ 9.36070966e-01 -3.51497103e-01 1.48637989e-02 8.12642635e+01] [ 3.51450129e-01 9.36188956e-01 5.74847008e-03 3.64061212e+01] [-1.59358949e-02 -1.57091906e-04 9.99873003e-01 -8.12512971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:36.42, Z:-0.81 [[ 9.36372507e-01 -3.50642469e-01 1.60120995e-02 8.12913683e+01] [ 3.50587811e-01 9.36509383e-01 6.19376159e-03 3.64186271e+01] [-1.71672773e-02 -1.86021144e-04 9.99852614e-01 -8.12915633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:36.43, Z:-0.81 [[ 9.36657828e-01 -3.49903197e-01 1.54876406e-02 8.13196403e+01] [ 3.49851958e-01 9.36785843e-01 5.99094953e-03 3.64313750e+01] [-1.66048549e-02 -1.93088367e-04 9.99862111e-01 -8.12732616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:36.44, Z:-0.81 [[ 9.37052216e-01 -3.48815909e-01 1.61433016e-02 8.13475747e+01] [ 3.48760079e-01 9.37191236e-01 6.24457318e-03 3.64443404e+01] [-1.73075673e-02 -2.21351981e-04 9.99850188e-01 -8.13505602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.38, Y:36.46, Z:-0.81 [[ 9.37141506e-01 -3.48531259e-01 1.70809510e-02 8.13760762e+01] [ 3.48468708e-01 9.37297127e-01 6.60727596e-03 3.64556687e+01] [-1.83127686e-02 -2.39775614e-04 9.99832278e-01 -8.12472088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.40, Y:36.47, Z:-0.81 [[ 9.37384649e-01 -3.47905209e-01 1.64919674e-02 8.14049875e+01] [ 3.47846820e-01 9.37529683e-01 6.37828387e-03 3.64680492e+01] [-1.76807472e-02 -2.42226960e-04 9.99843654e-01 -8.12333238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:36.48, Z:-0.81 [[ 9.37208108e-01 -3.48389170e-01 1.63079218e-02 8.14333046e+01] [ 3.48332173e-01 9.37349952e-01 6.30588852e-03 3.64813787e+01] [-1.74831330e-02 -2.29356013e-04 9.99847132e-01 -8.12546789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.46, Y:36.49, Z:-0.81 [[ 9.37100126e-01 -3.48656186e-01 1.67993222e-02 8.14630331e+01] [ 3.48595893e-01 9.37250668e-01 6.48761926e-03 3.64946153e+01] [-1.80071246e-02 -2.23374099e-04 9.99837834e-01 -8.12833777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:36.51, Z:-0.81 [[ 9.36907875e-01 -3.49172037e-01 1.68083855e-02 8.14924727e+01] [ 3.49111941e-01 9.37058615e-01 6.48115097e-03 3.65102588e+01] [-1.80134791e-02 -2.04233306e-04 9.99837723e-01 -8.12768293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:36.53, Z:-0.81 [[ 9.37181322e-01 -3.48426602e-01 1.70315418e-02 8.15223907e+01] [ 3.48364962e-01 9.37336043e-01 6.55707495e-03 3.65250622e+01] [-1.82489374e-02 -2.11975749e-04 9.99833452e-01 -8.12985698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:36.54, Z:-0.81 [[ 9.37015467e-01 -3.48885517e-01 1.67603876e-02 8.15508430e+01] [ 3.48826076e-01 9.37165332e-01 6.44273982e-03 3.65431518e+01] [-1.79550328e-02 -1.90486625e-04 9.99838777e-01 -8.13051192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:36.56, Z:-0.81 [[ 9.36806140e-01 -3.49451222e-01 1.66762929e-02 8.15805107e+01] [ 3.49392645e-01 9.36954542e-01 6.40039858e-03 3.65574366e+01] [-1.78615555e-02 -1.69358617e-04 9.99840455e-01 -8.13383104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:36.57, Z:-0.81 [[ 9.36432567e-01 -3.50509380e-01 1.54020491e-02 8.16099527e+01] [ 3.50459689e-01 9.36559212e-01 5.90326359e-03 3.65706143e+01] [-1.64940802e-02 -1.30210946e-04 9.99863955e-01 -8.12552221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:36.59, Z:-0.81 [[ 9.35159825e-01 -3.53873739e-01 1.57948902e-02 8.16390629e+01] [ 3.53822102e-01 9.35293201e-01 6.04547765e-03 3.65853599e+01] [-1.69121892e-02 -6.49065808e-05 9.99856977e-01 -8.12104808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80592 meters Centerline goodness [0,1] 0.9999501917617174 Centerline is valid? [True, True] Translation: X:81.67, Y:36.60, Z:-0.81 [[ 9.34298892e-01 -3.56116137e-01 1.63363974e-02 8.16687603e+01] [ 3.56061413e-01 9.34441703e-01 6.24285601e-03 3.66003147e+01] [-1.74885928e-02 -1.59327169e-05 9.99847063e-01 -8.11461442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83592 meters Centerline goodness [0,1] 0.9999004182433778 Centerline is valid? [True, True] Translation: X:81.70, Y:36.62, Z:-0.81 [[ 9.33096846e-01 -3.59148787e-01 1.85047159e-02 8.16968875e+01] [ 3.59079365e-01 9.33280315e-01 7.06144164e-03 3.66172713e+01] [-1.98061953e-02 5.56527240e-05 9.99803837e-01 -8.11782061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86592 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:81.73, Y:36.63, Z:-0.81 [[ 9.32375361e-01 -3.60956677e-01 1.96586600e-02 8.17260319e+01] [ 3.60878949e-01 9.32582578e-01 7.49126524e-03 3.66309761e+01] [-2.10373460e-02 1.09725402e-04 9.99778685e-01 -8.12229202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89591999999999 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:81.75, Y:36.64, Z:-0.81 [[ 9.30590945e-01 -3.65498748e-01 2.02770394e-02 8.17546674e+01] [ 3.65417364e-01 9.30811803e-01 7.71607291e-03 3.66449603e+01] [-2.16943226e-02 2.29074711e-04 9.99764624e-01 -8.12969875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92591999999999 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:81.78, Y:36.66, Z:-0.81 [[ 9.30082204e-01 -3.66803091e-01 2.00645313e-02 8.17842217e+01] [ 3.66723952e-01 9.30298565e-01 7.62377347e-03 3.66586333e+01] [-2.14624283e-02 2.67408183e-04 9.99769620e-01 -8.13392200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95591999999999 meters Centerline goodness [0,1] 0.9997509215901166 Centerline is valid? [True, True] Translation: X:81.81, Y:36.67, Z:-0.81 [[ 9.29268474e-01 -3.68878518e-01 1.97165219e-02 8.18132319e+01] [ 3.68802786e-01 9.29477561e-01 7.48120546e-03 3.66733189e+01] [-2.10857206e-02 3.19459805e-04 9.99777620e-01 -8.13422900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98592 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:81.84, Y:36.69, Z:-0.82 [[ 9.29506345e-01 -3.68281598e-01 1.96626223e-02 8.18440014e+01] [ 3.68206392e-01 9.29714238e-01 7.44903725e-03 3.66862619e+01] [-2.10239632e-02 3.15975814e-04 9.99778922e-01 -8.15015320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01592 meters Centerline goodness [0,1] 0.999900254351404 Centerline is valid? [True, True] Translation: X:81.87, Y:36.70, Z:-0.81 [[ 9.29646989e-01 -3.68005642e-01 1.81196772e-02 8.18744167e+01] [ 3.67941907e-01 9.29823510e-01 6.85510142e-03 3.66977711e+01] [-1.93708179e-02 2.94164192e-04 9.99812325e-01 -8.13931165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:36.71, Z:-0.81 [[ 9.30317019e-01 -3.66178415e-01 2.05818250e-02 8.19042754e+01] [ 3.66095970e-01 9.30544613e-01 7.77581613e-03 3.67105176e+01] [-2.19996424e-02 3.00949099e-04 9.99757933e-01 -8.14875789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07592 meters Centerline goodness [0,1] 0.9999003835234348 Centerline is valid? [True, True] Translation: X:81.93, Y:36.72, Z:-0.82 [[ 9.30885360e-01 -3.64660494e-01 2.17984086e-02 8.19347546e+01] [ 3.64567902e-01 9.31140504e-01 8.22232213e-03 3.67235537e+01] [-2.32957372e-02 2.92960802e-04 9.99728575e-01 -8.15506945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:36.74, Z:-0.81 [[ 9.31745107e-01 -3.62520080e-01 2.07424194e-02 8.19651750e+01] [ 3.62435953e-01 9.31975931e-01 7.81310084e-03 3.67352444e+01] [-2.21638416e-02 2.37980083e-04 9.99754324e-01 -8.13365021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:36.75, Z:-0.81 [[ 9.31935862e-01 -3.62029185e-01 2.07465107e-02 8.19954634e+01] [ 3.61945179e-01 9.32166730e-01 7.80223032e-03 3.67469832e+01] [-2.21638421e-02 2.37921271e-04 9.99754324e-01 -8.13393107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16592 meters Centerline goodness [0,1] 0.999900259325753 Centerline is valid? [True, True] Translation: X:82.03, Y:36.76, Z:-0.81 [[ 9.32261106e-01 -3.61211427e-01 2.03846736e-02 8.20258107e+01] [ 3.61130398e-01 9.32483916e-01 7.65387960e-03 3.67587968e+01] [-2.17730491e-02 2.26111032e-04 9.99762914e-01 -8.12687357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19592 meters Centerline goodness [0,1] 0.9998504486540379 Centerline is valid? [True, True] Translation: X:82.06, Y:36.77, Z:-0.81 [[ 9.32566207e-01 -3.60460823e-01 1.97044514e-02 8.20557263e+01] [ 3.60385163e-01 9.32774330e-01 7.38806560e-03 3.67704351e+01] [-2.10429146e-02 2.11331611e-04 9.99778551e-01 -8.13627125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22592 meters Centerline goodness [0,1] 0.99985055295407 Centerline is valid? [True, True] Translation: X:82.08, Y:36.78, Z:-0.81 [[ 9.33261268e-01 -3.58693049e-01 1.90447418e-02 8.20842968e+01] [ 3.58622207e-01 9.33455551e-01 7.13069606e-03 3.67846053e+01] [-2.03351511e-02 1.75064888e-04 9.99793204e-01 -8.14764527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25591999999999 meters Centerline goodness [0,1] 0.999950149551346 Centerline is valid? [True, True] Translation: X:82.11, Y:36.80, Z:-0.81 [[ 9.33472447e-01 -3.58202635e-01 1.78903192e-02 8.21140956e+01] [ 3.58140210e-01 9.33643854e-01 6.68910372e-03 3.67977340e+01] [-1.90992411e-02 1.63148661e-04 9.99817580e-01 -8.14418131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28591999999999 meters Centerline goodness [0,1] 0.999900269272963 Centerline is valid? [True, True] Translation: X:82.14, Y:36.81, Z:-0.81 [[ 9.33687941e-01 -3.57627863e-01 1.81422518e-02 8.21447265e+01] [ 3.57563769e-01 9.33864168e-01 6.77243611e-03 3.68095725e+01] [-1.93644107e-02 1.63670014e-04 9.99812479e-01 -8.12578715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31591999999999 meters Centerline goodness [0,1] 0.9997502996404315 Centerline is valid? [True, True] Translation: X:82.18, Y:36.82, Z:-0.81 [[ 9.33755115e-01 -3.57423513e-01 1.87034327e-02 8.21751858e+01] [ 3.57355577e-01 9.33942398e-01 6.97059383e-03 3.68213059e+01] [-1.99593829e-02 1.74948342e-04 9.99800776e-01 -8.11659183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34591999999999 meters Centerline goodness [0,1] 0.9998007868917774 Centerline is valid? [True, True] Translation: X:82.20, Y:36.84, Z:-0.81 [[ 9.33491516e-01 -3.58088826e-01 1.91306552e-02 8.22046092e+01] [ 3.58018129e-01 9.33687502e-01 7.11821089e-03 3.68357980e+01] [-2.04110055e-02 2.04331912e-04 9.99791653e-01 -8.13808974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37592 meters Centerline goodness [0,1] 0.9998007273451901 Centerline is valid? [True, True] Translation: X:82.23, Y:36.85, Z:-0.82 [[ 9.33147552e-01 -3.58897587e-01 2.06922157e-02 8.22340528e+01] [ 3.58815300e-01 9.33376912e-01 7.68902924e-03 3.68473785e+01] [-2.20732105e-02 2.49684775e-04 9.99756326e-01 -8.15473060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40592 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:82.26, Y:36.86, Z:-0.82 [[ 9.33064273e-01 -3.59212496e-01 1.89062116e-02 8.22641574e+01] [ 3.59144064e-01 9.33255765e-01 7.01557222e-03 3.68574675e+01] [-2.01644122e-02 2.44073862e-04 9.99796648e-01 -8.15036912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43592 meters Centerline goodness [0,1] 0.9999501793543244 Centerline is valid? [True, True] Translation: X:82.30, Y:36.87, Z:-0.81 [[ 9.32592415e-01 -3.60500626e-01 1.76262725e-02 8.22954718e+01] [ 3.60441572e-01 9.32758934e-01 6.53020491e-03 3.68678808e+01] [-1.87952061e-02 2.63221799e-04 9.99823320e-01 -8.14210596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46592 meters Centerline goodness [0,1] 0.9996508031527487 Centerline is valid? [True, True] Translation: X:82.33, Y:36.88, Z:-0.81 [[ 9.32732720e-01 -3.60115004e-01 1.80791999e-02 8.23256844e+01] [ 3.60053012e-01 9.32907879e-01 6.68716956e-03 3.68811604e+01] [-1.92743781e-02 2.72128519e-04 9.99814195e-01 -8.13975671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49592 meters Centerline goodness [0,1] 0.9998007471980075 Centerline is valid? [True, True] Translation: X:82.36, Y:36.89, Z:-0.82 [[ 9.33021590e-01 -3.59266742e-01 1.99529433e-02 8.23551924e+01] [ 3.59191262e-01 9.33234871e-01 7.36977048e-03 3.68945420e+01] [-2.12684959e-02 2.90767914e-04 9.99773758e-01 -8.15497200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52592 meters Centerline goodness [0,1] 0.9997504616459549 Centerline is valid? [True, True] Translation: X:82.39, Y:36.91, Z:-0.82 [[ 9.33376125e-01 -3.58326047e-01 2.02843169e-02 8.23862500e+01] [ 3.58248077e-01 9.33596467e-01 7.48012000e-03 3.69055820e+01] [-2.16176884e-02 2.85052106e-04 9.99766270e-01 -8.15924425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55592 meters Centerline goodness [0,1] 0.999600937796179 Centerline is valid? [True, True] Translation: X:82.42, Y:36.92, Z:-0.81 [[ 9.33596322e-01 -3.57801582e-01 1.93890345e-02 8.24163587e+01] [ 3.57730440e-01 9.33797598e-01 7.13983803e-03 3.69165811e+01] [-2.06600792e-02 2.70321322e-04 9.99786521e-01 -8.14558696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58592 meters Centerline goodness [0,1] 0.9997504367357125 Centerline is valid? [True, True] Translation: X:82.45, Y:36.93, Z:-0.81 [[ 9.33848158e-01 -3.57180628e-01 1.86980460e-02 8.24467765e+01] [ 3.57114563e-01 9.34035295e-01 6.87431157e-03 3.69283394e+01] [-1.99200058e-02 2.57781333e-04 9.99801544e-01 -8.14479867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61592 meters Centerline goodness [0,1] 0.9996509946652041 Centerline is valid? [True, True] Translation: X:82.48, Y:36.94, Z:-0.81 [[ 9.33944473e-01 -3.56907453e-01 1.90995201e-02 8.24783146e+01] [ 3.56838694e-01 9.34139710e-01 7.01054695e-03 3.69393827e+01] [-2.03437366e-02 2.67986220e-04 9.99793009e-01 -8.14730844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64591999999999 meters Centerline goodness [0,1] 0.9997508595346056 Centerline is valid? [True, True] Translation: X:82.51, Y:36.95, Z:-0.82 [[ 9.33711114e-01 -3.57505826e-01 1.93168401e-02 8.25116356e+01] [ 3.57435859e-01 9.33910862e-01 7.07876009e-03 3.69454645e+01] [-2.05709047e-02 2.95014375e-04 9.99788353e-01 -8.15084749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67591999999999 meters Centerline goodness [0,1] 0.9997011059081399 Centerline is valid? [True, True] Translation: X:82.54, Y:36.95, Z:-0.82 [[ 9.33419298e-01 -3.58264156e-01 1.93702918e-02 8.25429127e+01] [ 3.58194201e-01 9.33620207e-01 7.08689686e-03 3.69549073e+01] [-2.06234769e-02 3.23279890e-04 9.99787261e-01 -8.15446238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70591999999999 meters Centerline goodness [0,1] 0.9995512788552625 Centerline is valid? [True, True] Translation: X:82.57, Y:36.97, Z:-0.81 [[ 9.33709578e-01 -3.57515174e-01 1.92178145e-02 8.25742241e+01] [ 3.57446391e-01 9.33907276e-01 7.01973318e-03 3.69658385e+01] [-2.04573180e-02 3.14946343e-04 9.99790678e-01 -8.14296304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73592 meters Centerline goodness [0,1] 0.9998004688980895 Centerline is valid? [True, True] Translation: X:82.61, Y:36.98, Z:-0.81 [[ 9.34098636e-01 -3.56512969e-01 1.89272598e-02 8.26055418e+01] [ 3.56446271e-01 9.34290326e-01 6.90236077e-03 3.69767584e+01] [-2.01443368e-02 2.99065376e-04 9.99797038e-01 -8.14517165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76592 meters Centerline goodness [0,1] 0.9996003996003996 Centerline is valid? [True, True] Translation: X:82.64, Y:36.98, Z:-0.81 [[ 9.35084649e-01 -3.53987111e-01 1.76018451e-02 8.26374246e+01] [ 3.53929047e-01 9.35250272e-01 6.41541809e-03 3.69825826e+01] [-1.87331057e-02 2.30845285e-04 9.99824493e-01 -8.13377758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79592 meters Centerline goodness [0,1] 0.9996008382396966 Centerline is valid? [True, True] Translation: X:82.67, Y:36.99, Z:-0.81 [[ 9.35678852e-01 -3.52442097e-01 1.70192160e-02 8.26681836e+01] [ 3.52387717e-01 9.35833600e-01 6.19430573e-03 3.69907917e+01] [-1.81102883e-02 2.01481793e-04 9.99835975e-01 -8.13721732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82592 meters Centerline goodness [0,1] 0.9997503245780486 Centerline is valid? [True, True] Translation: X:82.70, Y:37.00, Z:-0.81 [[ 9.36271576e-01 -3.50791563e-01 1.84611939e-02 8.26995170e+01] [ 3.50727474e-01 9.36453545e-01 6.70802797e-03 3.70001050e+01] [-1.96411701e-02 1.94311969e-04 9.99807075e-01 -8.14618236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85592 meters Centerline goodness [0,1] 0.9997011505703043 Centerline is valid? [True, True] Translation: X:82.73, Y:37.01, Z:-0.81 [[ 9.37497314e-01 -3.47539446e-01 1.77516238e-02 8.27306760e+01] [ 3.47479784e-01 9.37665354e-01 6.44077718e-03 3.70078262e+01] [-1.88835067e-02 1.30119090e-04 9.99821682e-01 -8.13908349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88592 meters Centerline goodness [0,1] 0.9998504561088679 Centerline is valid? [True, True] Translation: X:82.76, Y:37.02, Z:-0.81 [[ 9.38298065e-01 -3.45361558e-01 1.79481362e-02 8.27623930e+01] [ 3.45300375e-01 9.38469704e-01 6.50125428e-03 3.70183165e+01] [-1.90890654e-02 9.73838544e-05 9.99817782e-01 -8.13839061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91592 meters Centerline goodness [0,1] 0.9998503964494091 Centerline is valid? [True, True] Translation: X:82.79, Y:37.03, Z:-0.81 [[ 9.39115780e-01 -3.43121614e-01 1.81413986e-02 8.27933258e+01] [ 3.43058903e-01 9.39290985e-01 6.56011780e-03 3.70304547e+01] [-1.92909704e-02 6.28581793e-05 9.99813910e-01 -8.13676716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94592 meters Centerline goodness [0,1] 0.9999000949098357 Centerline is valid? [True, True] Translation: X:82.82, Y:37.04, Z:-0.81 [[ 9.39988077e-01 -3.40734360e-01 1.79586051e-02 8.28244994e+01] [ 3.40672679e-01 9.40159612e-01 6.48309546e-03 3.70422782e+01] [-1.90929686e-02 2.39736654e-05 9.99817712e-01 -8.14197684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97592 meters Centerline goodness [0,1] 0.9999501917617174 Centerline is valid? [True, True] Translation: X:82.86, Y:37.05, Z:-0.82 [[ 9.41484324e-01 -3.36629820e-01 1.69597211e-02 8.28554594e+01] [ 3.36574329e-01 9.41637065e-01 6.11221713e-03 3.70529036e+01] [-1.80274565e-02 -4.63498663e-05 9.99837491e-01 -8.15342582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00591999999999 meters Centerline goodness [0,1] 0.9998505603985056 Centerline is valid? [True, True] Translation: X:82.89, Y:37.06, Z:-0.81 [[ 9.42081369e-01 -3.34887887e-01 1.82427095e-02 8.28852255e+01] [ 3.34823463e-01 9.42257978e-01 6.56902300e-03 3.70636576e+01] [-1.93892248e-02 -8.04670102e-05 9.99812008e-01 -8.14912412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03591999999999 meters Centerline goodness [0,1] 0.999900274245824 Centerline is valid? [True, True] Translation: X:82.92, Y:37.08, Z:-0.81 [[ 9.43315949e-01 -3.31403817e-01 1.80701704e-02 8.29156816e+01] [ 3.31340168e-01 9.43488998e-01 6.49638996e-03 3.70767796e+01] [-1.92019354e-02 -1.40774949e-04 9.99815616e-01 -8.14334731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06591999999999 meters Centerline goodness [0,1] 0.9999501669407485 Centerline is valid? [True, True] Translation: X:82.95, Y:37.09, Z:-0.81 [[ 9.44033389e-01 -3.29329974e-01 1.85129270e-02 8.29462137e+01] [ 3.29262983e-01 9.44214879e-01 6.64461871e-03 3.70892697e+01] [-1.96684533e-02 -1.77120329e-04 9.99806542e-01 -8.13977708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09591999999999 meters Centerline goodness [0,1] 0.9998505678421996 Centerline is valid? [True, True] Translation: X:82.98, Y:37.10, Z:-0.82 [[ 9.44475006e-01 -3.27854294e-01 2.18752198e-02 8.29757689e+01] [ 3.27760626e-01 9.44728271e-01 7.83999193e-03 3.71015755e+01] [-2.32365136e-02 -2.34840686e-04 9.99729968e-01 -8.15039089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12592 meters Centerline goodness [0,1] 0.999950144580716 Centerline is valid? [True, True] Translation: X:83.01, Y:37.12, Z:-0.81 [[ 9.45198825e-01 -3.25839462e-01 2.06839622e-02 8.30055466e+01] [ 3.25755501e-01 9.45425078e-01 7.40102749e-03 3.71157110e+01] [-2.19666834e-02 -2.57528023e-04 9.99758670e-01 -8.14487736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:37.13, Z:-0.82 [[ 9.45533947e-01 -3.24897577e-01 2.01771981e-02 8.30363352e+01] [ 3.24817720e-01 9.45749172e-01 7.20780961e-03 3.71282127e+01] [-2.14243683e-02 -2.61317174e-04 9.99770438e-01 -8.15171985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18592 meters Centerline goodness [0,1] 0.9999500424639057 Centerline is valid? [True, True] Translation: X:83.07, Y:37.14, Z:-0.82 [[ 9.45092220e-01 -3.26167425e-01 2.03839659e-02 8.30661648e+01] [ 3.26086306e-01 9.45311989e-01 7.27760686e-03 3.71417649e+01] [-2.16429257e-02 -2.31077470e-04 9.99765738e-01 -8.16565157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:83.10, Y:37.15, Z:-0.82 [[ 9.45017541e-01 -3.26331747e-01 2.11999749e-02 8.30964711e+01] [ 3.26244316e-01 9.45255278e-01 7.55684623e-03 3.71539020e+01] [-2.25054270e-02 -2.24980918e-04 9.99746695e-01 -8.16417737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:37.17, Z:-0.81 [[ 9.44526078e-01 -3.27754417e-01 2.11549251e-02 8.31259219e+01] [ 3.27667959e-01 9.44762938e-01 7.52985797e-03 3.71679695e+01] [-2.24543334e-02 -1.80356093e-04 9.99747853e-01 -8.14729502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:37.18, Z:-0.81 [[ 9.44642091e-01 -3.27508512e-01 1.97356343e-02 8.31553310e+01] [ 3.27433425e-01 9.44848214e-01 7.01457344e-03 3.71814145e+01] [-2.09445113e-02 -1.64154978e-04 9.99780626e-01 -8.14326342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:37.20, Z:-0.81 [[ 9.44967574e-01 -3.26570575e-01 1.96962836e-02 8.31849349e+01] [ 3.26495825e-01 9.45172804e-01 6.98905517e-03 3.71973445e+01] [-2.08988114e-02 -1.73676139e-04 9.99781581e-01 -8.14921619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:37.21, Z:-0.81 [[ 9.44973708e-01 -3.26536165e-01 1.99706016e-02 8.32149668e+01] [ 3.26459561e-01 9.45184694e-01 7.07458518e-03 3.72115450e+01] [-2.11860149e-02 -1.65703150e-04 9.99775537e-01 -8.14971670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:37.23, Z:-0.81 [[ 9.45100744e-01 -3.26253130e-01 1.85331951e-02 8.32432912e+01] [ 3.26187290e-01 9.45282430e-01 6.55585843e-03 3.72273251e+01] [-1.96579730e-02 -1.50653999e-04 9.99806752e-01 -8.13112105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:37.24, Z:-0.81 [[ 9.44916878e-01 -3.26739407e-01 1.93249259e-02 8.32732314e+01] [ 3.26668157e-01 9.45114459e-01 6.82452043e-03 3.72412272e+01] [-2.04941067e-02 -1.35766608e-04 9.99789965e-01 -8.12952494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42591999999999 meters Centerline goodness [0,1] 0.9999501545209849 Centerline is valid? [True, True] Translation: X:83.30, Y:37.26, Z:-0.81 [[ 9.43694123e-01 -3.30246130e-01 1.94652503e-02 8.33025872e+01] [ 3.30174827e-01 9.43894852e-01 6.86239280e-03 3.72563663e+01] [-2.06394282e-02 -4.90641026e-05 9.99786983e-01 -8.11969280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:37.27, Z:-0.81 [[ 9.42925446e-01 -3.32453642e-01 1.91358127e-02 8.33323900e+01] [ 3.32385420e-01 9.43119598e-01 6.73471166e-03 3.72697920e+01] [-2.02863394e-02 1.01341547e-05 9.99794211e-01 -8.12309749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.36, Y:37.29, Z:-0.82 [[ 9.41124455e-01 -3.37427814e-01 2.06695553e-02 8.33612251e+01] [ 3.37349654e-01 9.41351396e-01 7.26356160e-03 3.72858590e+01] [-2.19082424e-02 1.36951864e-04 9.99759976e-01 -8.15604369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:37.30, Z:-0.82 [[ 9.40407216e-01 -3.39425703e-01 2.06024258e-02 8.33910231e+01] [ 3.39348794e-01 9.40632848e-01 7.22783408e-03 3.72997383e+01] [-2.18326311e-02 1.94301009e-04 9.99761621e-01 -8.15271303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:37.31, Z:-0.82 [[ 9.39615565e-01 -3.41493772e-01 2.24631781e-02 8.34200933e+01] [ 3.41403188e-01 9.39883997e-01 7.86985194e-03 3.73127164e+01] [-2.38002871e-02 2.74365240e-04 9.99716695e-01 -8.16391045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:37.33, Z:-0.81 [[ 9.39344676e-01 -3.42291211e-01 2.16403891e-02 8.34507009e+01] [ 3.42207640e-01 9.39593869e-01 7.56912689e-03 3.73260249e+01] [-2.29240225e-02 2.95487441e-04 9.99737166e-01 -8.14176607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.48, Y:37.34, Z:-0.81 [[ 9.39481448e-01 -3.41950364e-01 2.10845503e-02 8.34809028e+01] [ 3.41871221e-01 9.39717970e-01 7.36234275e-03 3.73384020e+01] [-2.23310866e-02 2.91416547e-04 9.99750588e-01 -8.14806225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.51, Y:37.35, Z:-0.82 [[ 9.40281919e-01 -3.39811729e-01 1.99474495e-02 8.35107423e+01] [ 3.39740627e-01 9.40493452e-01 6.95512688e-03 3.73503013e+01] [-2.11238793e-02 2.37178958e-04 9.99776838e-01 -8.16401429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.54, Y:37.36, Z:-0.82 [[ 9.40501810e-01 -3.39189962e-01 2.01621998e-02 8.35420799e+01] [ 3.39117429e-01 9.40717871e-01 7.01825623e-03 3.73609903e+01] [-2.13474638e-02 2.36670676e-04 9.99772089e-01 -8.16538902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.57, Y:37.37, Z:-0.82 [[ 9.40829919e-01 -3.38274964e-01 2.02265355e-02 8.35733639e+01] [ 3.38202010e-01 9.41047287e-01 7.02873038e-03 3.73725113e+01] [-2.14117699e-02 2.27815125e-04 9.99770716e-01 -8.15643344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:37.38, Z:-0.81 [[ 9.41319589e-01 -3.36951505e-01 1.95221564e-02 8.36031767e+01] [ 3.36883467e-01 9.41521982e-01 6.77397339e-03 3.73846750e+01] [-2.06630399e-02 2.00217873e-04 9.99786477e-01 -8.14663193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75591999999999 meters Centerline goodness [0,1] 0.999950137122912 Centerline is valid? [True, True] Translation: X:83.63, Y:37.40, Z:-0.81 [[ 9.41423404e-01 -3.36601422e-01 2.05294480e-02 8.36335497e+01] [ 3.36526358e-01 9.41647194e-01 7.11149630e-03 3.73970430e+01] [-2.17252369e-02 2.13771304e-04 9.99763956e-01 -8.14223446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:37.41, Z:-0.81 [[ 9.41957592e-01 -3.35154537e-01 1.96807515e-02 8.36639201e+01] [ 3.35085447e-01 9.42163151e-01 6.80732985e-03 3.74079571e+01] [-2.08239863e-02 1.82517387e-04 9.99783141e-01 -8.14368582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81591999999999 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:83.69, Y:37.42, Z:-0.82 [[ 9.42160744e-01 -3.34543470e-01 2.03420589e-02 8.36948501e+01] [ 3.34469773e-01 9.42380301e-01 7.02415062e-03 3.74186080e+01] [-2.15198393e-02 1.85924857e-04 9.99768404e-01 -8.15547617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.72, Y:37.43, Z:-0.81 [[ 9.41721585e-01 -3.35924265e-01 1.77579423e-02 8.37244153e+01] [ 3.35868520e-01 9.41888979e-01 6.12274493e-03 3.74315022e+01] [-1.87827887e-02 1.98412737e-04 9.99823568e-01 -8.14919290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.76, Y:37.44, Z:-0.81 [[ 9.41573620e-01 -3.36344644e-01 1.76464855e-02 8.37553559e+01] [ 3.36289862e-01 9.41738942e-01 6.07407851e-03 3.74440594e+01] [-1.86613664e-02 2.15142093e-04 9.99825838e-01 -8.14477215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90592 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:83.79, Y:37.45, Z:-0.81 [[ 9.41232370e-01 -3.37230967e-01 1.88917932e-02 8.37859465e+01] [ 3.37168554e-01 9.41421908e-01 6.49292217e-03 3.74541622e+01] [-1.99747624e-02 2.58370071e-04 9.99800451e-01 -8.12604608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93592 meters Centerline goodness [0,1] 0.9998008265697356 Centerline is valid? [True, True] Translation: X:83.82, Y:37.46, Z:-0.81 [[ 9.41004030e-01 -3.37868627e-01 1.88734194e-02 8.38171146e+01] [ 3.37806681e-01 9.41193238e-01 6.47569817e-03 3.74643374e+01] [-1.99514700e-02 2.81909094e-04 9.99800910e-01 -8.12889620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:37.48, Z:-0.81 [[ 9.40788693e-01 -3.38479210e-01 1.86670816e-02 8.38483227e+01] [ 3.38418946e-01 9.40973822e-01 6.39403535e-03 3.74756042e+01] [-1.97294831e-02 3.01857912e-04 9.99805309e-01 -8.12725531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99592 meters Centerline goodness [0,1] 0.999950231423879 Centerline is valid? [True, True] Translation: X:83.88, Y:37.49, Z:-0.81 [[ 9.39835341e-01 -3.41154440e-01 1.79772280e-02 8.38779390e+01] [ 3.41099209e-01 9.40007193e-01 6.14869135e-03 3.74871168e+01] [-1.89963770e-02 3.53260800e-04 9.99819490e-01 -8.13569689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:83.91, Y:37.50, Z:-0.81 [[ 9.39495073e-01 -3.42108963e-01 1.76200348e-02 8.39088147e+01] [ 3.42056259e-01 9.39660214e-01 6.01648635e-03 3.74979099e+01] [-1.86151396e-02 3.74583906e-04 9.99826653e-01 -8.13795880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:83.94, Y:37.51, Z:-0.81 [[ 9.39668478e-01 -3.41632228e-01 1.76230863e-02 8.39394779e+01] [ 3.41579608e-01 9.39833645e-01 6.00754186e-03 3.75087088e+01] [-1.86151393e-02 3.74589197e-04 9.99826653e-01 -8.13823973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08592 meters Centerline goodness [0,1] 0.9998008761449622 Centerline is valid? [True, True] Translation: X:83.97, Y:37.52, Z:-0.81 [[ 9.38999432e-01 -3.43523528e-01 1.64818746e-02 8.39708292e+01] [ 3.43477936e-01 9.39143989e-01 5.61036978e-03 3.75174429e+01] [-1.74061475e-02 3.93026216e-04 9.99848424e-01 -8.13419150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11592 meters Centerline goodness [0,1] 0.9999502215142615 Centerline is valid? [True, True] Translation: X:84.00, Y:37.53, Z:-0.81 [[ 9.38878234e-01 -3.43776884e-01 1.80309913e-02 8.40011992e+01] [ 3.43722535e-01 9.39051254e-01 6.12874489e-03 3.75270214e+01] [-1.90389458e-02 4.43512878e-04 9.99818644e-01 -8.14883254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14591999999999 meters Centerline goodness [0,1] 0.9999501097585313 Centerline is valid? [True, True] Translation: X:84.03, Y:37.53, Z:-0.81 [[ 9.38440208e-01 -3.45034693e-01 1.67641510e-02 8.40325944e+01] [ 3.44987970e-01 9.38589829e-01 5.69495321e-03 3.75339782e+01] [-1.76996180e-02 4.39057340e-04 9.99843253e-01 -8.14042522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:37.54, Z:-0.81 [[ 9.38655088e-01 -3.44523238e-01 1.51777208e-02 8.40640093e+01] [ 3.44484991e-01 9.38777706e-01 5.14871677e-03 3.75415491e+01] [-1.60223585e-02 3.95627806e-04 9.99871556e-01 -8.13471332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:37.55, Z:-0.81 [[ 9.39220067e-01 -3.42927931e-01 1.63125891e-02 8.40968047e+01] [ 3.42883670e-01 9.39361629e-01 5.52435254e-03 3.75467174e+01] [-1.72178751e-02 4.04737656e-04 9.99851679e-01 -8.13195056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23592 meters Centerline goodness [0,1] 0.9997513922036595 Centerline is valid? [True, True] Translation: X:84.13, Y:37.56, Z:-0.81 [[ 9.39702444e-01 -3.41529759e-01 1.77971829e-02 8.41285908e+01] [ 3.41477015e-01 9.39870866e-01 6.01693181e-03 3.75562219e+01] [-1.87820150e-02 4.23203356e-04 9.99823513e-01 -8.13122976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26592 meters Centerline goodness [0,1] 0.9999501719069211 Centerline is valid? [True, True] Translation: X:84.16, Y:37.57, Z:-0.81 [[ 9.40097305e-01 -3.40381962e-01 1.88991191e-02 8.41603572e+01] [ 3.40322468e-01 9.40287153e-01 6.37869400e-03 3.75662353e+01] [-1.99417913e-02 4.35201822e-04 9.99801048e-01 -8.12609440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29592 meters Centerline goodness [0,1] 0.9997512190267688 Centerline is valid? [True, True] Translation: X:84.19, Y:37.58, Z:-0.81 [[ 9.40609383e-01 -3.38882786e-01 2.03087622e-02 8.41922784e+01] [ 3.38813983e-01 9.40828497e-01 6.84287873e-03 3.75753578e+01] [-2.14259960e-02 4.44416674e-04 9.99770338e-01 -8.11413469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32592 meters Centerline goodness [0,1] 0.999650959860384 Centerline is valid? [True, True] Translation: X:84.22, Y:37.58, Z:-0.81 [[ 9.41118594e-01 -3.37453431e-01 2.05176359e-02 8.42240004e+01] [ 3.37383117e-01 9.41342127e-01 6.90161166e-03 3.75837594e+01] [-2.16430875e-02 4.27068884e-04 9.99765670e-01 -8.11239301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35592 meters Centerline goodness [0,1] 0.9998507314160613 Centerline is valid? [True, True] Translation: X:84.26, Y:37.59, Z:-0.81 [[ 9.42346906e-01 -3.34037598e-01 2.00297991e-02 8.42564640e+01] [ 3.33969899e-01 9.42559688e-01 6.73360117e-03 3.75897684e+01] [-2.11285571e-02 3.43961748e-04 9.99776708e-01 -8.12404049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38592 meters Centerline goodness [0,1] 0.9997014925373134 Centerline is valid? [True, True] Translation: X:84.29, Y:37.60, Z:-0.81 [[ 9.43482553e-01 -3.30809230e-01 2.01476044e-02 8.42872508e+01] [ 3.30740207e-01 9.43697607e-01 6.76326615e-03 3.75982775e+01] [-2.12505969e-02 2.82599236e-04 9.99774141e-01 -8.12364589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41592 meters Centerline goodness [0,1] 0.9999005173099881 Centerline is valid? [True, True] Translation: X:84.32, Y:37.61, Z:-0.81 [[ 9.45160261e-01 -3.26066676e-01 1.87777384e-02 8.43183981e+01] [ 3.26005974e-01 9.45346758e-01 6.29384639e-03 3.76075898e+01] [-1.98036877e-02 1.72961386e-04 9.99803873e-01 -8.11689011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44592 meters Centerline goodness [0,1] 0.9999502438053538 Centerline is valid? [True, True] Translation: X:84.35, Y:37.62, Z:-0.81 [[ 9.46040116e-01 -3.23511193e-01 1.86710103e-02 8.43487833e+01] [ 3.23450869e-01 9.46224335e-01 6.24849142e-03 3.76172251e+01] [-1.96884212e-02 1.27830945e-04 9.99806156e-01 -8.10826412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:37.63, Z:-0.81 [[ 9.47947148e-01 -3.17825534e-01 1.95738330e-02 8.43805252e+01] [ 3.17758258e-01 9.48149213e-01 6.53909839e-03 3.76277891e+01] [-2.06372068e-02 2.10274191e-05 9.99787030e-01 -8.08530313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50591999999999 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:84.41, Y:37.64, Z:-0.81 [[ 9.48867857e-01 -3.14939554e-01 2.15143355e-02 8.44106906e+01] [ 3.14857790e-01 9.49111730e-01 7.17607345e-03 3.76396318e+01] [-2.26795376e-02 -3.51892941e-05 9.99742786e-01 -8.09278168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:37.65, Z:-0.81 [[ 9.50073038e-01 -3.11229391e-01 2.23044447e-02 8.44409640e+01] [ 3.11140758e-01 9.50334811e-01 7.42808147e-03 3.76514474e+01] [-2.35085275e-02 -1.17398112e-04 9.99723629e-01 -8.09400940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:37.66, Z:-0.81 [[ 9.51434358e-01 -3.06895968e-01 2.42389776e-02 8.44708235e+01] [ 3.06790200e-01 9.51743038e-01 8.05993365e-03 3.76646812e+01] [-2.55428393e-02 -2.32217010e-04 9.99673701e-01 -8.10495213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:37.68, Z:-0.81 [[ 9.51371450e-01 -3.07184004e-01 2.30293675e-02 8.45005030e+01] [ 3.07088897e-01 9.51650118e-01 7.64608815e-03 3.76766059e+01] [-2.42646562e-02 -2.02206928e-04 9.99705549e-01 -8.10253782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:37.69, Z:-0.81 [[ 9.51214387e-01 -3.07799299e-01 2.12316268e-02 8.45303010e+01] [ 3.07718858e-01 9.51451294e-01 7.03836530e-03 3.76899024e+01] [-2.23672627e-02 -1.61622369e-04 9.99749808e-01 -8.09130726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:37.71, Z:-0.81 [[ 9.50423345e-01 -3.10136968e-01 2.25948452e-02 8.45600884e+01] [ 3.10046842e-01 9.50691880e-01 7.47695388e-03 3.77053445e+01] [-2.37996156e-02 -1.00811143e-04 9.99716744e-01 -8.09772438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:37.72, Z:-0.81 [[ 9.49947731e-01 -3.11512124e-01 2.36538691e-02 8.45900606e+01] [ 3.11414126e-01 9.50242176e-01 7.81338219e-03 3.77195552e+01] [-2.49108674e-02 -5.61556991e-05 9.99689675e-01 -8.10472666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:37.73, Z:-0.81 [[ 9.49654766e-01 -3.12396338e-01 2.37561395e-02 8.46198906e+01] [ 3.12298120e-01 9.49951855e-01 7.83303541e-03 3.77331045e+01] [-2.50142004e-02 -1.96816824e-05 9.99687096e-01 -8.10148460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.65, Y:37.74, Z:-0.81 [[ 9.48872485e-01 -3.14550640e-01 2.64367522e-02 8.46500161e+01] [ 3.14430221e-01 9.49240692e-01 8.70310844e-03 3.77448291e+01] [-2.78324093e-02 5.43737187e-05 9.99612602e-01 -8.10607122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.68, Y:37.75, Z:-0.81 [[ 9.48946680e-01 -3.14384181e-01 2.57446324e-02 8.46808868e+01] [ 3.14270284e-01 9.49295835e-01 8.46200303e-03 3.77545731e+01] [-2.70995922e-02 6.07832426e-05 9.99632737e-01 -8.10351611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:37.77, Z:-0.81 [[ 9.48724831e-01 -3.15013913e-01 2.62188707e-02 8.47116788e+01] [ 3.14896444e-01 9.49087049e-01 8.60253202e-03 3.77665837e+01] [-2.75939079e-02 9.47934212e-05 9.99619211e-01 -8.09156950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.74, Y:37.78, Z:-0.81 [[ 9.48921755e-01 -3.14441200e-01 2.59660138e-02 8.47420699e+01] [ 3.14326188e-01 9.49276948e-01 8.50435758e-03 3.77785310e+01] [-2.73230587e-02 9.18282169e-05 9.99626651e-01 -8.08611749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.77, Y:37.79, Z:-0.81 [[ 9.48982421e-01 -3.14190071e-01 2.67761974e-02 8.47727613e+01] [ 3.14068113e-01 9.49360094e-01 8.75393634e-03 3.77899120e+01] [-2.81706532e-02 1.02218101e-04 9.99603123e-01 -8.10236448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:37.80, Z:-0.81 [[ 9.49029370e-01 -3.13937077e-01 2.80493746e-02 8.48030381e+01] [ 3.13803559e-01 9.49443784e-01 9.15570597e-03 3.77998170e+01] [-2.95056199e-02 1.12959717e-04 9.99564608e-01 -8.10972680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:37.81, Z:-0.81 [[ 9.49212636e-01 -3.13235579e-01 2.96453079e-02 8.48332545e+01] [ 3.13086563e-01 9.49675450e-01 9.66147371e-03 3.78095089e+01] [-3.11797384e-02 1.10754616e-04 9.99513788e-01 -8.11405146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:37.82, Z:-0.81 [[ 9.49348723e-01 -3.12931828e-01 2.84723197e-02 8.48640105e+01] [ 3.12794673e-01 9.49775583e-01 9.26466095e-03 3.78190430e+01] [-2.99415213e-02 1.10595883e-04 9.99551646e-01 -8.11309779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:37.83, Z:-0.81 [[ 9.49093118e-01 -3.13910032e-01 2.61293944e-02 8.48955741e+01] [ 3.13795097e-01 9.49452723e-01 8.49490591e-03 3.78275835e+01] [-2.74752609e-02 1.36819124e-04 9.99622474e-01 -8.11066324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.93, Y:37.84, Z:-0.81 [[ 9.48953187e-01 -3.14346148e-01 2.59681990e-02 8.49268172e+01] [ 3.14233196e-01 9.49308418e-01 8.42769246e-03 3.78376697e+01] [-2.73010426e-02 1.62584552e-04 9.99627244e-01 -8.10911355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.96, Y:37.85, Z:-0.81 [[ 9.48941760e-01 -3.14432884e-01 2.53277922e-02 8.49579632e+01] [ 3.14325857e-01 9.49279690e-01 8.20518579e-03 3.78486584e+01] [-2.66231390e-02 1.74936536e-04 9.99645526e-01 -8.11422718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07592 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:84.99, Y:37.86, Z:-0.81 [[ 9.48804572e-01 -3.14815619e-01 2.57101195e-02 8.49891176e+01] [ 3.14705880e-01 9.49152825e-01 8.31410970e-03 3.78609561e+01] [-2.70202442e-02 2.02660486e-04 9.99634866e-01 -8.11970795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:37.87, Z:-0.81 [[ 9.49274013e-01 -3.13294850e-01 2.69292571e-02 8.50202284e+01] [ 3.13174231e-01 9.49655888e-01 8.69459837e-03 3.78701987e+01] [-2.82975005e-02 1.79993116e-04 9.99599529e-01 -8.11631470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:37.88, Z:-0.81 [[ 9.49845419e-01 -3.11488824e-01 2.77199057e-02 8.50524709e+01] [ 3.11360717e-01 9.50249805e-01 8.93380370e-03 3.78787035e+01] [-2.91236150e-02 1.45157177e-04 9.99575807e-01 -8.12614928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:37.89, Z:-0.81 [[ 9.50379669e-01 -3.09846402e-01 2.78153178e-02 8.50841842e+01] [ 3.09717180e-01 9.50786619e-01 8.94837674e-03 3.78887309e+01] [-2.92190543e-02 1.10526463e-04 9.99573026e-01 -8.12981378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.12, Y:37.90, Z:-0.81 [[ 9.50836825e-01 -3.08492755e-01 2.72314425e-02 8.51150127e+01] [ 3.08368499e-01 9.51226689e-01 8.75523550e-03 3.78995983e+01] [-2.86042016e-02 7.25187079e-05 9.99590813e-01 -8.14949214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:37.91, Z:-0.81 [[ 9.51082606e-01 -3.07835148e-01 2.60652858e-02 8.51456965e+01] [ 3.07721417e-01 9.51439708e-01 8.36729106e-03 3.79097838e+01] [-2.73752942e-02 6.28617059e-05 9.99625224e-01 -8.14096134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:37.92, Z:-0.81 [[ 9.51295075e-01 -3.07221357e-01 2.55483354e-02 8.51772579e+01] [ 3.07112277e-01 9.51638079e-01 8.18627588e-03 3.79206006e+01] [-2.68277677e-02 5.86435383e-05 9.99640069e-01 -8.13837233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:37.93, Z:-0.81 [[ 9.50703197e-01 -3.08948029e-01 2.67309949e-02 8.52076604e+01] [ 3.08829679e-01 9.51078913e-01 8.55158046e-03 3.79314317e+01] [-2.80652795e-02 1.25309694e-04 9.99606085e-01 -8.13977059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.24, Y:37.94, Z:-0.81 [[ 9.50324639e-01 -3.10228055e-01 2.53304898e-02 8.52383140e+01] [ 3.10122580e-01 9.50662151e-01 8.09067614e-03 3.79425917e+01] [-2.65906927e-02 1.66787971e-04 9.99646391e-01 -8.14137644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34591999999999 meters Centerline goodness [0,1] 0.9997508471197927 Centerline is valid? [True, True] Translation: X:85.27, Y:37.95, Z:-0.82 [[ 9.49239158e-01 -3.13359115e-01 2.74059534e-02 8.52692039e+01] [ 3.13237346e-01 9.49634657e-01 8.73976568e-03 3.79523300e+01] [-2.87643284e-02 2.88440291e-04 9.99586179e-01 -8.15565815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:37.96, Z:-0.81 [[ 9.48932878e-01 -3.14193198e-01 2.84434139e-02 8.52996670e+01] [ 3.14062834e-01 9.49359004e-01 9.05634053e-03 3.79615330e+01] [-2.98484517e-02 3.39159901e-04 9.99554378e-01 -8.14866902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40592 meters Centerline goodness [0,1] 0.9999005123613391 Centerline is valid? [True, True] Translation: X:85.33, Y:37.97, Z:-0.82 [[ 9.48807208e-01 -3.14511353e-01 2.91116903e-02 8.53303850e+01] [ 3.14375386e-01 9.49253639e-01 9.25447681e-03 3.79710233e+01] [-3.05450160e-02 3.71284581e-04 9.99533323e-01 -8.15870904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43592 meters Centerline goodness [0,1] 0.9998506050495494 Centerline is valid? [True, True] Translation: X:85.36, Y:37.98, Z:-0.81 [[ 9.48696863e-01 -3.15052330e-01 2.67636280e-02 8.53610058e+01] [ 3.14938004e-01 9.49074229e-01 8.49478783e-03 3.79814552e+01] [-2.80769724e-02 3.69905030e-04 9.99605696e-01 -8.14962720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46592 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:85.39, Y:37.99, Z:-0.81 [[ 9.49170213e-01 -3.13902924e-01 2.32564274e-02 8.53918919e+01] [ 3.13816538e-01 9.49455035e-01 7.37006409e-03 3.79911201e+01] [-2.43944168e-02 3.02806238e-04 9.99702366e-01 -8.14297453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49592 meters Centerline goodness [0,1] 0.9999501942424545 Centerline is valid? [True, True] Translation: X:85.42, Y:38.00, Z:-0.81 [[ 9.49611932e-01 -3.12566980e-01 2.32177244e-02 8.54240250e+01] [ 3.12480804e-01 9.49895681e-01 7.34455345e-03 3.80000267e+01] [-2.43500810e-02 2.80617598e-04 9.99703453e-01 -8.13886208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52592 meters Centerline goodness [0,1] 0.9999004430285231 Centerline is valid? [True, True] Translation: X:85.45, Y:38.01, Z:-0.82 [[ 9.50138774e-01 -3.10645389e-01 2.71247517e-02 8.54548083e+01] [ 3.10527375e-01 9.50525834e-01 8.56666717e-03 3.80086196e+01] [-2.84439729e-02 2.83455297e-04 9.99595348e-01 -8.15298999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55592 meters Centerline goodness [0,1] 0.9997512437810945 Centerline is valid? [True, True] Translation: X:85.49, Y:38.02, Z:-0.81 [[ 9.51074448e-01 -3.07839859e-01 2.63061929e-02 8.54853499e+01] [ 3.07728152e-01 9.51438163e-01 8.29493177e-03 3.80184746e+01] [-2.75822265e-02 2.06058479e-04 9.99619517e-01 -8.13639902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58592 meters Centerline goodness [0,1] 0.9997012547301335 Centerline is valid? [True, True] Translation: X:85.52, Y:38.03, Z:-0.81 [[ 9.51618153e-01 -3.06195422e-01 2.58312803e-02 8.55153696e+01] [ 3.06087460e-01 9.51968663e-01 8.13211059e-03 3.80289152e+01] [-2.70805844e-02 1.67966923e-04 9.99633240e-01 -8.13437485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61592 meters Centerline goodness [0,1] 0.9998009554140127 Centerline is valid? [True, True] Translation: X:85.55, Y:38.04, Z:-0.81 [[ 9.52682604e-01 -3.03021079e-01 2.39599896e-02 8.55452308e+01] [ 3.02927496e-01 9.52983850e-01 7.53085843e-03 3.80402644e+01] [-2.51154919e-02 8.36218054e-05 9.99684553e-01 -8.12062692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:38.05, Z:-0.81 [[ 9.53278953e-01 -3.01125038e-01 2.41443235e-02 8.55766832e+01] [ 3.01029756e-01 9.53584663e-01 7.57474442e-03 3.80504530e+01] [-2.53046017e-02 4.73153702e-05 9.99679786e-01 -8.11092513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67591999999999 meters Centerline goodness [0,1] 0.9998506868405336 Centerline is valid? [True, True] Translation: X:85.61, Y:38.06, Z:-0.81 [[ 9.53521860e-01 -3.00307643e-01 2.47261295e-02 8.56077010e+01] [ 3.00207816e-01 9.53842397e-01 7.74271375e-03 3.80607963e+01] [-2.59100268e-02 4.01305344e-05 9.99664278e-01 -8.10922826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70591999999999 meters Centerline goodness [0,1] 0.9995519490217554 Centerline is valid? [True, True] Translation: X:85.64, Y:38.07, Z:-0.81 [[ 9.54288125e-01 -2.97908501e-01 2.41805526e-02 8.56388396e+01] [ 2.97812619e-01 9.54594430e-01 7.55769909e-03 3.80719028e+01] [-2.53341236e-02 -1.09487933e-05 9.99679040e-01 -8.09240821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73592 meters Centerline goodness [0,1] 0.999452382137701 Centerline is valid? [True, True] Translation: X:85.67, Y:38.08, Z:-0.81 [[ 9.54963745e-01 -2.95694233e-01 2.46812906e-02 8.56698695e+01] [ 2.95593975e-01 9.55282637e-01 7.69967591e-03 3.80819363e+01] [-2.58543582e-02 -5.72705404e-05 9.99665719e-01 -8.10264610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76592 meters Centerline goodness [0,1] 0.9998504784688995 Centerline is valid? [True, True] Translation: X:85.70, Y:38.09, Z:-0.81 [[ 9.55583270e-01 -2.93675041e-01 2.48109754e-02 8.57014352e+01] [ 2.93573423e-01 9.55905309e-01 7.72558612e-03 3.80914411e+01] [-2.59857549e-02 -9.85978717e-05 9.99662308e-01 -8.10739753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79592 meters Centerline goodness [0,1] 0.9998507759649821 Centerline is valid? [True, True] Translation: X:85.73, Y:38.10, Z:-0.81 [[ 9.55723917e-01 -2.93052641e-01 2.66822934e-02 8.57323181e+01] [ 2.92935255e-01 9.56096301e-01 8.29449374e-03 3.81016190e+01] [-2.79415653e-02 -1.11061617e-04 9.99609552e-01 -8.10419905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82592 meters Centerline goodness [0,1] 0.9998506124887959 Centerline is valid? [True, True] Translation: X:85.76, Y:38.11, Z:-0.81 [[ 9.56430958e-01 -2.90738818e-01 2.66601149e-02 8.57634768e+01] [ 2.90621159e-01 9.56802442e-01 8.27217540e-03 3.81140355e+01] [-2.79135055e-02 -1.63771163e-04 9.99610329e-01 -8.08482429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85592 meters Centerline goodness [0,1] 0.999900423201394 Centerline is valid? [True, True] Translation: X:85.79, Y:38.12, Z:-0.81 [[ 9.57154481e-01 -2.88423540e-01 2.58294553e-02 8.57946132e+01] [ 2.88312661e-01 9.57502907e-01 7.99951441e-03 3.81249674e+01] [-2.70390268e-02 -2.09812094e-04 9.99634357e-01 -8.07124424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88592 meters Centerline goodness [0,1] 0.9998009752214151 Centerline is valid? [True, True] Translation: X:85.83, Y:38.13, Z:-0.81 [[ 9.57845408e-01 -2.85972879e-01 2.74169038e-02 8.58250544e+01] [ 2.85847345e-01 9.58237670e-01 8.47721460e-03 3.81340510e+01] [-2.86961635e-02 -2.82811924e-04 9.99588140e-01 -8.07826096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91592 meters Centerline goodness [0,1] 0.9998006081451573 Centerline is valid? [True, True] Translation: X:85.86, Y:38.14, Z:-0.81 [[ 9.58335967e-01 -2.84450581e-01 2.60776077e-02 8.58552829e+01] [ 2.84336805e-01 9.58690658e-01 8.05009559e-03 3.81436811e+01] [-2.72902132e-02 -2.99872477e-04 9.99627508e-01 -8.07074673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94592 meters Centerline goodness [0,1] 0.9998006081451573 Centerline is valid? [True, True] Translation: X:85.89, Y:38.15, Z:-0.81 [[ 9.58484838e-01 -2.83948154e-01 2.60818052e-02 8.58862499e+01] [ 2.83834563e-01 9.58839588e-01 8.03648492e-03 3.81535661e+01] [-2.72902125e-02 -2.99931144e-04 9.99627508e-01 -8.07102764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97592 meters Centerline goodness [0,1] 0.9998492159227985 Centerline is valid? [True, True] Translation: X:85.92, Y:38.17, Z:-0.81 [[ 9.59441330e-01 -2.80743167e-01 2.56048365e-02 8.59171588e+01] [ 2.80632944e-01 9.59782859e-01 7.87487405e-03 3.81651276e+01] [-2.67859003e-02 -3.69918987e-04 9.99641125e-01 -8.07232915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00591999999999 meters Centerline goodness [0,1] 0.9998006776958341 Centerline is valid? [True, True] Translation: X:85.95, Y:38.18, Z:-0.81 [[ 9.59984583e-01 -2.78848593e-01 2.59434394e-02 8.59470601e+01] [ 2.78735101e-01 9.60334988e-01 7.96581698e-03 3.81758726e+01] [-2.71356495e-02 -4.15714275e-04 9.99631674e-01 -8.07851713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03591999999999 meters Centerline goodness [0,1] 0.999950206642434 Centerline is valid? [True, True] Translation: X:85.98, Y:38.19, Z:-0.81 [[ 9.60545594e-01 -2.76996263e-01 2.50046316e-02 8.59783494e+01] [ 2.76890582e-01 9.60870896e-01 7.66330718e-03 3.81871513e+01] [-2.61489302e-02 -4.37408956e-04 9.99657963e-01 -8.08490690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06591999999999 meters Centerline goodness [0,1] 0.9998505008222455 Centerline is valid? [True, True] Translation: X:86.01, Y:38.20, Z:-0.81 [[ 9.61495023e-01 -2.73604716e-01 2.58414241e-02 8.60083097e+01] [ 2.73490962e-01 9.61842073e-01 7.90700926e-03 3.81989374e+01] [-2.70187640e-02 -5.35154111e-04 9.99634783e-01 -8.07986084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09591999999999 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:86.04, Y:38.21, Z:-0.81 [[ 9.62534467e-01 -2.69741968e-01 2.76888271e-02 8.60380806e+01] [ 2.69610154e-01 9.62932403e-01 8.45884395e-03 3.82111609e+01] [-2.89441741e-02 -6.76739888e-04 9.99580801e-01 -8.07801562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:38.22, Z:-0.81 [[ 9.62864971e-01 -2.68421795e-01 2.89963266e-02 8.60676376e+01] [ 2.68277062e-01 9.63301197e-01 8.84426765e-03 3.82232386e+01] [-3.03061904e-02 -7.36786200e-04 9.99540390e-01 -8.08725156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15592 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:86.10, Y:38.24, Z:-0.81 [[ 9.63099462e-01 -2.67633785e-01 2.84882872e-02 8.60984586e+01] [ 2.67494204e-01 9.63520430e-01 8.67359784e-03 3.82354997e+01] [-2.97703946e-02 -7.33085706e-04 9.99556495e-01 -8.08665085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.13, Y:38.25, Z:-0.81 [[ 9.62961783e-01 -2.68162160e-01 2.81719685e-02 8.61272159e+01] [ 2.68026291e-01 9.63373537e-01 8.56359662e-03 3.82500792e+01] [-2.94365615e-02 -6.95588050e-04 9.99566409e-01 -8.08866256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21592 meters Centerline goodness [0,1] 0.9999500524449328 Centerline is valid? [True, True] Translation: X:86.16, Y:38.26, Z:-0.81 [[ 9.62986775e-01 -2.68092822e-01 2.79769428e-02 8.61577872e+01] [ 2.67959255e-01 9.63392848e-01 8.48869478e-03 3.82613609e+01] [-2.92285447e-02 -6.77820067e-04 9.99572525e-01 -8.08673225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24592 meters Centerline goodness [0,1] 0.99995004995005 Centerline is valid? [True, True] Translation: X:86.19, Y:38.27, Z:-0.81 [[ 9.62289241e-01 -2.70325697e-01 3.03880730e-02 8.61881053e+01] [ 2.70169765e-01 9.62768716e-01 9.20313976e-03 3.82744895e+01] [-3.17445312e-02 -6.46143817e-04 9.99495807e-01 -8.08552736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:38.29, Z:-0.81 [[ 9.61862037e-01 -2.71800262e-01 3.07577534e-02 8.62188433e+01] [ 2.71641758e-01 9.62353505e-01 9.29977610e-03 3.82855945e+01] [-3.21275134e-02 -5.90011359e-04 9.99483604e-01 -8.08362005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:86.25, Y:38.30, Z:-0.81 [[ 9.61006204e-01 -2.74913231e-01 2.98293566e-02 8.62486622e+01] [ 2.74766114e-01 9.61468932e-01 9.00422541e-03 3.82986327e+01] [-3.11553803e-02 -4.57020095e-04 9.99514449e-01 -8.09050703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:38.31, Z:-0.81 [[ 9.60571969e-01 -2.76445045e-01 2.96585320e-02 8.62791062e+01] [ 2.76300795e-01 9.61029648e-01 8.93791106e-03 3.83096325e+01] [-3.09735698e-02 -3.90830845e-04 9.99520127e-01 -8.10068140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36592 meters Centerline goodness [0,1] 0.9998506868405336 Centerline is valid? [True, True] Translation: X:86.31, Y:38.32, Z:-0.81 [[ 9.59752678e-01 -2.79301094e-01 2.94227046e-02 8.63095834e+01] [ 2.79160925e-01 9.60203530e-01 8.85204201e-03 3.83186208e+01] [-3.07241698e-02 -2.82101611e-04 9.99527861e-01 -8.10376620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39591999999999 meters Centerline goodness [0,1] 0.9997509712122722 Centerline is valid? [True, True] Translation: X:86.34, Y:38.33, Z:-0.81 [[ 9.59661460e-01 -2.79726514e-01 2.83365347e-02 8.63402510e+01] [ 2.79597113e-01 9.60079693e-01 8.51097663e-03 3.83275817e+01] [-2.95860773e-02 -2.44842960e-04 9.99562206e-01 -8.09545562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42591999999999 meters Centerline goodness [0,1] 0.9997011356843993 Centerline is valid? [True, True] Translation: X:86.37, Y:38.34, Z:-0.81 [[ 9.59191089e-01 -2.81327159e-01 2.84162854e-02 8.63714319e+01] [ 2.81198216e-01 9.59611899e-01 8.51859284e-03 3.83394817e+01] [-2.96651171e-02 -1.80349606e-04 9.99559877e-01 -8.08548758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45591999999999 meters Centerline goodness [0,1] 0.9997510456084445 Centerline is valid? [True, True] Translation: X:86.40, Y:38.35, Z:-0.81 [[ 9.59286530e-01 -2.80855799e-01 2.98223473e-02 8.64015997e+01] [ 2.80714020e-01 9.59749959e-01 8.92497608e-03 3.83495291e+01] [-3.11286279e-02 -1.90058336e-04 9.99515369e-01 -8.09434755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:38.36, Z:-0.81 [[ 9.59435488e-01 -2.80321668e-01 3.00550755e-02 8.64334894e+01] [ 2.80177942e-01 9.59906103e-01 8.97749254e-03 3.83582364e+01] [-3.13666361e-02 -1.92555748e-04 9.99507927e-01 -8.08921103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:38.37, Z:-0.81 [[ 9.59655523e-01 -2.79549864e-01 3.02183729e-02 8.64654598e+01] [ 2.79404739e-01 9.60131154e-01 9.00883559e-03 3.83676875e+01] [-3.15320200e-02 -2.02222232e-04 9.99502722e-01 -8.10023948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54592 meters Centerline goodness [0,1] 0.9998507908087139 Centerline is valid? [True, True] Translation: X:86.50, Y:38.38, Z:-0.81 [[ 9.59757238e-01 -2.79406913e-01 2.82457325e-02 8.64962073e+01] [ 2.79280481e-01 9.60172768e-01 8.40644092e-03 3.83772377e+01] [-2.94696008e-02 -1.79660765e-04 9.99565661e-01 -8.09623741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:38.39, Z:-0.81 [[ 9.59308668e-01 -2.80804219e-01 2.95950993e-02 8.65269171e+01] [ 2.80666540e-01 9.59765062e-01 8.79314402e-03 3.83869301e+01] [-3.08734943e-02 -1.28985160e-04 9.99523292e-01 -8.10516156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60592 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:86.56, Y:38.40, Z:-0.81 [[ 9.58808132e-01 -2.82506833e-01 2.96117375e-02 8.65585148e+01] [ 2.82370338e-01 9.59265284e-01 8.78101626e-03 3.83964785e+01] [-3.08862089e-02 -5.78334683e-05 9.99522906e-01 -8.10214954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:38.41, Z:-0.81 [[ 9.57852308e-01 -2.85806631e-01 2.88708422e-02 8.65888910e+01] [ 2.85678816e-01 9.58287309e-01 8.54681620e-03 3.84068722e+01] [-3.01092984e-02 6.12003893e-05 9.99546610e-01 -8.08958959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66592 meters Centerline goodness [0,1] 0.9994531172317789 Centerline is valid? [True, True] Translation: X:86.62, Y:38.42, Z:-0.81 [[ 9.57636753e-01 -2.86545749e-01 2.86946666e-02 8.66199875e+01] [ 2.86420310e-01 9.58066555e-01 8.47835536e-03 3.84166575e+01] [-2.99208371e-02 9.95506108e-05 9.99552267e-01 -8.08820252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69592 meters Centerline goodness [0,1] 0.9995521496815286 Centerline is valid? [True, True] Translation: X:86.65, Y:38.43, Z:-0.81 [[ 9.57593608e-01 -2.86680646e-01 2.87869715e-02 8.66518015e+01] [ 2.86554950e-01 9.58026196e-01 8.48928101e-03 3.84257181e+01] [-3.00123854e-02 1.19767959e-04 9.99549520e-01 -8.08669024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72592 meters Centerline goodness [0,1] 0.9995019672294437 Centerline is valid? [True, True] Translation: X:86.68, Y:38.43, Z:-0.81 [[ 9.57695335e-01 -2.86249433e-01 2.96800845e-02 8.66828446e+01] [ 2.86116064e-01 9.58155127e-01 8.73791527e-03 3.84332721e+01] [-3.09393485e-02 1.23688283e-04 9.99521256e-01 -8.09208321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75591999999999 meters Centerline goodness [0,1] 0.9998505157207633 Centerline is valid? [True, True] Translation: X:86.72, Y:38.44, Z:-0.81 [[ 9.58058885e-01 -2.85062402e-01 2.93700584e-02 8.67151572e+01] [ 2.84931756e-01 9.58508955e-01 8.63006042e-03 3.84414114e+01] [-3.06115698e-02 1.00356262e-04 9.99531351e-01 -8.11005722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:38.45, Z:-0.81 [[ 9.58425357e-01 -2.83887505e-01 2.87874706e-02 8.67463167e+01] [ 2.83761893e-01 9.58857590e-01 8.44449890e-03 3.84492481e+01] [-3.00003724e-02 7.53652670e-05 9.99549885e-01 -8.10765906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81591999999999 meters Centerline goodness [0,1] 0.9999002095599242 Centerline is valid? [True, True] Translation: X:86.78, Y:38.46, Z:-0.81 [[ 9.58841157e-01 -2.82487099e-01 2.87171373e-02 8.67783703e+01] [ 2.82361962e-01 9.59271097e-01 8.40747381e-03 3.84575830e+01] [-2.99225226e-02 4.71952942e-05 9.99552220e-01 -8.10287635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84591999999999 meters Centerline goodness [0,1] 0.9998010247226782 Centerline is valid? [True, True] Translation: X:86.81, Y:38.47, Z:-0.81 [[ 9.59612167e-01 -2.79602486e-01 3.10956342e-02 8.68090698e+01] [ 2.79454748e-01 9.60115852e-01 9.08819776e-03 3.84659756e+01] [-3.23964940e-02 -3.13225372e-05 9.99475095e-01 -8.09517998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87592 meters Centerline goodness [0,1] 0.9996019504428302 Centerline is valid? [True, True] Translation: X:86.84, Y:38.48, Z:-0.81 [[ 9.59840450e-01 -2.78709935e-01 3.20481381e-02 8.68399963e+01] [ 2.78553042e-01 9.60375328e-01 9.35055394e-03 3.84750463e+01] [-3.33843334e-02 -4.79335473e-05 9.99442587e-01 -8.09224476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90592 meters Centerline goodness [0,1] 0.9999002294722139 Centerline is valid? [True, True] Translation: X:86.87, Y:38.48, Z:-0.81 [[ 9.59880282e-01 -2.78558630e-01 3.21703915e-02 8.68726196e+01] [ 2.78401070e-01 9.60419225e-01 9.36780807e-03 3.84809971e+01] [-3.35065463e-02 -3.57028423e-05 9.99438497e-01 -8.10886404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93592 meters Centerline goodness [0,1] 0.9996507334597345 Centerline is valid? [True, True] Translation: X:86.90, Y:38.49, Z:-0.81 [[ 9.59788413e-01 -2.78881765e-01 3.21117423e-02 8.69042086e+01] [ 2.78725580e-01 9.60325446e-01 9.33217409e-03 3.84890173e+01] [-3.34402964e-02 -6.54853758e-06 9.99440717e-01 -8.12006394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:38.50, Z:-0.81 [[ 9.59580740e-01 -2.79455342e-01 3.33093800e-02 8.69350449e+01] [ 2.79288214e-01 9.60158691e-01 9.66345039e-03 3.84992696e+01] [-3.46827935e-02 3.00563646e-05 9.99398370e-01 -8.13376879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:38.51, Z:-0.81 [[ 9.59669632e-01 -2.79154288e-01 3.32728216e-02 8.69669134e+01] [ 2.78988001e-01 9.60246261e-01 9.63398279e-03 3.85081479e+01] [-3.46394701e-02 3.72772374e-05 9.99399873e-01 -8.14269231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.00, Y:38.52, Z:-0.81 [[ 9.59848430e-01 -2.78497999e-01 3.36133268e-02 8.69991591e+01] [ 2.78328560e-01 9.60436809e-01 9.71335729e-03 3.85156565e+01] [-3.49886269e-02 3.21981061e-05 9.99387710e-01 -8.14811848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05592 meters Centerline goodness [0,1] 0.9998506719761076 Centerline is valid? [True, True] Translation: X:87.03, Y:38.52, Z:-0.81 [[ 9.60848018e-01 -2.74993252e-01 3.39086531e-02 8.70324637e+01] [ 2.74819321e-01 9.61446153e-01 9.77934682e-03 3.85206719e+01] [-3.52905985e-02 -7.77129892e-05 9.99377090e-01 -8.12817114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08592 meters Centerline goodness [0,1] 0.9998506273650667 Centerline is valid? [True, True] Translation: X:87.06, Y:38.53, Z:-0.81 [[ 9.61395882e-01 -2.73083060e-01 3.38171664e-02 8.70642429e+01] [ 2.72909568e-01 9.61990450e-01 9.73354869e-03 3.85303616e+01] [-3.51898584e-02 -1.28765331e-04 9.99380637e-01 -8.11217154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11592 meters Centerline goodness [0,1] 0.9999502091216889 Centerline is valid? [True, True] Translation: X:87.10, Y:38.54, Z:-0.81 [[ 9.62788444e-01 -2.68022356e-01 3.46760642e-02 8.70952414e+01] [ 2.67837276e-01 9.63412644e-01 9.96342222e-03 3.85390685e+01] [-3.60777786e-02 -3.05125193e-04 9.99348938e-01 -8.12450230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.13, Y:38.55, Z:-0.81 [[ 9.63447914e-01 -2.65571834e-01 3.52096198e-02 8.71265893e+01] [ 2.65380015e-01 9.64090998e-01 1.00993075e-02 3.85467525e+01] [-3.66273691e-02 -3.86227360e-04 9.99328918e-01 -8.13312187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:38.55, Z:-0.81 [[ 9.64281041e-01 -2.62414649e-01 3.60641982e-02 8.71578189e+01] [ 2.62211867e-01 9.64955077e-01 1.03264885e-02 3.85537289e+01] [-3.75101530e-02 -5.01176316e-04 9.99296121e-01 -8.14542940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:38.56, Z:-0.81 [[ 9.64288545e-01 -2.62246618e-01 3.70717200e-02 8.71880208e+01] [ 2.62032925e-01 9.65000755e-01 1.05966793e-02 3.85635856e+01] [-3.85531811e-02 -5.04245206e-04 9.99256423e-01 -8.14675842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.22, Y:38.57, Z:-0.81 [[ 9.64772617e-01 -2.60970125e-01 3.32925137e-02 8.72186855e+01] [ 2.60797601e-01 9.65346757e-01 9.50003979e-03 3.85730621e+01] [-3.46180467e-02 -4.82770551e-04 9.99400499e-01 -8.13224360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.25, Y:38.58, Z:-0.81 [[ 9.64956968e-01 -2.60757209e-01 2.93892615e-02 8.72498470e+01] [ 2.60623118e-01 9.65404321e-01 8.37183356e-03 3.85815360e+01] [-3.05555360e-02 -4.18938144e-04 9.99532983e-01 -8.13031494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.28, Y:38.59, Z:-0.81 [[ 9.65126473e-01 -2.60396817e-01 2.69144516e-02 8.72806804e+01] [ 2.60284591e-01 9.65501606e-01 7.65374041e-03 3.85910712e+01] [-2.79789559e-02 -3.81410480e-04 9.99608440e-01 -8.13114330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:38.60, Z:-0.81 [[ 9.65567164e-01 -2.58909054e-01 2.54195565e-02 8.73108129e+01] [ 2.58808763e-01 9.65901626e-01 7.21621433e-03 3.86041862e+01] [-2.64211341e-02 -3.88935647e-04 9.99650825e-01 -8.13033237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:38.62, Z:-0.81 [[ 9.66070010e-01 -2.56560119e-01 2.97597079e-02 8.73403900e+01] [ 2.56421956e-01 9.66528136e-01 8.43462233e-03 3.86155746e+01] [-3.09275827e-02 -5.17393165e-04 9.99521494e-01 -8.12686974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:38.62, Z:-0.81 [[ 9.66506149e-01 -2.54915285e-01 2.97331689e-02 8.73724796e+01] [ 2.54777104e-01 9.66963232e-01 8.41047583e-03 3.86247205e+01] [-3.08948399e-02 -5.53445957e-04 9.99522487e-01 -8.13356007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:38.63, Z:-0.81 [[ 9.66883979e-01 -2.53735804e-01 2.74501904e-02 8.74032953e+01] [ 2.53617941e-01 9.67273414e-01 7.75126710e-03 3.86347748e+01] [-2.85186134e-02 -5.32715194e-04 9.99593120e-01 -8.12554005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:38.65, Z:-0.81 [[ 9.67328697e-01 -2.52399678e-01 2.38661804e-02 8.74330750e+01] [ 2.52310467e-01 9.67622946e-01 6.72771043e-03 3.86469912e+01] [-2.47915358e-02 -4.86220239e-04 9.99692524e-01 -8.11932022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:87.46, Y:38.66, Z:-0.81 [[ 9.67249653e-01 -2.52793375e-01 2.28826965e-02 8.74634525e+01] [ 2.52711743e-01 9.67520186e-01 6.43926743e-03 3.86564257e+01] [-2.37672749e-02 -4.45653081e-04 9.99717419e-01 -8.11709694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:38.67, Z:-0.81 [[ 9.67213146e-01 -2.52807154e-01 2.42336965e-02 8.74952155e+01] [ 2.52715941e-01 9.67516580e-01 6.80592354e-03 3.86657795e+01] [-2.51670893e-02 -4.58537301e-04 9.99683153e-01 -8.10501048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:38.68, Z:-0.81 [[ 9.67195756e-01 -2.52789319e-01 2.50984190e-02 8.75262438e+01] [ 2.52691841e-01 9.67521239e-01 7.03463367e-03 3.86761563e+01] [-2.60615337e-02 -4.61702111e-04 9.99660234e-01 -8.10719385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:38.69, Z:-0.81 [[ 9.67028346e-01 -2.53322597e-01 2.61503160e-02 8.75573452e+01] [ 2.53217371e-01 9.67381754e-01 7.31473696e-03 3.86885721e+01] [-2.71503268e-02 -4.51843711e-04 9.99631260e-01 -8.10997402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:38.70, Z:-0.81 [[ 9.66889430e-01 -2.53645975e-01 2.80811075e-02 8.75881296e+01] [ 2.53525173e-01 9.67297010e-01 7.84098116e-03 3.86989241e+01] [-2.91516047e-02 -4.62094161e-04 9.99574895e-01 -8.10918338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:38.71, Z:-0.81 [[ 9.66561381e-01 -2.54833861e-01 2.86146865e-02 8.76191391e+01] [ 2.54709422e-01 9.66984761e-01 7.97385658e-03 3.87104186e+01] [-2.97019744e-02 -4.18791582e-04 9.99558711e-01 -8.11370655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:38.72, Z:-0.81 [[ 9.66483869e-01 -2.55459458e-01 2.54832641e-02 8.76492863e+01] [ 2.55361319e-01 9.66819708e-01 7.08868627e-03 3.87206303e+01] [-2.64485939e-02 -3.43661003e-04 9.99650116e-01 -8.10823020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:38.73, Z:-0.81 [[ 9.66093742e-01 -2.57096132e-01 2.37583685e-02 8.76798235e+01] [ 2.57011617e-01 9.66385796e-01 6.59705475e-03 3.87309037e+01] [-2.46558271e-02 -2.67196610e-04 9.99695963e-01 -8.12216869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:38.74, Z:-0.81 [[ 9.65708155e-01 -2.58433141e-01 2.49012378e-02 8.77119467e+01] [ 2.58341107e-01 9.66029119e-01 6.90027111e-03 3.87402431e+01] [-2.58385795e-02 -2.30634741e-04 9.99666102e-01 -8.13585830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:38.75, Z:-0.81 [[ 9.64341035e-01 -2.63479372e-01 2.49997772e-02 8.77428320e+01] [ 2.63388629e-01 9.64665026e-01 6.91496237e-03 3.87502303e+01] [-2.59383607e-02 -8.37249112e-05 9.99663541e-01 -8.11160538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:38.76, Z:-0.81 [[ 9.63999751e-01 -2.64621468e-01 2.60760089e-02 8.77738788e+01] [ 2.64523565e-01 9.64352361e-01 7.19767284e-03 3.87600364e+01] [-2.70511195e-02 -4.08359773e-05 9.99634051e-01 -8.11672016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80592 meters Centerline goodness [0,1] 0.9999004331159457 Centerline is valid? [True, True] Translation: X:87.81, Y:38.77, Z:-0.81 [[ 9.63716717e-01 -2.65588565e-01 2.66983874e-02 8.78058347e+01] [ 2.65486723e-01 9.64086466e-01 7.35430304e-03 3.87698475e+01] [-2.76927727e-02 6.02604096e-07 9.99616482e-01 -8.11795999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:38.78, Z:-0.81 [[ 9.63620742e-01 -2.65950507e-01 2.65592614e-02 8.78376175e+01] [ 2.65850278e-01 9.63986684e-01 7.30084729e-03 3.87790220e+01] [-2.75444384e-02 2.55391441e-05 9.99620580e-01 -8.13656814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:38.79, Z:-0.81 [[ 9.63760976e-01 -2.65441486e-01 2.65631128e-02 8.78688908e+01] [ 2.65341451e-01 9.64126971e-01 7.28682147e-03 3.87879510e+01] [-2.75444382e-02 2.55407188e-05 9.99620580e-01 -8.13684906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89591999999999 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:87.90, Y:38.80, Z:-0.81 [[ 9.63844662e-01 -2.65175056e-01 2.61850648e-02 8.79011892e+01] [ 2.65078154e-01 9.64200284e-01 7.16825778e-03 3.87959744e+01] [-2.71484900e-02 3.20016295e-05 9.99631411e-01 -8.12723316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92591999999999 meters Centerline goodness [0,1] 0.9999004876107075 Centerline is valid? [True, True] Translation: X:87.93, Y:38.80, Z:-0.81 [[ 9.63916764e-01 -2.64884649e-01 2.64687328e-02 8.79326452e+01] [ 2.64785939e-01 9.64280105e-01 7.23088059e-03 3.88049026e+01] [-2.74386218e-02 3.85812488e-05 9.99623489e-01 -8.11687148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95591999999999 meters Centerline goodness [0,1] 0.9999004430285231 Centerline is valid? [True, True] Translation: X:87.96, Y:38.81, Z:-0.81 [[ 9.63592528e-01 -2.65761418e-01 2.93310197e-02 8.79641831e+01] [ 2.65641048e-01 9.64038828e-01 7.99822159e-03 3.88124069e+01] [-3.04018606e-02 8.44962664e-05 9.99537753e-01 -8.12449421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98592 meters Centerline goodness [0,1] 0.9999004331159457 Centerline is valid? [True, True] Translation: X:88.00, Y:38.82, Z:-0.81 [[ 9.63598040e-01 -2.65737464e-01 2.93669300e-02 8.79965802e+01] [ 2.65617292e-01 9.64045429e-01 7.99151433e-03 3.88201665e+01] [-3.04346994e-02 9.97568520e-05 9.99536752e-01 -8.13103527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:88.03, Y:38.83, Z:-0.81 [[ 9.63648034e-01 -2.65540230e-01 2.95102056e-02 8.80281895e+01] [ 2.65419299e-01 9.64099774e-01 8.01383793e-03 3.88283426e+01] [-3.05787789e-02 1.10058914e-04 9.99532354e-01 -8.13712339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:38.84, Z:-0.81 [[ 9.64182926e-01 -2.63451683e-01 3.07326528e-02 8.80587287e+01] [ 2.63319946e-01 9.64672591e-01 8.33060378e-03 3.88375261e+01] [-3.18416594e-02 6.02945569e-05 9.99492924e-01 -8.13455722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:38.85, Z:-0.81 [[ 9.64520549e-01 -2.62269740e-01 3.02439111e-02 8.80901134e+01] [ 2.62142116e-01 9.64994602e-01 8.18101689e-03 3.88467900e+01] [-3.13308442e-02 3.74439528e-05 9.99509068e-01 -8.12760510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:38.85, Z:-0.81 [[ 9.65747074e-01 -2.57525594e-01 3.18301348e-02 8.81208632e+01] [ 2.57382134e-01 9.66271471e-01 8.59538857e-03 3.88542950e+01] [-3.29700838e-02 -1.08463347e-04 9.99456333e-01 -8.13484220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:38.86, Z:-0.81 [[ 9.66185686e-01 -2.55725185e-01 3.30128720e-02 8.81517867e+01] [ 2.55570364e-01 9.66749504e-01 8.89860018e-03 3.88626358e+01] [-3.41907738e-02 -1.60588414e-04 9.99415312e-01 -8.13413357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:38.87, Z:-0.81 [[ 9.67082624e-01 -2.52456043e-01 3.18926961e-02 8.81822465e+01] [ 2.52310296e-01 9.67608332e-01 8.58087805e-03 3.88725480e+01] [-3.30259329e-02 -2.51562492e-04 9.99454463e-01 -8.13730601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:38.88, Z:-0.81 [[ 9.67214792e-01 -2.52041536e-01 3.11546130e-02 8.82125089e+01] [ 2.51902740e-01 9.67716386e-01 8.36690632e-03 3.88824830e+01] [-3.22576374e-02 -2.44663191e-04 9.99479557e-01 -8.14737959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:38.89, Z:-0.82 [[ 9.66992726e-01 -2.53190070e-01 2.86331216e-02 8.82433139e+01] [ 2.53073576e-01 9.67416537e-01 7.68178517e-03 3.88935078e+01] [-2.96451070e-02 -1.81943916e-04 9.99560471e-01 -8.15962424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:38.90, Z:-0.82 [[ 9.66767829e-01 -2.53980910e-01 2.92175092e-02 8.82749002e+01] [ 2.53860469e-01 9.67209221e-01 7.82213456e-03 3.89039226e+01] [-3.02461171e-02 -1.45017473e-04 9.99542471e-01 -8.16236066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.31, Y:38.92, Z:-0.82 [[ 9.65699610e-01 -2.57781474e-01 3.11925476e-02 8.83054776e+01] [ 2.57646680e-01 9.66203245e-01 8.33527906e-03 3.89158492e+01] [-3.22870212e-02 -1.27194097e-05 9.99478638e-01 -8.16552685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:38.93, Z:-0.82 [[ 9.65020243e-01 -2.60228902e-01 3.18880740e-02 8.83358782e+01] [ 2.60089887e-01 9.65546949e-01 8.50527804e-03 3.89252530e+01] [-3.30027517e-02 8.60000864e-05 9.99455257e-01 -8.16499254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34591999999999 meters Centerline goodness [0,1] 0.9999501520362893 Centerline is valid? [True, True] Translation: X:88.37, Y:38.93, Z:-0.82 [[ 9.64558452e-01 -2.61830894e-01 3.27349197e-02 8.83671795e+01] [ 2.61685859e-01 9.65113754e-01 8.71515556e-03 3.89340572e+01] [-3.38748182e-02 1.59988612e-04 9.99426071e-01 -8.16607853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37592 meters Centerline goodness [0,1] 0.999900279218189 Centerline is valid? [True, True] Translation: X:88.40, Y:38.94, Z:-0.82 [[ 9.63498332e-01 -2.65905629e-01 3.10670493e-02 8.83982440e+01] [ 2.65777603e-01 9.63999017e-01 8.25593592e-03 3.89439557e+01] [-3.21439048e-02 3.02345406e-04 9.99483205e-01 -8.17575140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:38.95, Z:-0.82 [[ 9.63469445e-01 -2.66106251e-01 3.02339638e-02 8.84287146e+01] [ 2.65985556e-01 9.63943652e-01 8.01996062e-03 3.89528876e+01] [-3.12779991e-02 3.14810657e-04 9.99510674e-01 -8.17931720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:38.96, Z:-0.82 [[ 9.63364442e-01 -2.66609346e-01 2.91274433e-02 8.84597926e+01] [ 2.66497977e-01 9.63804620e-01 7.71246839e-03 3.89612801e+01] [-3.01293806e-02 3.32486907e-04 9.99545952e-01 -8.17874661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:38.97, Z:-0.82 [[ 9.63498294e-01 -2.66022303e-01 3.00528218e-02 8.84913165e+01] [ 2.65903907e-01 9.63966815e-01 7.94305971e-03 3.89693081e+01] [-3.10829539e-02 3.38038261e-04 9.99516751e-01 -8.18947286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:38.98, Z:-0.82 [[ 9.63768334e-01 -2.65319861e-01 2.74949115e-02 8.85222039e+01] [ 2.65220852e-01 9.64160402e-01 7.25389660e-03 3.89775151e+01] [-2.84341078e-02 3.01148033e-04 9.99595624e-01 -8.19129458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:38.99, Z:-0.82 [[ 9.63603926e-01 -2.65841585e-01 2.82086036e-02 8.85536272e+01] [ 2.65737989e-01 9.64016669e-01 7.42856340e-03 3.89863852e+01] [-2.91683851e-02 3.37904718e-04 9.99574455e-01 -8.20336478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:38.99, Z:-0.82 [[ 9.63184184e-01 -2.67428706e-01 2.75338791e-02 8.85864406e+01] [ 2.67331084e-01 9.63577570e-01 7.23584900e-03 3.89930342e+01] [-2.84661020e-02 3.91206431e-04 9.99594682e-01 -8.18926659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.62, Y:39.00, Z:-0.82 [[ 9.63022212e-01 -2.68043790e-01 2.72166563e-02 8.86180236e+01] [ 2.67949069e-01 9.63406639e-01 7.13757246e-03 3.90009831e+01] [-2.81338893e-02 4.19036897e-04 9.99604076e-01 -8.18840204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.65, Y:39.01, Z:-0.82 [[ 9.62588445e-01 -2.69672360e-01 2.64632535e-02 8.86496337e+01] [ 2.69583822e-01 9.62952023e-01 6.92556784e-03 3.90102878e+01] [-2.73504777e-02 4.67593430e-04 9.99625796e-01 -8.19234795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:39.02, Z:-0.82 [[ 9.62469747e-01 -2.70030817e-01 2.71172275e-02 8.86810306e+01] [ 2.69938351e-01 9.62851549e-01 7.08383439e-03 3.90177742e+01] [-2.80227181e-02 5.02003387e-04 9.99607160e-01 -8.19801574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.71, Y:39.03, Z:-0.82 [[ 9.62299555e-01 -2.70470905e-01 2.87237959e-02 8.87123807e+01] [ 2.70367756e-01 9.62727987e-01 7.48991885e-03 3.90250888e+01] [-2.96790074e-02 5.58442662e-04 9.99559325e-01 -8.19405029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:39.03, Z:-0.82 [[ 9.61872709e-01 -2.72021350e-01 2.83773895e-02 8.87433806e+01] [ 2.71921740e-01 9.62291022e-01 7.38621762e-03 3.90325388e+01] [-2.93165160e-02 6.11827976e-04 9.99569991e-01 -8.18552653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:39.04, Z:-0.82 [[ 9.61883401e-01 -2.72039870e-01 2.78322004e-02 8.87758984e+01] [ 2.71944490e-01 9.62285784e-01 7.22937586e-03 3.90399892e+01] [-2.87492093e-02 6.14996893e-04 9.99586467e-01 -8.19533724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.81, Y:39.05, Z:-0.82 [[ 9.61776110e-01 -2.72353073e-01 2.84695876e-02 8.88069112e+01] [ 2.72253634e-01 9.62197166e-01 7.38734574e-03 3.90467119e+01] [-2.94053228e-02 6.45976016e-04 9.99567361e-01 -8.20454222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.84, Y:39.05, Z:-0.82 [[ 9.61583999e-01 -2.72897549e-01 2.97176972e-02 8.88384807e+01] [ 2.72789878e-01 9.62042843e-01 7.69750575e-03 3.90535265e+01] [-3.06903283e-02 7.04888618e-04 9.99528692e-01 -8.20203476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:39.06, Z:-0.82 [[ 9.61112328e-01 -2.74449720e-01 3.06666507e-02 8.88697586e+01] [ 2.74336273e-01 9.61601126e-01 7.92999339e-03 3.90594213e+01] [-3.16654703e-02 7.91360245e-04 9.99498210e-01 -8.19653469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.90, Y:39.07, Z:-0.82 [[ 9.61060897e-01 -2.74682343e-01 3.01920956e-02 8.89017422e+01] [ 2.74572994e-01 9.61534694e-01 7.79124450e-03 3.90668439e+01] [-3.11708647e-02 8.02073669e-04 9.99513749e-01 -8.18754055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.93, Y:39.07, Z:-0.82 [[ 9.61087998e-01 -2.74695309e-01 2.91949957e-02 8.89332177e+01] [ 2.74593480e-01 9.61531000e-01 7.52036548e-03 3.90722207e+01] [-3.01377026e-02 7.89022480e-04 9.99545445e-01 -8.19001884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91592 meters Centerline goodness [0,1] 0.9999501719069211 Centerline is valid? [True, True] Translation: X:88.96, Y:39.08, Z:-0.82 [[ 9.61214406e-01 -2.74373001e-01 2.80414295e-02 8.89649192e+01] [ 2.74279302e-01 9.61623044e-01 7.21018762e-03 3.90789082e+01] [-2.89435656e-02 7.60647481e-04 9.99580758e-01 -8.19228652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94592 meters Centerline goodness [0,1] 0.999900457893689 Centerline is valid? [True, True] Translation: X:89.00, Y:39.09, Z:-0.82 [[ 9.61347810e-01 -2.74138377e-01 2.56619998e-02 8.89961742e+01] [ 2.74060142e-01 9.61690001e-01 6.58636346e-03 3.90856313e+01] [-2.64844636e-02 7.01145202e-04 9.99648979e-01 -8.18183063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.03, Y:39.09, Z:-0.82 [[ 9.61325772e-01 -2.74262004e-01 2.51617306e-02 8.90284157e+01] [ 2.74187177e-01 9.61654750e-01 6.44468450e-03 3.90932828e+01] [-2.59644298e-02 7.03582575e-04 9.99662620e-01 -8.18709478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.06, Y:39.10, Z:-0.82 [[ 9.61500284e-01 -2.73696637e-01 2.46445804e-02 8.90609904e+01] [ 2.73625001e-01 9.61815824e-01 6.29916848e-03 3.90996197e+01] [-2.54276086e-02 6.86721064e-04 9.99676430e-01 -8.18207723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.09, Y:39.10, Z:-0.82 [[ 9.61346177e-01 -2.74286324e-01 2.40944151e-02 8.90934815e+01] [ 2.74218356e-01 9.61647817e-01 6.14567855e-03 3.91045404e+01] [-2.48560173e-02 6.99006343e-04 9.99690797e-01 -8.19105375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06591999999999 meters Centerline goodness [0,1] 0.9999501669407485 Centerline is valid? [True, True] Translation: X:89.12, Y:39.11, Z:-0.82 [[ 9.61386529e-01 -2.74051694e-01 2.51318607e-02 8.91245357e+01] [ 2.73977950e-01 9.61714683e-01 6.39934025e-03 3.91108328e+01] [-2.59234295e-02 7.33336148e-04 9.99663662e-01 -8.19938692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09591999999999 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:89.16, Y:39.12, Z:-0.82 [[ 9.60911838e-01 -2.75580902e-01 2.65255687e-02 8.91558865e+01] [ 2.75499671e-01 9.61277524e-01 6.74187609e-03 3.91165406e+01] [-2.73563653e-02 8.29436887e-04 9.99625400e-01 -8.19953798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12592 meters Centerline goodness [0,1] 0.9999005272058092 Centerline is valid? [True, True] Translation: X:89.19, Y:39.12, Z:-0.82 [[ 9.60764298e-01 -2.76141052e-01 2.60400372e-02 8.91878081e+01] [ 2.76063343e-01 9.61116751e-01 6.60472644e-03 3.91233524e+01] [-2.68513521e-02 8.43114365e-04 9.99639082e-01 -8.18847907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15592 meters Centerline goodness [0,1] 0.9999502413295517 Centerline is valid? [True, True] Translation: X:89.22, Y:39.13, Z:-0.82 [[ 9.60560686e-01 -2.76699832e-01 2.75748283e-02 8.92190695e+01] [ 2.76613285e-01 9.60955958e-01 6.98120364e-03 3.91298171e+01] [-2.84298934e-02 9.21694061e-04 9.99595364e-01 -8.19522258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18592 meters Centerline goodness [0,1] 0.999900363672595 Centerline is valid? [True, True] Translation: X:89.25, Y:39.14, Z:-0.82 [[ 9.60790608e-01 -2.75959829e-01 2.69737041e-02 8.92507558e+01] [ 2.75877067e-01 9.61168756e-01 6.81665980e-03 3.91364729e+01] [-2.78074059e-02 8.92043663e-04 9.99612901e-01 -8.20562916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21592 meters Centerline goodness [0,1] 0.9996018315747561 Centerline is valid? [True, True] Translation: X:89.28, Y:39.14, Z:-0.82 [[ 9.60770236e-01 -2.75947257e-01 2.78148400e-02 8.92830033e+01] [ 2.75859614e-01 9.61172327e-01 7.01644228e-03 3.91407581e+01] [-2.86710226e-02 9.31802125e-04 9.99588467e-01 -8.21837699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24592 meters Centerline goodness [0,1] 0.9996517932646869 Centerline is valid? [True, True] Translation: X:89.31, Y:39.15, Z:-0.82 [[ 9.61073158e-01 -2.74998944e-01 2.67201418e-02 8.93147566e+01] [ 2.74918036e-01 9.61444126e-01 6.72804986e-03 3.91461503e+01] [-2.75401300e-02 8.79700782e-04 9.99620312e-01 -8.20087945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27592 meters Centerline goodness [0,1] 0.9994028365264991 Centerline is valid? [True, True] Translation: X:89.35, Y:39.15, Z:-0.82 [[ 9.61452558e-01 -2.73738468e-01 2.60044070e-02 8.93468591e+01] [ 2.73661696e-01 9.61803805e-01 6.53588025e-03 3.91504002e+01] [-2.68002595e-02 8.32471345e-04 9.99640462e-01 -8.19866602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30592 meters Centerline goodness [0,1] 0.9996022275258553 Centerline is valid? [True, True] Translation: X:89.38, Y:39.16, Z:-0.82 [[ 9.61600500e-01 -2.73202735e-01 2.61676273e-02 8.93795747e+01] [ 2.73125168e-01 9.61956115e-01 6.56317333e-03 3.91571521e+01] [-2.69651860e-02 8.35886857e-04 9.99636024e-01 -8.20379540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33592 meters Centerline goodness [0,1] 0.9997002398081535 Centerline is valid? [True, True] Translation: X:89.41, Y:39.16, Z:-0.82 [[ 9.61848708e-01 -2.72217676e-01 2.72873698e-02 8.94124778e+01] [ 2.72133336e-01 9.62235316e-01 6.82965083e-03 3.91604534e+01] [-2.81160225e-02 8.56712147e-04 9.99604299e-01 -8.19291743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36591999999999 meters Centerline goodness [0,1] 0.9994026284348865 Centerline is valid? [True, True] Translation: X:89.44, Y:39.17, Z:-0.82 [[ 9.62210145e-01 -2.70806454e-01 2.85569835e-02 8.94446663e+01] [ 2.70713909e-01 9.62633425e-01 7.13221686e-03 3.91676938e+01] [-2.94213572e-02 8.68081211e-04 9.99566721e-01 -8.19170553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39591999999999 meters Centerline goodness [0,1] 0.9997508595346056 Centerline is valid? [True, True] Translation: X:89.48, Y:39.18, Z:-0.82 [[ 9.62329941e-01 -2.70351864e-01 2.88262723e-02 8.94766847e+01] [ 2.70257816e-01 9.62761186e-01 7.18417943e-03 3.91761787e+01] [-2.96950724e-02 8.76974435e-04 9.99558619e-01 -8.18731103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42591999999999 meters Centerline goodness [0,1] 0.9998005584363782 Centerline is valid? [True, True] Translation: X:89.51, Y:39.18, Z:-0.82 [[ 9.63041261e-01 -2.67727696e-01 2.95535190e-02 8.95084546e+01] [ 2.67628024e-01 9.63494262e-01 7.35172659e-03 3.91826862e+01] [-3.04429068e-02 8.29333853e-04 9.99536163e-01 -8.18907748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45591999999999 meters Centerline goodness [0,1] 0.9998504710162986 Centerline is valid? [True, True] Translation: X:89.54, Y:39.19, Z:-0.82 [[ 9.64013292e-01 -2.64273808e-01 2.89435232e-02 8.95402304e+01] [ 2.64177054e-01 9.64447427e-01 7.18648512e-03 3.91892240e+01] [-2.98137063e-02 7.18347519e-04 9.99555215e-01 -8.20097985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48592 meters Centerline goodness [0,1] 0.9997511571193948 Centerline is valid? [True, True] Translation: X:89.57, Y:39.20, Z:-0.82 [[ 9.64463605e-01 -2.62769376e-01 2.76081487e-02 8.95713234e+01] [ 2.62681096e-01 9.64858450e-01 6.84205291e-03 3.91983829e+01] [-2.84358375e-02 6.53227741e-04 9.99595406e-01 -8.19769820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51592 meters Centerline goodness [0,1] 0.9997014479773101 Centerline is valid? [True, True] Translation: X:89.60, Y:39.21, Z:-0.82 [[ 9.65106277e-01 -2.60543303e-01 2.62118578e-02 8.96019977e+01] [ 2.60463239e-01 9.65461994e-01 6.48372137e-03 3.92071006e+01] [-2.69958427e-02 5.69745173e-04 9.99635383e-01 -8.20455406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54592 meters Centerline goodness [0,1] 0.9997509339975094 Centerline is valid? [True, True] Translation: X:89.63, Y:39.21, Z:-0.82 [[ 9.65610076e-01 -2.58866888e-01 2.41891474e-02 8.96337661e+01] [ 2.58798463e-01 9.65912880e-01 5.97199320e-03 3.92128376e+01] [-2.49105603e-02 4.93497356e-04 9.99689562e-01 -8.20328889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57592 meters Centerline goodness [0,1] 0.999800985123638 Centerline is valid? [True, True] Translation: X:89.66, Y:39.22, Z:-0.82 [[ 9.65571488e-01 -2.58901462e-01 2.53324975e-02 8.96646931e+01] [ 2.58826741e-01 9.65903594e-01 6.24222789e-03 3.92220496e+01] [-2.60848723e-02 5.29410476e-04 9.99659592e-01 -8.19683042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60592 meters Centerline goodness [0,1] 0.999751318014523 Centerline is valid? [True, True] Translation: X:89.70, Y:39.23, Z:-0.82 [[ 9.65768014e-01 -2.58179387e-01 2.52100680e-02 8.96957657e+01] [ 2.58105494e-01 9.66096855e-01 6.19843731e-03 3.92328326e+01] [-2.59556762e-02 5.20604578e-04 9.99662959e-01 -8.19654623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63592 meters Centerline goodness [0,1] 0.9997015964589446 Centerline is valid? [True, True] Translation: X:89.73, Y:39.24, Z:-0.82 [[ 9.66035777e-01 -2.57173548e-01 2.52317964e-02 8.97270194e+01] [ 2.57099541e-01 9.66365101e-01 6.19008947e-03 3.92426698e+01] [-2.59750547e-02 5.07235358e-04 9.99662463e-01 -8.20005744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66592 meters Centerline goodness [0,1] 0.9997016261375503 Centerline is valid? [True, True] Translation: X:89.76, Y:39.25, Z:-0.82 [[ 9.66659098e-01 -2.54785813e-01 2.55808121e-02 8.97589937e+01] [ 2.54709229e-01 9.66997403e-01 6.26353238e-03 3.92478346e+01] [-2.63324381e-02 4.60968361e-04 9.99653135e-01 -8.20741824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69592 meters Centerline goodness [0,1] 0.9994025986956738 Centerline is valid? [True, True] Translation: X:89.79, Y:39.26, Z:-0.82 [[ 9.66869880e-01 -2.54070813e-01 2.47114614e-02 8.97900552e+01] [ 2.53999411e-01 9.67185520e-01 6.03894829e-03 3.92554028e+01] [-2.54348881e-02 4.37819430e-04 9.99676385e-01 -8.19349801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72592 meters Centerline goodness [0,1] 0.9997013885432737 Centerline is valid? [True, True] Translation: X:89.82, Y:39.27, Z:-0.82 [[ 9.67315483e-01 -2.52333846e-01 2.50676351e-02 8.98208546e+01] [ 2.52259905e-01 9.67640154e-01 6.12143655e-03 3.92669590e+01] [-2.58010959e-02 4.02198889e-04 9.99667015e-01 -8.18426963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75591999999999 meters Centerline goodness [0,1] 0.9997013885432737 Centerline is valid? [True, True] Translation: X:89.85, Y:39.27, Z:-0.82 [[ 9.67444582e-01 -2.51838125e-01 2.50706958e-02 8.98523546e+01] [ 2.51764343e-01 9.67769289e-01 6.10888857e-03 3.92749725e+01] [-2.58011005e-02 4.01896101e-04 9.99667015e-01 -8.18455038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78591999999999 meters Centerline goodness [0,1] 0.9995519267151249 Centerline is valid? [True, True] Translation: X:89.88, Y:39.28, Z:-0.82 [[ 9.67622746e-01 -2.50978352e-01 2.67598164e-02 8.98832003e+01] [ 2.50894314e-01 9.67992610e-01 6.50770141e-03 3.92833869e+01] [-2.75365966e-02 4.16885862e-04 9.99620709e-01 -8.18831061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81591999999999 meters Centerline goodness [0,1] 0.9993529763089787 Centerline is valid? [True, True] Translation: X:89.92, Y:39.29, Z:-0.82 [[ 9.67617019e-01 -2.50998046e-01 2.67821720e-02 8.99157588e+01] [ 2.50914277e-01 9.67987497e-01 6.49855588e-03 3.92898226e+01] [-2.75559325e-02 4.31916060e-04 9.99620170e-01 -8.18327428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84591999999999 meters Centerline goodness [0,1] 0.999751318014523 Centerline is valid? [True, True] Translation: X:89.95, Y:39.30, Z:-0.82 [[ 9.67769534e-01 -2.50544666e-01 2.54852948e-02 8.99468972e+01] [ 2.50468978e-01 9.68104954e-01 6.17165955e-03 3.92973607e+01] [-2.62187166e-02 4.10531656e-04 9.99656146e-01 -8.17226020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87592 meters Centerline goodness [0,1] 0.9996516373046681 Centerline is valid? [True, True] Translation: X:89.98, Y:39.31, Z:-0.82 [[ 9.67790162e-01 -2.50498441e-01 2.51542052e-02 8.99790102e+01] [ 2.50425046e-01 9.68116913e-01 6.07777652e-03 3.93064925e+01] [-2.58746850e-02 4.17230688e-04 9.99665107e-01 -8.18323752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90592 meters Centerline goodness [0,1] 0.9998006776958341 Centerline is valid? [True, True] Translation: X:90.01, Y:39.31, Z:-0.82 [[ 9.67951328e-01 -2.49940138e-01 2.44980532e-02 9.00107099e+01] [ 2.49870640e-01 9.68261207e-01 5.90751499e-03 3.93136563e+01] [-2.51970396e-02 4.03157235e-04 9.99682423e-01 -8.18414534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93592 meters Centerline goodness [0,1] 0.9997007033471342 Centerline is valid? [True, True] Translation: X:90.04, Y:39.32, Z:-0.82 [[ 9.68036163e-01 -2.49293958e-01 2.75410568e-02 9.00424853e+01] [ 2.49206233e-01 9.68427758e-01 6.62805118e-03 3.93200831e+01] [-2.83238570e-02 4.47209783e-04 9.99598699e-01 -8.18370755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96592 meters Centerline goodness [0,1] 0.9993525573982768 Centerline is valid? [True, True] Translation: X:90.07, Y:39.33, Z:-0.82 [[ 9.68339007e-01 -2.47955545e-01 2.89415841e-02 9.00731734e+01] [ 2.47858484e-01 9.68771311e-01 6.95124464e-03 3.93291375e+01] [-2.97613760e-02 4.42255837e-04 9.99556934e-01 -8.18237759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99592 meters Centerline goodness [0,1] 0.9995024875621891 Centerline is valid? [True, True] Translation: X:90.10, Y:39.34, Z:-0.82 [[ 9.68817151e-01 -2.46113072e-01 2.86650118e-02 9.01043601e+01] [ 2.46017453e-01 9.69241043e-01 6.87118461e-03 3.93376928e+01] [-2.94743943e-02 3.95171692e-04 9.99565458e-01 -8.18452689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02592 meters Centerline goodness [0,1] 0.9998006578291637 Centerline is valid? [True, True] Translation: X:90.14, Y:39.35, Z:-0.82 [[ 9.69122130e-01 -2.44935585e-01 2.84404201e-02 9.01359086e+01] [ 2.44841404e-01 9.69539283e-01 6.80188567e-03 3.93457980e+01] [-2.92401283e-02 3.71534442e-04 9.99572347e-01 -8.18407616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05592 meters Centerline goodness [0,1] 0.9995025618066955 Centerline is valid? [True, True] Translation: X:90.17, Y:39.35, Z:-0.82 [[ 9.69435190e-01 -2.43941643e-01 2.62276170e-02 9.01672070e+01] [ 2.43861527e-01 9.69789857e-01 6.26003849e-03 3.93533010e+01] [-2.69623611e-02 3.27205138e-04 9.99636396e-01 -8.18059470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08592 meters Centerline goodness [0,1] 0.99940170514035 Centerline is valid? [True, True] Translation: X:90.20, Y:39.37, Z:-0.82 [[ 9.68727169e-01 -2.46590058e-01 2.75865149e-02 9.01975148e+01] [ 2.46502872e-01 9.69119783e-01 6.57113910e-03 3.93651846e+01] [-2.83550149e-02 4.34514153e-04 9.99597821e-01 -8.18466667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11591999999999 meters Centerline goodness [0,1] 0.9991036749327756 Centerline is valid? [True, True] Translation: X:90.23, Y:39.38, Z:-0.82 [[ 9.67749956e-01 -2.50166113e-01 2.96131358e-02 9.02276410e+01] [ 2.50067743e-01 9.68202750e-01 7.03982708e-03 3.93762585e+01] [-3.04326457e-02 5.92497667e-04 9.99536644e-01 -8.17415332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14591999999999 meters Centerline goodness [0,1] 0.9993526541181157 Centerline is valid? [True, True] Translation: X:90.26, Y:39.38, Z:-0.82 [[ 9.67526796e-01 -2.50953244e-01 3.02385345e-02 9.02583657e+01] [ 2.50851470e-01 9.67998996e-01 7.17527583e-03 3.93840641e+01] [-3.10715298e-02 6.43109196e-04 9.99516957e-01 -8.16647449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17591999999999 meters Centerline goodness [0,1] 0.9992017163099336 Centerline is valid? [True, True] Translation: X:90.29, Y:39.39, Z:-0.82 [[ 9.67135280e-01 -2.52453200e-01 3.02775907e-02 9.02896550e+01] [ 2.52352337e-01 9.67608849e-01 7.17036282e-03 3.93924602e+01] [-3.11070457e-02 7.05909933e-04 9.99515809e-01 -8.16627289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20591999999999 meters Centerline goodness [0,1] 0.9990043807248108 Centerline is valid? [True, True] Translation: X:90.32, Y:39.40, Z:-0.82 [[ 9.66350096e-01 -2.55388790e-01 3.07255292e-02 9.03206639e+01] [ 2.55286857e-01 9.66838085e-01 7.26204532e-03 3.94025216e+01] [-3.15612568e-02 8.26145576e-04 9.99501478e-01 -8.18479906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23592 meters Centerline goodness [0,1] 0.999103630297296 Centerline is valid? [True, True] Translation: X:90.35, Y:39.41, Z:-0.82 [[ 9.65945478e-01 -2.56862048e-01 3.11644392e-02 9.03516092e+01] [ 2.56758377e-01 9.66447659e-01 7.35235852e-03 3.94094490e+01] [-3.20073411e-02 8.99753363e-04 9.99487229e-01 -8.20065591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26592 meters Centerline goodness [0,1] 0.9992534713581844 Centerline is valid? [True, True] Translation: X:90.38, Y:39.41, Z:-0.82 [[ 9.65309062e-01 -2.59445775e-01 2.94330569e-02 9.03833220e+01] [ 2.59354910e-01 9.65757216e-01 6.93044006e-03 3.94136878e+01] [-3.02232604e-02 9.43591229e-04 9.99542728e-01 -8.21093594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29592 meters Centerline goodness [0,1] 0.9994524639123942 Centerline is valid? [True, True] Translation: X:90.41, Y:39.42, Z:-0.82 [[ 9.65092383e-01 -2.60186692e-01 2.99929508e-02 9.04149646e+01] [ 2.60093119e-01 9.65557812e-01 7.04850555e-03 3.94194571e+01] [-3.07938553e-02 9.98501078e-04 9.99525258e-01 -8.21272344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32592 meters Centerline goodness [0,1] 0.9994520547945206 Centerline is valid? [True, True] Translation: X:90.45, Y:39.42, Z:-0.82 [[ 9.65125985e-01 -2.59938285e-01 3.10470823e-02 9.04467672e+01] [ 2.59838339e-01 9.65624673e-01 7.28209442e-03 3.94236235e+01] [-3.18727238e-02 1.03908377e-03 9.99491396e-01 -8.19637535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35592 meters Centerline goodness [0,1] 0.9992023530584775 Centerline is valid? [True, True] Translation: X:90.48, Y:39.43, Z:-0.82 [[ 9.65422192e-01 -2.58883730e-01 3.06464687e-02 9.04784249e+01] [ 2.58786260e-01 9.65907969e-01 7.17406545e-03 3.94300839e+01] [-3.14589172e-02 1.00488302e-03 9.99504541e-01 -8.19048530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38592 meters Centerline goodness [0,1] 0.9990054699154649 Centerline is valid? [True, True] Translation: X:90.51, Y:39.44, Z:-0.82 [[ 9.66181502e-01 -2.56332437e-01 2.80532795e-02 9.05101065e+01] [ 2.56250062e-01 9.66588304e-01 6.55417049e-03 3.94360914e+01] [-2.87960184e-02 8.56136328e-04 9.99584942e-01 -8.19962683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41592 meters Centerline goodness [0,1] 0.999053831980479 Centerline is valid? [True, True] Translation: X:90.54, Y:39.44, Z:-0.82 [[ 9.66761091e-01 -2.54244832e-01 2.70658160e-02 9.05414901e+01] [ 2.54167468e-01 9.67139582e-01 6.31874954e-03 3.94419785e+01] [-2.77829314e-02 7.70528731e-04 9.99613683e-01 -8.20203973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44592 meters Centerline goodness [0,1] 0.999252094136418 Centerline is valid? [True, True] Translation: X:90.57, Y:39.45, Z:-0.82 [[ 9.67802239e-01 -2.50209056e-01 2.74636844e-02 9.05729732e+01] [ 2.50128132e-01 9.68191598e-01 6.39898162e-03 3.94474050e+01] [-2.81911917e-02 6.76491351e-04 9.99602320e-01 -8.20125632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47592 meters Centerline goodness [0,1] 0.999153681485538 Centerline is valid? [True, True] Translation: X:90.61, Y:39.45, Z:-0.82 [[ 9.68452298e-01 -2.47459322e-01 2.93944072e-02 9.06051516e+01] [ 2.47365829e-01 9.68898063e-01 6.83298706e-03 3.94536460e+01] [-3.01710706e-02 6.53749900e-04 9.99544536e-01 -8.19856745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50591999999999 meters Centerline goodness [0,1] 0.9992041780651579 Centerline is valid? [True, True] Translation: X:90.64, Y:39.46, Z:-0.82 [[ 9.68294885e-01 -2.47689662e-01 3.24784031e-02 9.06361274e+01] [ 2.47575920e-01 9.68839144e-01 7.54172703e-03 3.94605487e+01] [-3.33343561e-02 7.38254804e-04 9.99443983e-01 -8.21396106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53591999999999 meters Centerline goodness [0,1] 0.9995028585632613 Centerline is valid? [True, True] Translation: X:90.67, Y:39.47, Z:-0.82 [[ 9.68364292e-01 -2.47053476e-01 3.51450954e-02 9.06678449e+01] [ 2.46920449e-01 9.69001525e-01 8.14476140e-03 3.94668689e+01] [-3.60678426e-02 7.90946632e-04 9.99349031e-01 -8.22277562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56591999999999 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:90.70, Y:39.47, Z:-0.82 [[ 9.68412494e-01 -2.46857742e-01 3.51922952e-02 9.06999838e+01] [ 2.46724904e-01 9.69051397e-01 8.13702003e-03 3.94743934e+01] [-3.61118293e-02 8.02823802e-04 9.99347433e-01 -8.23333329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59591999999999 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:90.73, Y:39.48, Z:-0.82 [[ 9.69338196e-01 -2.43489289e-01 3.31123647e-02 9.07319412e+01] [ 2.43370251e-01 9.69903367e-01 7.64067368e-03 3.94792294e+01] [-3.39762162e-02 6.52167688e-04 9.99422429e-01 -8.22185020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62592 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:90.76, Y:39.48, Z:-0.82 [[ 9.70129964e-01 -2.40164869e-01 3.41860879e-02 9.07639677e+01] [ 2.40036565e-01 9.70731945e-01 7.87005048e-03 3.94849904e+01] [-3.50756372e-02 5.70939303e-04 9.99384497e-01 -8.21947261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65592 meters Centerline goodness [0,1] 0.9999005370996619 Centerline is valid? [True, True] Translation: X:90.80, Y:39.49, Z:-0.82 [[ 9.71967776e-01 -2.32574386e-01 3.44644265e-02 9.07955358e+01] [ 2.32439790e-01 9.72578560e-01 7.91760383e-03 3.94896242e+01] [-3.53607941e-02 3.15248254e-04 9.99374562e-01 -8.21827712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68592 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:90.83, Y:39.50, Z:-0.82 [[ 9.72984360e-01 -2.28547053e-01 3.26753638e-02 9.08267881e+01] [ 2.28424329e-01 9.73532852e-01 7.49078547e-03 3.94963746e+01] [-3.35225370e-02 1.75430946e-04 9.99437946e-01 -8.21335742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71592 meters Centerline goodness [0,1] 0.9997017447929611 Centerline is valid? [True, True] Translation: X:90.86, Y:39.50, Z:-0.82 [[ 9.74393077e-01 -2.22758593e-01 3.06062171e-02 9.08582377e+01] [ 2.22648532e-01 9.74873638e-01 7.00158077e-03 3.95024140e+01] [-3.13968565e-02 -7.86252546e-06 9.99506997e-01 -8.20548672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74592 meters Centerline goodness [0,1] 0.9996016134654648 Centerline is valid? [True, True] Translation: X:90.89, Y:39.51, Z:-0.82 [[ 9.74842246e-01 -2.20578424e-01 3.20585984e-02 9.08897378e+01] [ 2.20457001e-01 9.75369240e-01 7.31822730e-03 3.95088995e+01] [-3.28832138e-02 -6.65747002e-05 9.99459199e-01 -8.20660448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77592 meters Centerline goodness [0,1] 0.999850723988655 Centerline is valid? [True, True] Translation: X:90.92, Y:39.52, Z:-0.82 [[ 9.75379991e-01 -2.18324333e-01 3.11184728e-02 9.09209244e+01] [ 2.18209264e-01 9.75876258e-01 7.08846807e-03 3.95151810e+01] [-3.19153638e-02 -1.23610865e-04 9.99490567e-01 -8.20467480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80592 meters Centerline goodness [0,1] 0.9997511447342226 Centerline is valid? [True, True] Translation: X:90.95, Y:39.52, Z:-0.82 [[ 9.76030413e-01 -2.15138549e-01 3.28639382e-02 9.09524958e+01] [ 2.15008934e-01 9.76583511e-01 7.47020864e-03 3.95231400e+01] [-3.37015100e-02 -2.25110509e-04 9.99431917e-01 -8.21632817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:90.98, Y:39.53, Z:-0.82 [[ 9.77193919e-01 -2.09357106e-01 3.55196709e-02 9.09829989e+01] [ 2.09202178e-01 9.77839148e-01 8.06534019e-03 3.95312729e+01] [-3.64210610e-02 -4.50608900e-04 9.99336431e-01 -8.21438796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86591999999999 meters Centerline goodness [0,1] 0.9999004727544165 Centerline is valid? [True, True] Translation: X:91.01, Y:39.54, Z:-0.82 [[ 9.77741679e-01 -2.06806857e-01 3.53854987e-02 9.10139181e+01] [ 2.06652026e-01 9.78381646e-01 8.01836290e-03 3.95385083e+01] [-3.62787749e-02 -5.27402588e-04 9.99341569e-01 -8.21133310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.05, Y:39.55, Z:-0.82 [[ 9.78071533e-01 -2.05121356e-01 3.60736088e-02 9.10454910e+01] [ 2.04959924e-01 9.78736373e-01 8.15735464e-03 3.95461895e+01] [-3.69798007e-02 -5.84832258e-04 9.99315842e-01 -8.20383714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92591999999999 meters Centerline goodness [0,1] 0.9997515651396204 Centerline is valid? [True, True] Translation: X:91.08, Y:39.55, Z:-0.82 [[ 9.79084707e-01 -2.00630635e-01 3.37710640e-02 9.10778213e+01] [ 2.00487119e-01 9.79666716e-01 7.61846852e-03 3.95539910e+01] [-3.46128855e-02 -6.88462718e-04 9.99400557e-01 -8.19604279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95591999999999 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:91.11, Y:39.56, Z:-0.82 [[ 9.79725005e-01 -1.97641262e-01 3.28153435e-02 9.11098916e+01] [ 1.97504668e-01 9.80274126e-01 7.38538774e-03 3.95636578e+01] [-3.36276895e-02 -7.54465527e-04 9.99434145e-01 -8.18503715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:91.14, Y:39.57, Z:-0.82 [[ 9.79900981e-01 -1.96708065e-01 3.31663262e-02 9.11409407e+01] [ 1.96568525e-01 9.80461794e-01 7.44888131e-03 3.95721246e+01] [-3.39835708e-02 -7.79710269e-04 9.99422087e-01 -8.18212557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01592 meters Centerline goodness [0,1] 0.9999005272058092 Centerline is valid? [True, True] Translation: X:91.17, Y:39.58, Z:-0.82 [[ 9.80134147e-01 -1.95509768e-01 3.33614213e-02 9.11721206e+01] [ 1.95368417e-01 9.80701419e-01 7.47718331e-03 3.95812592e+01] [-3.41794556e-02 -8.10874598e-04 9.99415383e-01 -8.18995392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:39.59, Z:-0.82 [[ 9.80068669e-01 -1.96045286e-01 3.21192944e-02 9.12029132e+01] [ 1.95915045e-01 9.80594557e-01 7.18394822e-03 3.95911763e+01] [-3.29043845e-02 -7.48109565e-04 9.99458224e-01 -8.19736080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:39.60, Z:-0.82 [[ 9.80173398e-01 -1.95487463e-01 3.23227596e-02 9.12353356e+01] [ 1.95355829e-01 9.80705910e-01 7.21237067e-03 3.95994076e+01] [-3.31090494e-02 -7.54934390e-04 9.99451460e-01 -8.19571759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10592 meters Centerline goodness [0,1] 0.999950258654994 Centerline is valid? [True, True] Translation: X:91.27, Y:39.61, Z:-0.82 [[ 9.80184964e-01 -1.95714058e-01 3.05523207e-02 9.12658243e+01] [ 1.95597008e-01 9.80660761e-01 6.80312198e-03 3.96084088e+01] [-3.12929286e-02 -6.92375366e-04 9.99510017e-01 -8.18530037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13592 meters Centerline goodness [0,1] 0.9999004975124378 Centerline is valid? [True, True] Translation: X:91.30, Y:39.62, Z:-0.82 [[ 9.80152773e-01 -1.96020227e-01 2.96076255e-02 9.12965140e+01] [ 1.95910863e-01 9.80599638e-01 6.57897448e-03 3.96176279e+01] [-3.03228389e-02 -6.47944633e-04 9.99539947e-01 -8.18221706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16592 meters Centerline goodness [0,1] 0.9996518971604754 Centerline is valid? [True, True] Translation: X:91.33, Y:39.63, Z:-0.82 [[ 9.80110581e-01 -1.95884326e-01 3.18210554e-02 9.13268702e+01] [ 1.95758405e-01 9.80626769e-01 7.05598736e-03 3.96283023e+01] [-3.25867361e-02 -6.86408814e-04 9.99468676e-01 -8.19278610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19592 meters Centerline goodness [0,1] 0.999800945508833 Centerline is valid? [True, True] Translation: X:91.36, Y:39.64, Z:-0.82 [[ 9.80049352e-01 -1.96212484e-01 3.16848256e-02 9.13574436e+01] [ 1.96088290e-01 9.80561180e-01 7.01103179e-03 3.96367798e+01] [-3.24445620e-02 -6.58133891e-04 9.99473320e-01 -8.19441977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22592 meters Centerline goodness [0,1] 0.9998506719761076 Centerline is valid? [True, True] Translation: X:91.39, Y:39.65, Z:-0.82 [[ 9.80279850e-01 -1.94955913e-01 3.23049275e-02 9.13875631e+01] [ 1.94826408e-01 9.80811753e-01 7.13974312e-03 3.96471352e+01] [-3.30769877e-02 -7.05093317e-04 9.99452558e-01 -8.18349976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25591999999999 meters Centerline goodness [0,1] 0.9999005568814638 Centerline is valid? [True, True] Translation: X:91.42, Y:39.66, Z:-0.82 [[ 9.80488166e-01 -1.94211212e-01 3.04131728e-02 9.14180373e+01] [ 1.94096515e-01 9.80959506e-01 6.70754957e-03 3.96563526e+01] [-3.11367723e-02 -6.73582120e-04 9.99514906e-01 -8.17962362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28591999999999 meters Centerline goodness [0,1] 0.9999002145387417 Centerline is valid? [True, True] Translation: X:91.45, Y:39.67, Z:-0.82 [[ 9.80727701e-01 -1.92916890e-01 3.09232839e-02 9.14492309e+01] [ 1.92798125e-01 9.81214842e-01 6.80567702e-03 3.96663955e+01] [-3.16553152e-02 -7.12564838e-04 9.99498591e-01 -8.17915595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31591999999999 meters Centerline goodness [0,1] 0.9999003090419699 Centerline is valid? [True, True] Translation: X:91.48, Y:39.68, Z:-0.82 [[ 9.81524536e-01 -1.89003237e-01 2.97886105e-02 9.14792410e+01] [ 1.88891650e-01 9.81976143e-01 6.54211761e-03 3.96793265e+01] [-3.04881862e-02 -7.94429170e-04 9.99534811e-01 -8.18510216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34591999999999 meters Centerline goodness [0,1] 0.9998009653182067 Centerline is valid? [True, True] Translation: X:91.51, Y:39.69, Z:-0.82 [[ 9.82020895e-01 -1.86545121e-01 2.89115765e-02 9.15092885e+01] [ 1.86439340e-01 9.82446042e-01 6.33616880e-03 3.96905499e+01] [-2.95860453e-02 -8.31994929e-04 9.99561891e-01 -8.17876775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37592 meters Centerline goodness [0,1] 0.9999501594896332 Centerline is valid? [True, True] Translation: X:91.54, Y:39.71, Z:-0.82 [[ 9.82222708e-01 -1.85351703e-01 2.97203412e-02 9.15384360e+01] [ 1.85239791e-01 9.82671855e-01 6.49967261e-03 3.97063080e+01] [-3.04100682e-02 -8.78736229e-04 9.99537121e-01 -8.16677099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:39.72, Z:-0.82 [[ 9.82202402e-01 -1.85326977e-01 3.05344532e-02 9.15699159e+01] [ 1.85209344e-01 9.82676510e-01 6.66148077e-03 3.97158260e+01] [-3.12400420e-02 -8.87656366e-04 9.99511517e-01 -8.17033399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:39.73, Z:-0.82 [[ 9.81731645e-01 -1.87891133e-01 2.99983328e-02 9.15998220e+01] [ 1.87779219e-01 9.82189552e-01 6.53056339e-03 3.97300988e+01] [-3.06910840e-02 -7.78197218e-04 9.99528615e-01 -8.16767089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:39.74, Z:-0.82 [[ 9.81391376e-01 -1.89647241e-01 3.00814055e-02 9.16298819e+01] [ 1.89535961e-01 9.81852035e-01 6.53464040e-03 3.97415235e+01] [-3.07747657e-02 -7.11531627e-04 9.99526091e-01 -8.16289247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49592 meters Centerline goodness [0,1] 0.999602089032579 Centerline is valid? [True, True] Translation: X:91.66, Y:39.75, Z:-0.82 [[ 9.80402395e-01 -1.94644614e-01 3.04075190e-02 9.16601657e+01] [ 1.94533755e-01 9.80873680e-01 6.59111169e-03 3.97546183e+01] [-3.11088594e-02 -5.46652837e-04 9.99515853e-01 -8.16056045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52592 meters Centerline goodness [0,1] 0.9999003686360466 Centerline is valid? [True, True] Translation: X:91.69, Y:39.76, Z:-0.82 [[ 9.79996426e-01 -1.96487550e-01 3.16171997e-02 9.16921273e+01] [ 1.96369214e-01 9.80506197e-01 6.83593178e-03 3.97642564e+01] [-3.23440357e-02 -4.90544082e-04 9.99476674e-01 -8.16476819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55592 meters Centerline goodness [0,1] 0.9998005982053838 Centerline is valid? [True, True] Translation: X:91.72, Y:39.77, Z:-0.82 [[ 9.79751993e-01 -1.97454175e-01 3.31342751e-02 9.17231505e+01] [ 1.97325302e-01 9.80312008e-01 7.14791311e-03 3.97742637e+01] [-3.38933130e-02 -4.64951277e-04 9.99425348e-01 -8.16327342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58592 meters Centerline goodness [0,1] 0.9997508347037425 Centerline is valid? [True, True] Translation: X:91.75, Y:39.79, Z:-0.82 [[ 9.79771603e-01 -1.97574552e-01 3.18104136e-02 9.17533964e+01] [ 1.97456339e-01 9.80287771e-01 6.84691647e-03 3.97882271e+01] [-3.25361359e-02 -4.27246501e-04 9.99470468e-01 -8.17580388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:39.80, Z:-0.82 [[ 9.80692398e-01 -1.93277226e-01 2.97713627e-02 9.17846625e+01] [ 1.93172202e-01 9.81144050e-01 6.39173896e-03 3.98007559e+01] [-3.04453729e-02 -5.17330138e-04 9.99536298e-01 -8.18663732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:39.81, Z:-0.82 [[ 9.81077839e-01 -1.91270898e-01 3.00286237e-02 9.18158735e+01] [ 1.91163551e-01 9.81537120e-01 6.43263792e-03 3.98103992e+01] [-3.07045852e-02 -5.70540183e-04 9.99528340e-01 -8.18954297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.85, Y:39.82, Z:-0.82 [[ 9.81177474e-01 -1.90758608e-01 3.00319644e-02 9.18476290e+01] [ 1.90651498e-01 9.81636811e-01 6.41702221e-03 3.98175121e+01] [-3.07045840e-02 -5.70598627e-04 9.99528340e-01 -8.18982396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70591999999999 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:91.88, Y:39.83, Z:-0.82 [[ 9.81441915e-01 -1.89272857e-01 3.07823344e-02 9.18783292e+01] [ 1.89160061e-01 9.81924337e-01 6.56261320e-03 3.98275038e+01] [-3.14680479e-02 -6.18035429e-04 9.99504567e-01 -8.18731813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73592 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:91.91, Y:39.84, Z:-0.82 [[ 9.80933669e-01 -1.91601337e-01 3.25279185e-02 9.19091032e+01] [ 1.91477251e-01 9.81472678e-01 6.91698028e-03 3.98419614e+01] [-3.32505660e-02 -5.56742440e-04 9.99446892e-01 -8.19254424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76592 meters Centerline goodness [0,1] 0.9999004479840716 Centerline is valid? [True, True] Translation: X:91.94, Y:39.85, Z:-0.82 [[ 9.80466379e-01 -1.94142825e-01 3.15316274e-02 9.19404937e+01] [ 1.94027723e-01 9.80973170e-01 6.69939909e-03 3.98515823e+01] [-3.22323207e-02 -4.50525691e-04 9.99480302e-01 -8.19894646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:39.86, Z:-0.82 [[ 9.79093725e-01 -2.00641439e-01 3.34438383e-02 9.19715912e+01] [ 2.00516357e-01 9.79664718e-01 7.08744636e-03 3.98625561e+01] [-3.41857838e-02 -2.33237644e-04 9.99415468e-01 -8.22707178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:39.87, Z:-0.82 [[ 9.78684598e-01 -2.02835914e-01 3.21566476e-02 9.20029310e+01] [ 2.02721968e-01 9.79212732e-01 6.79924905e-03 3.98711891e+01] [-3.28673306e-02 -1.35461437e-04 9.99459714e-01 -8.23380001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:39.88, Z:-0.82 [[ 9.77555480e-01 -2.07904708e-01 3.40722097e-02 9.20332687e+01] [ 2.07780422e-01 9.78149084e-01 7.18793404e-03 3.98841936e+01] [-3.48221060e-02 5.29337993e-05 9.99393525e-01 -8.23853378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:39.89, Z:-0.82 [[ 9.77296019e-01 -2.09114626e-01 3.41110623e-02 9.20645761e+01] [ 2.08991434e-01 9.77891129e-01 7.17778009e-03 3.98943831e+01] [-3.48578840e-02 1.14103914e-04 9.99392273e-01 -8.22713130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91592 meters Centerline goodness [0,1] 0.9999005815976537 Centerline is valid? [True, True] Translation: X:92.10, Y:39.90, Z:-0.82 [[ 9.77284953e-01 -2.09242426e-01 3.36411714e-02 9.20959115e+01] [ 2.09123303e-01 9.77863789e-01 7.06080213e-03 3.99044983e+01] [-3.43739027e-02 1.34737225e-04 9.99409034e-01 -8.21700840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:39.91, Z:-0.82 [[ 9.77717923e-01 -2.07427842e-01 3.22699984e-02 9.21273364e+01] [ 2.07317748e-01 9.78250317e-01 6.75780356e-03 3.99112943e+01] [-3.29698928e-02 8.29177201e-05 9.99456342e-01 -8.21164268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97592 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:92.16, Y:39.92, Z:-0.82 [[ 9.78328015e-01 -2.04552543e-01 3.21333467e-02 9.21590571e+01] [ 2.04442394e-01 9.78855585e-01 6.71196491e-03 3.99212614e+01] [-3.28268554e-02 2.91501767e-06 9.99461054e-01 -8.21530264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:39.93, Z:-0.82 [[ 9.78537278e-01 -2.03322532e-01 3.35371875e-02 9.21897962e+01] [ 2.03202371e-01 9.79111816e-01 6.98920176e-03 3.99308486e+01] [-3.42577187e-02 -2.43584444e-05 9.99413032e-01 -8.22459316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03591999999999 meters Centerline goodness [0,1] 0.9999502116006971 Centerline is valid? [True, True] Translation: X:92.22, Y:39.94, Z:-0.82 [[ 9.78895282e-01 -2.01484896e-01 3.41740225e-02 9.22205876e+01] [ 2.01359569e-01 9.79491619e-01 7.10583916e-03 3.99394939e+01] [-3.49048879e-02 -7.46060111e-05 9.99390636e-01 -8.21932584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:39.95, Z:-0.82 [[ 9.79500164e-01 -1.98583072e-01 3.38258996e-02 9.22527034e+01] [ 1.98459187e-01 9.80084047e-01 7.01518256e-03 3.99482669e+01] [-3.45453210e-02 -1.58311952e-04 9.99403120e-01 -8.22022767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:39.96, Z:-0.82 [[ 9.79906655e-01 -1.96819719e-01 3.23256229e-02 9.22836945e+01] [ 1.96706127e-01 9.80439677e-01 6.68876253e-03 3.99562230e+01] [-3.30098036e-02 -1.95714821e-04 9.99455009e-01 -8.21363890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:39.97, Z:-0.82 [[ 9.80266501e-01 -1.95551718e-01 2.89329156e-02 9.23145071e+01] [ 1.95460323e-01 9.80693368e-01 5.98162446e-03 3.99685066e+01] [-2.95440353e-02 -2.08349054e-04 9.99563458e-01 -8.20279560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.35, Y:39.98, Z:-0.82 [[ 9.80534796e-01 -1.94272407e-01 2.84560322e-02 9.23462408e+01] [ 1.94183904e-01 9.80947593e-01 5.86783695e-03 3.99782379e+01] [-2.90538351e-02 -2.27914871e-04 9.99577822e-01 -8.19064587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18592 meters Centerline goodness [0,1] 0.9998010148243955 Centerline is valid? [True, True] Translation: X:92.38, Y:39.99, Z:-0.82 [[ 9.80307509e-01 -1.95252829e-01 2.95553851e-02 9.23776593e+01] [ 1.95158290e-01 9.80752923e-01 6.07828355e-03 3.99890015e+01] [-3.01733324e-02 -1.90608588e-04 9.99544663e-01 -8.17854917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21592 meters Centerline goodness [0,1] 0.9999005370996619 Centerline is valid? [True, True] Translation: X:92.41, Y:40.00, Z:-0.82 [[ 9.80160697e-01 -1.96044281e-01 2.91830048e-02 9.24086467e+01] [ 1.95952875e-01 9.80595032e-01 5.98777243e-03 3.99976269e+01] [-2.97905780e-02 -1.50485509e-04 9.99556151e-01 -8.16773377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24592 meters Centerline goodness [0,1] 0.999900353744208 Centerline is valid? [True, True] Translation: X:92.44, Y:40.01, Z:-0.82 [[ 9.79822666e-01 -1.97864689e-01 2.82330848e-02 9.24389924e+01] [ 1.97780278e-01 9.80229340e-01 5.77955425e-03 4.00098545e+01] [-2.88184678e-02 -7.89909043e-05 9.99584659e-01 -8.16817673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27592 meters Centerline goodness [0,1] 0.9998508279051266 Centerline is valid? [True, True] Translation: X:92.47, Y:40.02, Z:-0.82 [[ 9.79670851e-01 -1.98559634e-01 2.86198536e-02 9.24708109e+01] [ 1.98473641e-01 9.80088807e-01 5.84328153e-03 4.00196798e+01] [-2.92102380e-02 -4.42060418e-05 9.99573289e-01 -8.17356736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30592 meters Centerline goodness [0,1] 0.9998007571229328 Centerline is valid? [True, True] Translation: X:92.50, Y:40.03, Z:-0.82 [[ 9.79704688e-01 -1.98567782e-01 2.73780955e-02 9.25019968e+01] [ 1.98489456e-01 9.80087157e-01 5.57680411e-03 4.00289586e+01] [-2.79402934e-02 -2.93578299e-05 9.99609593e-01 -8.16943882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33592 meters Centerline goodness [0,1] 0.9994024797092068 Centerline is valid? [True, True] Translation: X:92.53, Y:40.04, Z:-0.82 [[ 9.79703605e-01 -1.98420081e-01 2.84660857e-02 9.25332218e+01] [ 1.98335733e-01 9.80117070e-01 5.78496002e-03 4.00371374e+01] [-2.90479488e-02 -2.17041942e-05 9.99578019e-01 -8.16227785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36591999999999 meters Centerline goodness [0,1] 0.9987053082362315 Centerline is valid? [True, True] Translation: X:92.56, Y:40.05, Z:-0.82 [[ 9.79651923e-01 -1.98833179e-01 2.73400082e-02 9.25645023e+01] [ 1.98755895e-01 9.80033350e-01 5.54321223e-03 4.00455444e+01] [-2.78962944e-02 3.56928607e-06 9.99610823e-01 -8.16222885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39591999999999 meters Centerline goodness [0,1] 0.9989061256961018 Centerline is valid? [True, True] Translation: X:92.60, Y:40.05, Z:-0.82 [[ 9.79380692e-01 -1.99897501e-01 2.92309707e-02 9.25956560e+01] [ 1.99810039e-01 9.79816813e-01 5.91283500e-03 4.00536607e+01] [-2.98229574e-02 4.97249632e-05 9.99555195e-01 -8.16762186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42591999999999 meters Centerline goodness [0,1] 0.9991539763113367 Centerline is valid? [True, True] Translation: X:92.63, Y:40.06, Z:-0.82 [[ 9.79197989e-01 -2.00530305e-01 3.09660288e-02 9.26268117e+01] [ 2.00432929e-01 9.79687496e-01 6.24914762e-03 4.00602884e+01] [-3.15901747e-02 8.74590549e-05 9.99500902e-01 -8.18842922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45591999999999 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:92.66, Y:40.07, Z:-0.82 [[ 9.78675697e-01 -2.02874755e-01 3.21825001e-02 9.26577885e+01] [ 2.02771333e-01 9.79204677e-01 6.47972385e-03 4.00701097e+01] [-3.28278270e-02 1.84140182e-04 9.99461005e-01 -8.18688308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48592 meters Centerline goodness [0,1] 0.9999004430285231 Centerline is valid? [True, True] Translation: X:92.69, Y:40.08, Z:-0.82 [[ 9.78508609e-01 -2.03741926e-01 3.17825377e-02 9.26895409e+01] [ 2.03642056e-01 9.79024604e-01 6.38255055e-03 4.00789344e+01] [-3.24162795e-02 2.26880663e-04 9.99474429e-01 -8.18006613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51592 meters Centerline goodness [0,1] 0.9999005568814638 Centerline is valid? [True, True] Translation: X:92.72, Y:40.09, Z:-0.82 [[ 9.77561480e-01 -2.08237357e-01 3.17923739e-02 9.27209062e+01] [ 2.08140276e-01 9.78078244e-01 6.36983610e-03 4.00851351e+01] [-3.24218671e-02 3.90367071e-04 9.99474197e-01 -8.18797410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54592 meters Centerline goodness [0,1] 0.999552171965965 Centerline is valid? [True, True] Translation: X:92.75, Y:40.09, Z:-0.82 [[ 9.77514311e-01 -2.08475717e-01 3.16803977e-02 9.27539164e+01] [ 2.08379980e-01 9.78027456e-01 6.33080846e-03 4.00902164e+01] [-3.23041186e-02 4.13104773e-04 9.99478000e-01 -8.18582420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57592 meters Centerline goodness [0,1] 0.9996516719745223 Centerline is valid? [True, True] Translation: X:92.79, Y:40.10, Z:-0.82 [[ 9.77234465e-01 -2.09539149e-01 3.32587763e-02 9.27859105e+01] [ 2.09434764e-01 9.77800138e-01 6.63101247e-03 4.00955839e+01] [-3.39098927e-02 4.85490023e-04 9.99424776e-01 -8.18788988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60592 meters Centerline goodness [0,1] 0.9995022646956349 Centerline is valid? [True, True] Translation: X:92.82, Y:40.10, Z:-0.82 [[ 9.77411107e-01 -2.08589548e-01 3.40283431e-02 9.28184920e+01] [ 2.08480315e-01 9.78003154e-01 6.76673817e-03 4.01018030e+01] [-3.46912978e-02 4.80354636e-04 9.99397960e-01 -8.18002061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63592 meters Centerline goodness [0,1] 0.9999500474549178 Centerline is valid? [True, True] Translation: X:92.85, Y:40.11, Z:-0.82 [[ 9.77628772e-01 -2.07551891e-01 3.41203269e-02 9.28514335e+01] [ 2.07442052e-01 9.78223900e-01 6.76729266e-03 4.01055731e+01] [-3.47818836e-02 4.62090603e-04 9.99394820e-01 -8.18959740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:40.11, Z:-0.82 [[ 9.77829858e-01 -2.06447626e-01 3.50449247e-02 9.28831639e+01] [ 2.06331616e-01 9.78457549e-01 6.93462059e-03 4.01108887e+01] [-3.57216070e-02 4.49996865e-04 9.99361678e-01 -8.19567401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69592 meters Centerline goodness [0,1] 0.9993525573982768 Centerline is valid? [True, True] Translation: X:92.92, Y:40.12, Z:-0.82 [[ 9.78183742e-01 -2.04066538e-01 3.89026403e-02 9.29151278e+01] [ 2.03922397e-01 9.78956930e-01 7.68014915e-03 4.01171485e+01] [-3.96512707e-02 4.20522640e-04 9.99213491e-01 -8.20119135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72592 meters Centerline goodness [0,1] 0.9996016531394712 Centerline is valid? [True, True] Translation: X:92.95, Y:40.12, Z:-0.82 [[ 9.78466090e-01 -2.02597441e-01 3.94764078e-02 9.29474800e+01] [ 2.02448643e-01 9.79262032e-01 7.77297116e-03 4.01238377e+01] [-4.02325314e-02 3.86356510e-04 9.99190269e-01 -8.19309113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75591999999999 meters Centerline goodness [0,1] 0.9996023263906149 Centerline is valid? [True, True] Translation: X:92.98, Y:40.13, Z:-0.82 [[ 9.78489213e-01 -2.02288071e-01 4.04771069e-02 9.29796368e+01] [ 2.02132124e-01 9.79325980e-01 7.95166165e-03 4.01294409e+01] [-4.12488087e-02 4.01108424e-04 9.99148825e-01 -8.20123917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78591999999999 meters Centerline goodness [0,1] 0.9995524614619592 Centerline is valid? [True, True] Translation: X:93.01, Y:40.13, Z:-0.82 [[ 9.78730466e-01 -2.01774298e-01 3.70648990e-02 9.30118258e+01] [ 2.01643411e-01 9.79431982e-01 7.27509954e-03 4.01332264e+01] [-3.77704756e-02 3.53531114e-04 9.99286378e-01 -8.19344687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81591999999999 meters Centerline goodness [0,1] 0.9998506719761076 Centerline is valid? [True, True] Translation: X:93.04, Y:40.14, Z:-0.82 [[ 9.78983732e-01 -2.00659676e-01 3.64217866e-02 9.30429321e+01] [ 2.00533135e-01 9.79660957e-01 7.13236706e-03 4.01397577e+01] [-3.71121807e-02 3.21303722e-04 9.99311054e-01 -8.18190343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:40.15, Z:-0.82 [[ 9.79343902e-01 -1.98382795e-01 3.91125155e-02 9.30742381e+01] [ 1.98235763e-01 9.80124581e-01 7.64124255e-03 4.01470251e+01] [-3.98510289e-02 2.70095058e-04 9.99205596e-01 -8.18965822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87592 meters Centerline goodness [0,1] 0.999801093983093 Centerline is valid? [True, True] Translation: X:93.11, Y:40.15, Z:-0.82 [[ 9.79702094e-01 -1.96640008e-01 3.89424477e-02 9.31068951e+01] [ 1.96493685e-01 9.80475731e-01 7.58762462e-03 4.01534731e+01] [-3.96741554e-02 2.18333323e-04 9.99212647e-01 -8.18016759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90592 meters Centerline goodness [0,1] 0.9993021980760604 Centerline is valid? [True, True] Translation: X:93.14, Y:40.16, Z:-0.82 [[ 9.80212913e-01 -1.94597437e-01 3.62558052e-02 9.31385116e+01] [ 1.94469837e-01 9.80883182e-01 7.04737238e-03 4.01583744e+01] [-3.69341102e-02 1.42735121e-04 9.99317693e-01 -8.17694900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93592 meters Centerline goodness [0,1] 0.9998009554140127 Centerline is valid? [True, True] Translation: X:93.17, Y:40.17, Z:-0.82 [[ 9.80243781e-01 -1.94425337e-01 3.63444384e-02 9.31711278e+01] [ 1.94297710e-01 9.80917307e-01 7.04525494e-03 4.01650016e+01] [-3.70206647e-02 1.55573818e-04 9.99314488e-01 -8.18615161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96592 meters Centerline goodness [0,1] 0.9999006211180124 Centerline is valid? [True, True] Translation: X:93.20, Y:40.17, Z:-0.82 [[ 9.80098464e-01 -1.95334631e-01 3.53748853e-02 9.32026242e+01] [ 1.95214910e-01 9.80736632e-01 6.84086369e-03 4.01714432e+01] [-3.60297035e-02 2.00985049e-04 9.99350699e-01 -8.18677879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:40.18, Z:-0.82 [[ 9.79706927e-01 -1.96783610e-01 3.80860592e-02 9.32339403e+01] [ 1.96646605e-01 9.80446901e-01 7.34754967e-03 4.01785875e+01] [-3.87872361e-02 2.91048935e-04 9.99247450e-01 -8.19238003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02592 meters Centerline goodness [0,1] 0.9998507165605095 Centerline is valid? [True, True] Translation: X:93.27, Y:40.19, Z:-0.82 [[ 9.79383764e-01 -1.98199934e-01 3.90413711e-02 9.32653412e+01] [ 1.98057800e-01 9.80161541e-01 7.51404459e-03 4.01852352e+01] [-3.97561336e-02 3.73314790e-04 9.99209343e-01 -8.19071155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05592 meters Centerline goodness [0,1] 0.9999003239471717 Centerline is valid? [True, True] Translation: X:93.30, Y:40.19, Z:-0.82 [[ 9.79145704e-01 -1.99253287e-01 3.96461545e-02 9.32971441e+01] [ 1.99108310e-01 9.79947924e-01 7.61231242e-03 4.01919750e+01] [-4.03679451e-02 4.40315816e-04 9.99184785e-01 -8.20194710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:40.20, Z:-0.82 [[ 9.79072181e-01 -2.00173291e-01 3.67194464e-02 9.33291032e+01] [ 2.00049813e-01 9.79760405e-01 7.04418265e-03 4.01985421e+01] [-3.73863169e-02 4.48955095e-04 9.99300786e-01 -8.21008458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:40.21, Z:-0.82 [[ 9.79441083e-01 -1.98651494e-01 3.51105350e-02 9.33611264e+01] [ 1.98537830e-01 9.80070120e-01 6.72980294e-03 4.02053173e+01] [-3.57476716e-02 3.79323935e-04 9.99360776e-01 -8.20404613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14591999999999 meters Centerline goodness [0,1] 0.9998508353221957 Centerline is valid? [True, True] Translation: X:93.39, Y:40.21, Z:-0.82 [[ 9.80172323e-01 -1.95245076e-01 3.37872266e-02 9.33926094e+01] [ 1.95138084e-01 9.80754452e-01 6.46776472e-03 4.02146110e+01] [-3.43997721e-02 2.53650691e-04 9.99408121e-01 -8.19982100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17591999999999 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:93.43, Y:40.22, Z:-0.82 [[ 9.80635657e-01 -1.92898917e-01 3.38188727e-02 9.34250831e+01] [ 1.92790937e-01 9.81218616e-01 6.45618793e-03 4.02222342e+01] [-3.44290991e-02 1.88804073e-04 9.99407125e-01 -8.19579249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20591999999999 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:93.46, Y:40.23, Z:-0.82 [[ 9.80921144e-01 -1.91426218e-01 3.39074072e-02 9.34578040e+01] [ 1.91317114e-01 9.81506995e-01 6.46374772e-03 4.02296396e+01] [-3.45176882e-02 1.46640498e-04 9.99404076e-01 -8.17639515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23592 meters Centerline goodness [0,1] 0.9985080564949274 Centerline is valid? [True, True] Translation: X:93.49, Y:40.24, Z:-0.82 [[ 9.81532031e-01 -1.88054045e-01 3.50791727e-02 9.34883989e+01] [ 1.87935705e-01 9.82158681e-01 6.67059113e-03 4.02393893e+01] [-3.57077456e-02 4.52301782e-05 9.99362274e-01 -8.16589852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26592 meters Centerline goodness [0,1] 0.9992544361051742 Centerline is valid? [True, True] Translation: X:93.52, Y:40.25, Z:-0.82 [[ 9.81654146e-01 -1.87173744e-01 3.63473014e-02 9.35192171e+01] [ 1.87046668e-01 9.82326824e-01 6.89603688e-03 4.02472169e+01] [-3.69956862e-02 2.91184183e-05 9.99315425e-01 -8.17720433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29592 meters Centerline goodness [0,1] 0.9991547755183214 Centerline is valid? [True, True] Translation: X:93.55, Y:40.25, Z:-0.82 [[ 9.81695692e-01 -1.87140763e-01 3.53822413e-02 9.35504862e+01] [ 1.87020916e-01 9.82333107e-01 6.69656036e-03 4.02541247e+01] [-3.60103464e-02 4.32347181e-05 9.99351416e-01 -8.17961620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32592 meters Centerline goodness [0,1] 0.9993538767395627 Centerline is valid? [True, True] Translation: X:93.58, Y:40.26, Z:-0.82 [[ 9.81565351e-01 -1.87807946e-01 3.54631912e-02 9.35827499e+01] [ 1.87688658e-01 9.82205767e-01 6.69325516e-03 4.02623019e+01] [-3.60891974e-02 8.61714141e-05 9.99348569e-01 -8.17704096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35592 meters Centerline goodness [0,1] 0.9993515886079106 Centerline is valid? [True, True] Translation: X:93.61, Y:40.27, Z:-0.82 [[ 9.81724668e-01 -1.87109498e-01 3.47377588e-02 9.36136087e+01] [ 1.86995175e-01 9.82339061e-01 6.54020738e-03 4.02745658e+01] [-3.53479923e-02 7.51103694e-05 9.99375062e-01 -8.17065623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38592 meters Centerline goodness [0,1] 0.9993531050955414 Centerline is valid? [True, True] Translation: X:93.65, Y:40.28, Z:-0.82 [[ 9.82016693e-01 -1.85614339e-01 3.45040976e-02 9.36455770e+01] [ 1.85501263e-01 9.82622672e-01 6.47808134e-03 4.02819223e+01] [-3.51069334e-02 3.89696874e-05 9.99383561e-01 -8.17165478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41592 meters Centerline goodness [0,1] 0.9988558921553997 Centerline is valid? [True, True] Translation: X:93.68, Y:40.29, Z:-0.82 [[ 9.82492930e-01 -1.82382906e-01 3.80015586e-02 9.36772195e+01] [ 1.82244003e-01 9.83227579e-01 7.11703896e-03 4.02872305e+01] [-3.86622067e-02 -6.68842996e-05 9.99252335e-01 -8.17578717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44592 meters Centerline goodness [0,1] 0.9986553115194979 Centerline is valid? [True, True] Translation: X:93.71, Y:40.29, Z:-0.82 [[ 9.82684137e-01 -1.81049031e-01 3.94098318e-02 9.37088244e+01] [ 1.80899296e-01 9.83474065e-01 7.36256594e-03 4.02946887e+01] [-4.00915329e-02 -1.05865931e-04 9.99196006e-01 -8.18926969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47592 meters Centerline goodness [0,1] 0.9996518798488164 Centerline is valid? [True, True] Translation: X:93.74, Y:40.30, Z:-0.82 [[ 9.82799415e-01 -1.80661998e-01 3.82955873e-02 9.37396162e+01] [ 1.80521015e-01 9.83545237e-01 7.13656471e-03 4.03045894e+01] [-3.89547485e-02 -1.00653309e-04 9.99240971e-01 -8.20623092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50591999999999 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:93.77, Y:40.31, Z:-0.82 [[ 9.82599199e-01 -1.82006562e-01 3.70462592e-02 9.37713946e+01] [ 1.81876232e-01 9.83297315e-01 6.88662945e-03 4.03114296e+01] [-3.76808990e-02 -2.89625423e-05 9.99289822e-01 -8.21048557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.80, Y:40.32, Z:-0.82 [[ 9.81591153e-01 -1.87496235e-01 3.63864025e-02 9.38032071e+01] [ 1.87374620e-01 9.82265304e-01 6.75464792e-03 4.03191374e+01] [-3.70075718e-02 1.87585685e-04 9.99314968e-01 -8.19979831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:40.33, Z:-0.82 [[ 9.81686398e-01 -1.86996253e-01 3.63897939e-02 9.38351891e+01] [ 1.86874972e-01 9.82360609e-01 6.73635260e-03 4.03254086e+01] [-3.70075728e-02 1.87355999e-04 9.99314968e-01 -8.20007954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59591999999999 meters Centerline goodness [0,1] 0.9998011038735021 Centerline is valid? [True, True] Translation: X:93.87, Y:40.33, Z:-0.82 [[ 9.81141685e-01 -1.89715259e-01 3.70015612e-02 9.38664028e+01] [ 1.89592436e-01 9.81839103e-01 6.83262176e-03 4.03342362e+01] [-3.76258323e-02 3.11446090e-04 9.99291849e-01 -8.20348936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62592 meters Centerline goodness [0,1] 0.999204494605479 Centerline is valid? [True, True] Translation: X:93.90, Y:40.34, Z:-0.82 [[ 9.80774565e-01 -1.91844750e-01 3.57329728e-02 9.38972175e+01] [ 1.91732204e-01 9.81425206e-01 6.58229619e-03 4.03425638e+01] [-3.63320192e-02 3.95412940e-04 9.99339696e-01 -8.18672462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65592 meters Centerline goodness [0,1] 0.9993539088514487 Centerline is valid? [True, True] Translation: X:93.93, Y:40.35, Z:-0.82 [[ 9.79611874e-01 -1.97268901e-01 3.80204800e-02 9.39281872e+01] [ 1.97145757e-01 9.80349209e-01 6.99850876e-03 4.03512685e+01] [-3.86539356e-02 6.39754030e-04 9.99252453e-01 -8.18724251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68592 meters Centerline goodness [0,1] 0.9995021903624054 Centerline is valid? [True, True] Translation: X:93.96, Y:40.36, Z:-0.82 [[ 9.78700981e-01 -2.01707277e-01 3.81911548e-02 9.39587473e+01] [ 2.01587045e-01 9.79445495e-01 7.01326611e-03 4.03613177e+01] [-3.88207813e-02 8.34951605e-04 9.99245841e-01 -8.19436142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71592 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:93.99, Y:40.37, Z:-0.82 [[ 9.78412050e-01 -2.03181679e-01 3.77765127e-02 9.39904595e+01] [ 2.03065776e-01 9.79140641e-01 6.92063842e-03 4.03691654e+01] [-3.83946658e-02 8.99880842e-04 9.99262248e-01 -8.21071745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74592 meters Centerline goodness [0,1] 0.9997510084159156 Centerline is valid? [True, True] Translation: X:94.02, Y:40.37, Z:-0.82 [[ 9.77700656e-01 -2.06432229e-01 3.85637483e-02 9.40223464e+01] [ 2.06314609e-01 9.78460321e-01 7.04849725e-03 4.03745289e+01] [-3.91881346e-02 1.06494430e-03 9.99231283e-01 -8.21803459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77592 meters Centerline goodness [0,1] 0.9993532338308457 Centerline is valid? [True, True] Translation: X:94.05, Y:40.38, Z:-0.82 [[ 9.77523000e-01 -2.07237819e-01 3.87462314e-02 9.40543204e+01] [ 2.07120369e-01 9.78289954e-01 7.06524560e-03 4.03801765e+01] [-3.93692350e-02 1.11869369e-03 9.99224105e-01 -8.18554287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80592 meters Centerline goodness [0,1] 0.9992047713717693 Centerline is valid? [True, True] Translation: X:94.09, Y:40.39, Z:-0.82 [[ 9.77222140e-01 -2.08316521e-01 4.05107056e-02 9.40859355e+01] [ 2.08189772e-01 9.78060688e-01 7.36953656e-03 4.03878490e+01] [-4.11571248e-02 1.23224028e-03 9.99151927e-01 -8.18314346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83592 meters Centerline goodness [0,1] 0.9992059159263487 Centerline is valid? [True, True] Translation: X:94.12, Y:40.39, Z:-0.82 [[ 9.77226446e-01 -2.08856645e-01 3.75150085e-02 9.41171329e+01] [ 2.08748961e-01 9.77945558e-01 6.80856388e-03 4.03942895e+01] [-3.81096497e-02 1.17771035e-03 9.99272869e-01 -8.17499854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86591999999999 meters Centerline goodness [0,1] 0.9997510580034852 Centerline is valid? [True, True] Translation: X:94.15, Y:40.40, Z:-0.82 [[ 9.77404756e-01 -2.08317712e-01 3.58283887e-02 9.41492392e+01] [ 2.08219691e-01 9.78060569e-01 6.48712264e-03 4.03973920e+01] [-3.63937168e-02 1.11963151e-03 9.99336902e-01 -8.18112008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:40.40, Z:-0.82 [[ 9.77560116e-01 -2.07807359e-01 3.45299973e-02 9.41810729e+01] [ 2.07716518e-01 9.78169180e-01 6.23721273e-03 4.04042245e+01] [-3.50723178e-02 1.07520038e-03 9.99384199e-01 -8.18089717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92591999999999 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:94.21, Y:40.41, Z:-0.82 [[ 9.77821161e-01 -2.06420466e-01 3.54452806e-02 9.42133713e+01] [ 2.06324464e-01 9.78462798e-01 6.38504854e-03 4.04127096e+01] [-3.59998931e-02 1.06979293e-03 9.99351221e-01 -8.19189479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95591999999999 meters Centerline goodness [0,1] 0.9995021407945833 Centerline is valid? [True, True] Translation: X:94.25, Y:40.42, Z:-0.82 [[ 9.77816771e-01 -2.06439553e-01 3.54552295e-02 9.42457034e+01] [ 2.06344133e-01 9.78458751e-01 6.36954866e-03 4.04179622e+01] [-3.60064064e-02 1.08772709e-03 9.99350967e-01 -8.20265540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98592 meters Centerline goodness [0,1] 0.9993044860648815 Centerline is valid? [True, True] Translation: X:94.28, Y:40.42, Z:-0.82 [[ 9.77672436e-01 -2.06795151e-01 3.73145150e-02 9.42779002e+01] [ 2.06690323e-01 9.78383558e-01 6.68759793e-03 4.04202338e+01] [-3.78908708e-02 1.17426898e-03 9.99281193e-01 -8.20315389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01592 meters Centerline goodness [0,1] 0.9989060713042613 Centerline is valid? [True, True] Translation: X:94.31, Y:40.42, Z:-0.82 [[ 9.77043369e-01 -2.09805044e-01 3.69878207e-02 9.43098592e+01] [ 2.09704791e-01 9.77742382e-01 6.61321208e-03 4.04237193e+01] [-3.75520452e-02 1.29512819e-03 9.99293834e-01 -8.18595442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04592 meters Centerline goodness [0,1] 0.9995027349577325 Centerline is valid? [True, True] Translation: X:94.34, Y:40.43, Z:-0.82 [[ 9.76594071e-01 -2.12414242e-01 3.38261872e-02 9.43421608e+01] [ 2.12332522e-01 9.77178858e-01 6.03154726e-03 4.04285541e+01] [-3.43354215e-02 1.29202633e-03 9.99409530e-01 -8.18095224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07592 meters Centerline goodness [0,1] 0.9994526546250684 Centerline is valid? [True, True] Translation: X:94.37, Y:40.43, Z:-0.82 [[ 9.76386343e-01 -2.13253925e-01 3.45321884e-02 9.43737407e+01] [ 2.13169759e-01 9.76995858e-01 6.14382487e-03 4.04324367e+01] [-3.50479998e-02 1.36247158e-03 9.99384701e-01 -8.18723005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10592 meters Centerline goodness [0,1] 0.9993024762094564 Centerline is valid? [True, True] Translation: X:94.41, Y:40.44, Z:-0.82 [[ 9.76157052e-01 -2.14271954e-01 3.47122391e-02 9.44052268e+01] [ 2.14188028e-01 9.76773011e-01 6.16229331e-03 4.04363380e+01] [-3.52263850e-02 1.41957998e-03 9.99378350e-01 -8.18967539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13592 meters Centerline goodness [0,1] 0.9981575540284833 Centerline is valid? [True, True] Translation: X:94.44, Y:40.44, Z:-0.82 [[ 9.75792946e-01 -2.15415727e-01 3.77384492e-02 9.44374966e+01] [ 2.15317565e-01 9.76521135e-01 6.69473932e-03 4.04389221e+01] [-3.82945454e-02 1.59307157e-03 9.99265225e-01 -8.20406257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16592 meters Centerline goodness [0,1] 0.9991051898985882 Centerline is valid? [True, True] Translation: X:94.47, Y:40.44, Z:-0.82 [[ 9.75779341e-01 -2.15517637e-01 3.75076868e-02 9.44700942e+01] [ 2.15421424e-01 9.76498629e-01 6.63601274e-03 4.04425957e+01] [-3.80563826e-02 1.60467518e-03 9.99274305e-01 -8.19816675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19592 meters Centerline goodness [0,1] 0.9989060713042613 Centerline is valid? [True, True] Translation: X:94.50, Y:40.44, Z:-0.82 [[ 9.75476962e-01 -2.16680882e-01 3.86534725e-02 9.45030038e+01] [ 2.16580247e-01 9.76240979e-01 6.82255863e-03 4.04398925e+01] [-3.92134218e-02 1.71632983e-03 9.99229384e-01 -8.21026675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22592 meters Centerline goodness [0,1] 0.9994519728975687 Centerline is valid? [True, True] Translation: X:94.54, Y:40.44, Z:-0.82 [[ 9.75536827e-01 -2.16506522e-01 3.81159305e-02 9.45359924e+01] [ 2.16409239e-01 9.76279686e-01 6.70944843e-03 4.04422704e+01] [-3.86644479e-02 1.70332549e-03 9.99250799e-01 -8.20687826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25591999999999 meters Centerline goodness [0,1] 0.9997015964589446 Centerline is valid? [True, True] Translation: X:94.57, Y:40.45, Z:-0.82 [[ 9.75735048e-01 -2.15583951e-01 3.82710934e-02 9.45678124e+01] [ 2.15485790e-01 9.76483848e-01 6.72071560e-03 4.04454555e+01] [-3.88199830e-02 1.68923903e-03 9.99244793e-01 -8.20737694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28591999999999 meters Centerline goodness [0,1] 0.9997016112989855 Centerline is valid? [True, True] Translation: X:94.60, Y:40.45, Z:-0.82 [[ 9.75957174e-01 -2.14525896e-01 3.85517100e-02 9.45994971e+01] [ 2.14426096e-01 9.76716865e-01 6.75386780e-03 4.04489006e+01] [-3.91029849e-02 1.67500696e-03 9.99233782e-01 -8.20377779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31591999999999 meters Centerline goodness [0,1] 0.9995519936283538 Centerline is valid? [True, True] Translation: X:94.63, Y:40.45, Z:-0.82 [[ 9.76006614e-01 -2.14039319e-01 3.99782256e-02 9.46315368e+01] [ 2.13932272e-01 9.76823508e-01 6.98695605e-03 4.04509921e+01] [-4.05471538e-02 1.73331730e-03 9.99176123e-01 -8.21403608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34591999999999 meters Centerline goodness [0,1] 0.9997015964589446 Centerline is valid? [True, True] Translation: X:94.66, Y:40.45, Z:-0.82 [[ 9.75858544e-01 -2.14442769e-01 4.14053290e-02 9.46646649e+01] [ 2.14329034e-01 9.76734842e-01 7.21899817e-03 4.04491671e+01] [-4.19900894e-02 1.82964311e-03 9.99116352e-01 -8.21968881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37592 meters Centerline goodness [0,1] 0.9992543990456307 Centerline is valid? [True, True] Translation: X:94.70, Y:40.45, Z:-0.82 [[ 9.75914573e-01 -2.14499604e-01 3.97575877e-02 9.46974083e+01] [ 2.14395465e-01 9.76722462e-01 6.91498003e-03 4.04503098e+01] [-4.03153894e-02 1.77541669e-03 9.99185427e-01 -8.22299508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40592 meters Centerline goodness [0,1] 0.9995524169484782 Centerline is valid? [True, True] Translation: X:94.73, Y:40.45, Z:-0.82 [[ 9.76076093e-01 -2.13845512e-01 3.93135697e-02 9.47299289e+01] [ 2.13743821e-01 9.76865933e-01 6.82111000e-03 4.04535765e+01] [-3.98627507e-02 1.74511020e-03 9.99203641e-01 -8.23749143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43592 meters Centerline goodness [0,1] 0.9995017687210404 Centerline is valid? [True, True] Translation: X:94.76, Y:40.45, Z:-0.82 [[ 9.76182380e-01 -2.13567373e-01 3.81698667e-02 9.47628219e+01] [ 2.13471925e-01 9.76926860e-01 6.60655553e-03 4.04523238e+01] [-3.87001127e-02 1.69899182e-03 9.99249426e-01 -8.23969457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46592 meters Centerline goodness [0,1] 0.9998009157873781 Centerline is valid? [True, True] Translation: X:94.80, Y:40.46, Z:-0.82 [[ 9.76532781e-01 -2.11647487e-01 3.98631275e-02 9.47959542e+01] [ 2.11542564e-01 9.77344568e-01 6.88038128e-03 4.04554058e+01] [-4.04162265e-02 1.71383034e-03 9.99181461e-01 -8.24434332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49592 meters Centerline goodness [0,1] 0.9998007769698177 Centerline is valid? [True, True] Translation: X:94.83, Y:40.46, Z:-0.82 [[ 9.76982593e-01 -2.09145871e-01 4.19883155e-02 9.48286780e+01] [ 2.09028021e-01 9.77882948e-01 7.22684891e-03 4.04572975e+01] [-4.25711234e-02 1.71622890e-03 9.99091965e-01 -8.23990013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52592 meters Centerline goodness [0,1] 0.9993040019885657 Centerline is valid? [True, True] Translation: X:94.86, Y:40.46, Z:-0.82 [[ 9.77029426e-01 -2.08829448e-01 4.24707142e-02 9.48602881e+01] [ 2.08709300e-01 9.77950530e-01 7.29305386e-03 4.04605688e+01] [-4.30572618e-02 1.73850481e-03 9.99071093e-01 -8.23153643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55592 meters Centerline goodness [0,1] 0.9998013902681231 Centerline is valid? [True, True] Translation: X:94.89, Y:40.46, Z:-0.82 [[ 9.77474628e-01 -2.07174722e-01 4.02738808e-02 9.48925121e+01] [ 2.07065443e-01 9.78302677e-01 6.91187556e-03 4.04600601e+01] [-4.08320113e-02 1.58314598e-03 9.99164771e-01 -8.24374516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58592 meters Centerline goodness [0,1] 0.9998011928429423 Centerline is valid? [True, True] Translation: X:94.93, Y:40.46, Z:-0.82 [[ 9.77582189e-01 -2.06689905e-01 4.01540442e-02 9.49251777e+01] [ 2.06581651e-01 9.78405231e-01 6.87208136e-03 4.04629630e+01] [-4.07073167e-02 1.57706439e-03 9.99169869e-01 -8.24799589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61591999999999 meters Centerline goodness [0,1] 0.9998507759649821 Centerline is valid? [True, True] Translation: X:94.96, Y:40.46, Z:-0.83 [[ 9.78083423e-01 -2.04830041e-01 3.73827770e-02 9.49575479e+01] [ 2.04735058e-01 9.78796553e-01 6.39256465e-03 4.04629502e+01] [-3.78995225e-02 1.40110349e-03 9.99280573e-01 -8.25187331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64591999999999 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:94.99, Y:40.47, Z:-0.83 [[ 9.78389068e-01 -2.03530602e-01 3.64708859e-02 9.49892062e+01] [ 2.03439871e-01 9.79067677e-01 6.22106751e-03 4.04664537e+01] [-3.69736431e-02 1.33300789e-03 9.99315352e-01 -8.26126451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67591999999999 meters Centerline goodness [0,1] 0.9997511571193948 Centerline is valid? [True, True] Translation: X:95.02, Y:40.47, Z:-0.83 [[ 9.78551116e-01 -2.02427362e-01 3.82214216e-02 9.50210756e+01] [ 2.02327513e-01 9.79296322e-01 6.50310991e-03 4.04692696e+01] [-3.87465050e-02 1.36961971e-03 9.99248134e-01 -8.27256589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70591999999999 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:95.05, Y:40.47, Z:-0.83 [[ 9.79344102e-01 -1.98748849e-01 3.72024868e-02 9.50529909e+01] [ 1.98651700e-01 9.80049728e-01 6.32711784e-03 4.04693126e+01] [-3.77177944e-02 1.19391169e-03 9.99287718e-01 -8.26186428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73592 meters Centerline goodness [0,1] 0.9996020494453565 Centerline is valid? [True, True] Translation: X:95.08, Y:40.47, Z:-0.82 [[ 9.80333081e-01 -1.94642167e-01 3.25803160e-02 9.50834454e+01] [ 1.94565396e-01 9.80873898e-01 5.54096746e-03 4.04708627e+01] [-3.30356875e-02 9.07008389e-04 9.99453761e-01 -8.24220330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76592 meters Centerline goodness [0,1] 0.9996517066374764 Centerline is valid? [True, True] Translation: X:95.12, Y:40.47, Z:-0.82 [[ 9.80730341e-01 -1.92794952e-01 3.15927998e-02 9.51157484e+01] [ 1.92722243e-01 9.81238714e-01 5.35942838e-03 4.04733942e+01] [-3.20333490e-02 8.32481227e-04 9.99486454e-01 -8.24373082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79592 meters Centerline goodness [0,1] 0.9998008662318912 Centerline is valid? [True, True] Translation: X:95.15, Y:40.48, Z:-0.83 [[ 9.81120178e-01 -1.90635773e-01 3.25760275e-02 9.51490931e+01] [ 1.90557827e-01 9.81660511e-01 5.50960191e-03 4.04753793e+01] [-3.30289270e-02 8.02035395e-04 9.99454074e-01 -8.25112320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82592 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:95.18, Y:40.48, Z:-0.82 [[ 9.82063581e-01 -1.85683068e-01 3.27554798e-02 9.51821040e+01] [ 1.85601691e-01 9.82609476e-01 5.53437592e-03 4.04760486e+01] [-3.32134848e-02 6.44363403e-04 9.99448072e-01 -8.24938695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85592 meters Centerline goodness [0,1] 0.9997012398546034 Centerline is valid? [True, True] Translation: X:95.21, Y:40.48, Z:-0.82 [[ 9.82580098e-01 -1.82905484e-01 3.28927687e-02 9.52139109e+01] [ 1.82822355e-01 9.83130338e-01 5.54293395e-03 4.04820632e+01] [-3.33517118e-02 5.67156853e-04 9.99443516e-01 -8.24262769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:40.49, Z:-0.82 [[ 9.83456469e-01 -1.78369683e-01 3.15852663e-02 9.52456814e+01] [ 1.78291150e-01 9.83963458e-01 5.30833420e-03 4.04861918e+01] [-3.20255937e-02 4.10857847e-04 9.99486965e-01 -8.22083288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91592 meters Centerline goodness [0,1] 0.9999502215142615 Centerline is valid? [True, True] Translation: X:95.28, Y:40.49, Z:-0.82 [[ 9.83751699e-01 -1.76714586e-01 3.16946199e-02 9.52785269e+01] [ 1.76635183e-01 9.84262066e-01 5.31012843e-03 4.04904267e+01] [-3.21341892e-02 3.74537104e-04 9.99483493e-01 -8.21917069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94592 meters Centerline goodness [0,1] 0.9999003090419699 Centerline is valid? [True, True] Translation: X:95.31, Y:40.50, Z:-0.82 [[ 9.84084475e-01 -1.75125525e-01 3.01462418e-02 9.53105763e+01] [ 1.75053185e-01 9.84546064e-01 5.04291612e-03 4.04964324e+01] [-3.05635071e-02 3.14540182e-04 9.99532777e-01 -8.22625884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97592 meters Centerline goodness [0,1] 0.9997007779772591 Centerline is valid? [True, True] Translation: X:95.34, Y:40.50, Z:-0.82 [[ 9.84214511e-01 -1.74101447e-01 3.17880866e-02 9.53418537e+01] [ 1.74020943e-01 9.84727672e-01 5.30308548e-03 4.05034127e+01] [-3.22258834e-02 3.12419121e-04 9.99480563e-01 -8.22722059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00591999999999 meters Centerline goodness [0,1] 0.9999501818362975 Centerline is valid? [True, True] Translation: X:95.37, Y:40.51, Z:-0.82 [[ 9.84129736e-01 -1.73828815e-01 3.56679992e-02 9.53736850e+01] [ 1.73727879e-01 9.84775820e-01 5.93367021e-03 4.05101606e+01] [-3.61564260e-02 3.57024556e-04 9.99346079e-01 -8.23303642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.41, Y:40.52, Z:-0.82 [[ 9.83934073e-01 -1.74874887e-01 3.59515539e-02 9.54055928e+01] [ 1.74773640e-01 9.84590576e-01 5.96431193e-03 4.05170357e+01] [-3.64405695e-02 4.14894208e-04 9.99335736e-01 -8.23611316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:40.53, Z:-0.82 [[ 9.83523686e-01 -1.77486499e-01 3.43467939e-02 9.54377068e+01] [ 1.77396307e-01 9.84123105e-01 5.68016739e-03 4.05255404e+01] [-3.48096265e-02 5.06415214e-04 9.99393833e-01 -8.23145158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09591999999999 meters Centerline goodness [0,1] 0.9998008662318912 Centerline is valid? [True, True] Translation: X:95.47, Y:40.53, Z:-0.82 [[ 9.83260560e-01 -1.79084703e-01 3.35758764e-02 9.54704686e+01] [ 1.79000042e-01 9.83833496e-01 5.53516319e-03 4.05322801e+01] [-3.40243349e-02 5.67575626e-04 9.99420844e-01 -8.22632259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12592 meters Centerline goodness [0,1] 0.9996017919362867 Centerline is valid? [True, True] Translation: X:95.50, Y:40.54, Z:-0.82 [[ 9.82263710e-01 -1.83987536e-01 3.61468041e-02 9.55018306e+01] [ 1.83892909e-01 9.82928252e-01 5.95395977e-03 4.05389547e+01] [-3.66251694e-02 7.98782344e-04 9.99328754e-01 -8.20928232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15592 meters Centerline goodness [0,1] 0.9997508719481814 Centerline is valid? [True, True] Translation: X:95.53, Y:40.55, Z:-0.82 [[ 9.81866579e-01 -1.86093374e-01 3.61562833e-02 9.55328547e+01] [ 1.86000438e-01 9.82531664e-01 5.94691667e-03 4.05452915e+01] [-3.66313750e-02 8.86005811e-04 9.99328453e-01 -8.20269388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18592 meters Centerline goodness [0,1] 0.9998007273451901 Centerline is valid? [True, True] Translation: X:95.56, Y:40.55, Z:-0.82 [[ 9.81144735e-01 -1.89914979e-01 3.58790998e-02 9.55642928e+01] [ 1.89826586e-01 9.81799993e-01 5.88559823e-03 4.05537790e+01] [-3.63438632e-02 1.03618331e-03 9.99338806e-01 -8.22628179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21592 meters Centerline goodness [0,1] 0.9994028959546201 Centerline is valid? [True, True] Translation: X:95.60, Y:40.56, Z:-0.82 [[ 9.81018589e-01 -1.90706837e-01 3.51202173e-02 9.55971538e+01] [ 1.90623271e-01 9.81646463e-01 5.74368370e-03 4.05595811e+01] [-3.55709968e-02 1.06007023e-03 9.99366590e-01 -8.22309712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24592 meters Centerline goodness [0,1] 0.9996021286119262 Centerline is valid? [True, True] Translation: X:95.63, Y:40.56, Z:-0.82 [[ 9.80889530e-01 -1.90803781e-01 3.80742253e-02 9.56284911e+01] [ 1.90706240e-01 9.81627501e-01 6.21115933e-03 4.05649186e+01] [-3.85598193e-02 1.16853118e-03 9.99255610e-01 -8.24216042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27592 meters Centerline goodness [0,1] 0.9998507611182967 Centerline is valid? [True, True] Translation: X:95.66, Y:40.57, Z:-0.82 [[ 9.80898535e-01 -1.90494113e-01 3.93707611e-02 9.56605435e+01] [ 1.90390250e-01 9.81687589e-01 6.40548754e-03 4.05709297e+01] [-3.98699952e-02 1.21267571e-03 9.99204140e-01 -8.24596885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30592 meters Centerline goodness [0,1] 0.9999003686360466 Centerline is valid? [True, True] Translation: X:95.69, Y:40.58, Z:-0.82 [[ 9.81086991e-01 -1.89856714e-01 3.77192890e-02 9.56921380e+01] [ 1.89761541e-01 9.81811132e-01 6.12037033e-03 4.05770922e+01] [-3.81952112e-02 1.15305469e-03 9.99269631e-01 -8.24675975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33592 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:95.72, Y:40.58, Z:-0.83 [[ 9.81238896e-01 -1.88909619e-01 3.85147403e-02 9.57244048e+01] [ 1.88810412e-01 9.81993795e-01 6.23017756e-03 4.05830974e+01] [-3.89981765e-02 1.15869142e-03 9.99238610e-01 -8.25700816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36591999999999 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:95.76, Y:40.59, Z:-0.83 [[ 9.81431091e-01 -1.88160312e-01 3.72654134e-02 9.57556399e+01] [ 1.88067516e-01 9.82137703e-01 6.01171622e-03 4.05893514e+01] [-3.77309340e-02 1.10832854e-03 9.99287320e-01 -8.25261258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39591999999999 meters Centerline goodness [0,1] 0.9999005272058092 Centerline is valid? [True, True] Translation: X:95.79, Y:40.60, Z:-0.83 [[ 9.81218535e-01 -1.89226253e-01 3.74648187e-02 9.57873711e+01] [ 1.89133861e-01 9.81932815e-01 6.02743080e-03 4.05952635e+01] [-3.79284830e-02 1.17163901e-03 9.99279769e-01 -8.25413101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:40.60, Z:-0.82 [[ 9.81280391e-01 -1.89157174e-01 3.61712229e-02 9.58196796e+01] [ 1.89071586e-01 9.81946157e-01 5.80351662e-03 4.05998490e+01] [-3.66159701e-02 1.14407341e-03 9.99328756e-01 -8.24885783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45591999999999 meters Centerline goodness [0,1] 0.9997510208146599 Centerline is valid? [True, True] Translation: X:95.85, Y:40.61, Z:-0.83 [[ 9.81295983e-01 -1.89308610e-01 3.49348549e-02 9.58509698e+01] [ 1.89229409e-01 9.81916994e-01 5.58989335e-03 4.06058770e+01] [-3.53613427e-02 1.12536206e-03 9.99373959e-01 -8.25623960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48592 meters Centerline goodness [0,1] 0.9997510208146599 Centerline is valid? [True, True] Translation: X:95.88, Y:40.61, Z:-0.83 [[ 9.81387757e-01 -1.88831771e-01 3.49375571e-02 9.58830722e+01] [ 1.88752870e-01 9.82008806e-01 5.57297915e-03 4.06113302e+01] [-3.53613442e-02 1.12531067e-03 9.99373959e-01 -8.25652073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:40.62, Z:-0.83 [[ 9.81422662e-01 -1.88260091e-01 3.69823815e-02 9.59146788e+01] [ 1.88171883e-01 9.82118492e-01 5.88298831e-03 4.06189382e+01] [-3.74286127e-02 1.18534632e-03 9.99298601e-01 -8.27158596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54592 meters Centerline goodness [0,1] 0.9999501768721041 Centerline is valid? [True, True] Translation: X:95.95, Y:40.62, Z:-0.83 [[ 9.81605982e-01 -1.87232083e-01 3.73342079e-02 9.59470588e+01] [ 1.87142149e-01 9.82315003e-01 5.92034952e-03 4.06240567e+01] [-3.77824320e-02 1.17535339e-03 9.99285298e-01 -8.26375624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57592 meters Centerline goodness [0,1] 0.9999003735990037 Centerline is valid? [True, True] Translation: X:95.98, Y:40.63, Z:-0.83 [[ 9.81907327e-01 -1.85485948e-01 3.81177603e-02 9.59800671e+01] [ 1.85391625e-01 9.82646244e-01 6.02540100e-03 4.06293068e+01] [-3.85739012e-02 1.15032814e-03 9.99255088e-01 -8.26621624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60592 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:96.01, Y:40.63, Z:-0.83 [[ 9.82168772e-01 -1.83985955e-01 3.86480452e-02 9.60130283e+01] [ 1.83888589e-01 9.82928228e-01 6.08980302e-03 4.06327333e+01] [-3.91086928e-02 1.12572015e-03 9.99234328e-01 -8.26879887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:96.04, Y:40.64, Z:-0.83 [[ 9.82591859e-01 -1.81852919e-01 3.79836133e-02 9.60449539e+01] [ 1.81757922e-01 9.83325193e-01 5.96843170e-03 4.06352803e+01] [-3.84356206e-02 1.03929024e-03 9.99260538e-01 -8.27264827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:96.08, Y:40.64, Z:-0.83 [[ 9.82737104e-01 -1.81153440e-01 3.75661572e-02 9.60766092e+01] [ 1.81060635e-01 9.83454319e-01 5.88639029e-03 4.06402682e+01] [-3.80109394e-02 1.01697813e-03 9.99276806e-01 -8.26587617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:96.11, Y:40.65, Z:-0.83 [[ 9.83087456e-01 -1.79560826e-01 3.60133915e-02 9.61081626e+01] [ 1.79475044e-01 9.83746432e-01 5.62728078e-03 4.06451841e+01] [-3.64384845e-02 9.31395884e-04 9.99335464e-01 -8.26041375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.14, Y:40.65, Z:-0.82 [[ 9.83577597e-01 -1.77394955e-01 3.32586913e-02 9.61405592e+01] [ 1.77320877e-01 9.84139420e-01 5.18741191e-03 4.06490729e+01] [-3.36514098e-02 7.95238144e-04 9.99433315e-01 -8.24745881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75591999999999 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:96.17, Y:40.65, Z:-0.82 [[ 9.83900444e-01 -1.75821944e-01 3.20399697e-02 9.61727910e+01] [ 1.75752819e-01 9.84421715e-01 4.98324455e-03 4.06532756e+01] [-3.24170057e-02 7.28098472e-04 9.99474166e-01 -8.24166810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:40.66, Z:-0.82 [[ 9.84475868e-01 -1.72556505e-01 3.21172596e-02 9.62045810e+01] [ 1.72485777e-01 9.84999415e-01 4.98088091e-03 4.06586205e+01] [-3.24949653e-02 6.36213403e-04 9.99471697e-01 -8.23795252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81591999999999 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:96.24, Y:40.66, Z:-0.82 [[ 9.84840708e-01 -1.70853853e-01 2.99623102e-02 9.62362646e+01] [ 1.70791919e-01 9.85296226e-01 4.63323056e-03 4.06647163e+01] [-3.03133564e-02 5.54326367e-04 9.99540291e-01 -8.21018464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84591999999999 meters Centerline goodness [0,1] 0.999900353744208 Centerline is valid? [True, True] Translation: X:96.27, Y:40.67, Z:-0.82 [[ 9.85623228e-01 -1.66884868e-01 2.63873603e-02 9.62671038e+01] [ 1.66835464e-01 9.85976315e-01 4.07839437e-03 4.06700728e+01] [-2.66979346e-02 3.82587279e-04 9.99643473e-01 -8.20660118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:40.68, Z:-0.82 [[ 9.85807736e-01 -1.65756826e-01 2.66041885e-02 9.63000679e+01] [ 1.65706559e-01 9.86166588e-01 4.09843730e-03 4.06753981e+01] [-2.69155058e-02 3.68217351e-04 9.99637644e-01 -8.22166314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:40.68, Z:-0.82 [[ 9.86053342e-01 -1.64215517e-01 2.70568121e-02 9.63327860e+01] [ 1.64163332e-01 9.86424424e-01 4.15402720e-03 4.06819536e+01] [-2.73716561e-02 3.45644034e-04 9.99625266e-01 -8.22368392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93592 meters Centerline goodness [0,1] 0.9999003785614664 Centerline is valid? [True, True] Translation: X:96.36, Y:40.69, Z:-0.82 [[ 9.86018542e-01 -1.64411301e-01 2.71359264e-02 9.63648135e+01] [ 1.64359275e-01 9.86391803e-01 4.15196814e-03 4.06886033e+01] [-2.74492859e-02 3.66123615e-04 9.99623130e-01 -8.21227830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:40.69, Z:-0.82 [[ 9.86088910e-01 -1.63571123e-01 2.95490995e-02 9.63961627e+01] [ 1.63509460e-01 9.86531468e-01 4.50756992e-03 4.06946187e+01] [-2.98884248e-02 3.86692592e-04 9.99553166e-01 -8.21969514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.43, Y:40.70, Z:-0.82 [[ 9.85999533e-01 -1.64022262e-01 3.00269598e-02 9.64271613e+01] [ 1.63959216e-01 9.86456548e-01 4.56669746e-03 4.07030472e+01] [-3.03693312e-02 4.20435221e-04 9.99538657e-01 -8.21661493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02592 meters Centerline goodness [0,1] 0.9999005568814638 Centerline is valid? [True, True] Translation: X:96.46, Y:40.71, Z:-0.82 [[ 9.85854279e-01 -1.64689249e-01 3.11254293e-02 9.64586849e+01] [ 1.64622284e-01 9.86345390e-01 4.71957786e-03 4.07099464e+01] [-3.14776875e-02 4.71123241e-04 9.99504344e-01 -8.22238797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05592 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:96.49, Y:40.71, Z:-0.82 [[ 9.85875496e-01 -1.64772485e-01 2.99922572e-02 9.64904795e+01] [ 1.64710756e-01 9.86331490e-01 4.53423234e-03 4.07146900e+01] [-3.03294245e-02 4.69858814e-04 9.99539847e-01 -8.21557910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:40.72, Z:-0.82 [[ 9.85960361e-01 -1.64427641e-01 2.90812325e-02 9.65227213e+01] [ 1.64369843e-01 9.86389041e-01 4.38334424e-03 4.07195651e+01] [-2.94061520e-02 4.58273963e-04 9.99567441e-01 -8.20546565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:40.73, Z:-0.82 [[ 9.86277878e-01 -1.62650497e-01 2.82977428e-02 9.65541376e+01] [ 1.62595407e-01 9.86683663e-01 4.25246524e-03 4.07251015e+01] [-2.86125861e-02 4.06970606e-04 9.99590493e-01 -8.19845840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:40.73, Z:-0.82 [[ 9.86842313e-01 -1.58830275e-01 3.02521466e-02 9.65863815e+01] [ 1.58766000e-01 9.87305846e-01 4.53032263e-03 4.07307023e+01] [-3.05876736e-02 3.32298263e-04 9.99532032e-01 -8.18381905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17591999999999 meters Centerline goodness [0,1] 0.9996021483986473 Centerline is valid? [True, True] Translation: X:96.62, Y:40.74, Z:-0.82 [[ 9.87064245e-01 -1.57442042e-01 3.02684658e-02 9.66192817e+01] [ 1.57377535e-01 9.87528182e-01 4.51676117e-03 4.07362107e+01] [-3.06020911e-02 3.05243075e-04 9.99531600e-01 -8.18003164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20591999999999 meters Centerline goodness [0,1] 0.9999502363772083 Centerline is valid? [True, True] Translation: X:96.65, Y:40.74, Z:-0.82 [[ 9.87294014e-01 -1.56352646e-01 2.83615836e-02 9.66505603e+01] [ 1.56295935e-01 9.87701260e-01 4.21921259e-03 4.07422636e+01] [-2.86724569e-02 2.67196897e-04 9.99588825e-01 -8.16476040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23592 meters Centerline goodness [0,1] 0.9999502190362406 Centerline is valid? [True, True] Translation: X:96.68, Y:40.75, Z:-0.82 [[ 9.87393490e-01 -1.55599880e-01 2.90305545e-02 9.66834628e+01] [ 1.55540585e-01 9.87820129e-01 4.30350788e-03 4.07476393e+01] [-2.93465914e-02 2.66173758e-04 9.99569261e-01 -8.15873631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26592 meters Centerline goodness [0,1] 0.9994513442066936 Centerline is valid? [True, True] Translation: X:96.72, Y:40.75, Z:-0.82 [[ 9.87038897e-01 -1.57753625e-01 2.94620059e-02 9.67154171e+01] [ 1.57693917e-01 9.87478441e-01 4.35387302e-03 4.07540300e+01] [-2.97799349e-02 3.48537100e-04 9.99556419e-01 -8.15479898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29592 meters Centerline goodness [0,1] 0.9984080394010248 Centerline is valid? [True, True] Translation: X:96.75, Y:40.76, Z:-0.81 [[ 9.86347899e-01 -1.62031427e-01 2.93877211e-02 9.67470502e+01] [ 1.61974314e-01 9.86785477e-01 4.32954012e-03 4.07603308e+01] [-2.97008979e-02 4.89623145e-04 9.99558711e-01 -8.14127446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32592 meters Centerline goodness [0,1] 0.9987064033036469 Centerline is valid? [True, True] Translation: X:96.78, Y:40.77, Z:-0.82 [[ 9.86027951e-01 -1.63636257e-01 3.11778045e-02 9.67786577e+01] [ 1.63573217e-01 9.86520569e-01 4.57922016e-03 4.07659750e+01] [-3.15068719e-02 5.84614710e-04 9.99503364e-01 -8.15145254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35592 meters Centerline goodness [0,1] 0.9996024449634746 Centerline is valid? [True, True] Translation: X:96.81, Y:40.77, Z:-0.82 [[ 9.85592126e-01 -1.65613332e-01 3.43567522e-02 9.68101756e+01] [ 1.65538141e-01 9.86190503e-01 5.04141832e-03 4.07715727e+01] [-3.47172288e-02 7.18570671e-04 9.99396917e-01 -8.18232455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38592 meters Centerline goodness [0,1] 0.9996021681834004 Centerline is valid? [True, True] Translation: X:96.84, Y:40.78, Z:-0.82 [[ 9.85722753e-01 -1.64876811e-01 3.41510009e-02 9.68432083e+01] [ 1.64802664e-01 9.86313916e-01 4.99421044e-03 4.07768233e+01] [-3.45070369e-02 7.05269052e-04 9.99404206e-01 -8.18305290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41592 meters Centerline goodness [0,1] 0.9997016112989855 Centerline is valid? [True, True] Translation: X:96.88, Y:40.78, Z:-0.82 [[ 9.86083364e-01 -1.62606536e-01 3.46224572e-02 9.68752967e+01] [ 1.62529470e-01 9.86690778e-01 5.04767262e-03 4.07803083e+01] [-3.49824438e-02 6.49743629e-04 9.99387716e-01 -8.18193625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44592 meters Centerline goodness [0,1] 0.9995021903624054 Centerline is valid? [True, True] Translation: X:96.91, Y:40.78, Z:-0.82 [[ 9.86368627e-01 -1.60987165e-01 3.40597031e-02 9.69074917e+01] [ 1.60912144e-01 9.86956319e-01 4.95041546e-03 4.07844202e+01] [-3.44123926e-02 5.97685350e-04 9.99407540e-01 -8.18075593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47592 meters Centerline goodness [0,1] 0.999154144691014 Centerline is valid? [True, True] Translation: X:96.94, Y:40.79, Z:-0.82 [[ 9.86723118e-01 -1.58328932e-01 3.61861647e-02 9.69388628e+01] [ 1.58243056e-01 9.87386269e-01 5.24321285e-03 4.07893190e+01] [-3.65598744e-02 5.52609971e-04 9.99331312e-01 -8.17804661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50591999999999 meters Centerline goodness [0,1] 0.9993517502742595 Centerline is valid? [True, True] Translation: X:96.97, Y:40.80, Z:-0.82 [[ 9.87000789e-01 -1.56525868e-01 3.64567538e-02 9.69709429e+01] [ 1.56438165e-01 9.87673729e-01 5.26364715e-03 4.07963672e+01] [-3.68312749e-02 5.08003769e-04 9.99321369e-01 -8.19102850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53591999999999 meters Centerline goodness [0,1] 0.9998010544116184 Centerline is valid? [True, True] Translation: X:97.00, Y:40.80, Z:-0.82 [[ 9.87157165e-01 -1.55987479e-01 3.44766210e-02 9.70029009e+01] [ 1.55909261e-01 9.87758918e-01 4.96218644e-03 4.08022006e+01] [-3.48286288e-02 4.76766588e-04 9.99393186e-01 -8.20273413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56591999999999 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:97.04, Y:40.81, Z:-0.82 [[ 9.87167356e-01 -1.55686789e-01 3.55279357e-02 9.70350845e+01] [ 1.55604104e-01 9.87806346e-01 5.09755676e-03 4.08077793e+01] [-3.58883426e-02 4.96150983e-04 9.99355683e-01 -8.21934998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:40.82, Z:-0.82 [[ 9.86923193e-01 -1.56849304e-01 3.71605656e-02 9.70666490e+01] [ 1.56760295e-01 9.87622377e-01 5.31506989e-03 4.08156698e+01] [-3.75342711e-02 5.79735475e-04 9.99295173e-01 -8.22840632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62592 meters Centerline goodness [0,1] 0.9998505455088925 Centerline is valid? [True, True] Translation: X:97.10, Y:40.82, Z:-0.82 [[ 9.86537387e-01 -1.58669084e-01 3.95993232e-02 9.70982828e+01] [ 1.58570178e-01 9.87331565e-01 5.64621472e-03 4.08224807e+01] [-3.99935415e-02 7.09069824e-04 9.99199687e-01 -8.24389802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65592 meters Centerline goodness [0,1] 0.9995524169484782 Centerline is valid? [True, True] Translation: X:97.13, Y:40.83, Z:-0.82 [[ 9.85762272e-01 -1.63408687e-01 3.96275602e-02 9.71300409e+01] [ 1.63314160e-01 9.86558035e-01 5.63282781e-03 4.08301788e+01] [-4.00153410e-02 9.19112576e-04 9.99198643e-01 -8.21987539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68592 meters Centerline goodness [0,1] 0.9996520355917881 Centerline is valid? [True, True] Translation: X:97.16, Y:40.84, Z:-0.82 [[ 9.85063677e-01 -1.67820578e-01 3.85461512e-02 9.71610153e+01] [ 1.67735164e-01 9.85816959e-01 5.46237757e-03 4.08384086e+01] [-3.89161490e-02 1.08475528e-03 9.99241891e-01 -8.22968100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71592 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:97.19, Y:40.84, Z:-0.82 [[ 9.84854802e-01 -1.68529847e-01 4.07272677e-02 9.71932746e+01] [ 1.68435826e-01 9.85695829e-01 5.75377064e-03 4.08428289e+01] [-4.11143800e-02 1.19330233e-03 9.99153734e-01 -8.24867295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74592 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:97.22, Y:40.85, Z:-0.82 [[ 9.84856482e-01 -1.69006013e-01 3.86610687e-02 9.72249925e+01] [ 1.68922311e-01 9.85614328e-01 5.44516321e-03 4.08471196e+01] [-3.90251686e-02 1.16801278e-03 9.99237545e-01 -8.24863137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77592 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:97.26, Y:40.85, Z:-0.83 [[ 9.85177343e-01 -1.67088407e-01 3.88209625e-02 9.72568494e+01] [ 1.67003183e-01 9.85941289e-01 5.45087409e-03 4.08529618e+01] [-3.91859677e-02 1.11314664e-03 9.99231315e-01 -8.25382466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80592 meters Centerline goodness [0,1] 0.9998506273650667 Centerline is valid? [True, True] Translation: X:97.29, Y:40.86, Z:-0.83 [[ 9.85448004e-01 -1.65768526e-01 3.75902423e-02 9.72888851e+01] [ 1.65688281e-01 9.86164138e-01 5.26175087e-03 4.08584063e+01] [-3.79423815e-02 1.04308071e-03 9.99279384e-01 -8.25455588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83592 meters Centerline goodness [0,1] 0.9998507388427285 Centerline is valid? [True, True] Translation: X:97.32, Y:40.86, Z:-0.83 [[ 9.86144471e-01 -1.61895804e-01 3.61777785e-02 9.73209886e+01] [ 1.61819005e-01 9.86807480e-01 5.06036296e-03 4.08581102e+01] [-3.65197540e-02 8.64003188e-04 9.99332558e-01 -8.25784386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86591999999999 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:97.35, Y:40.86, Z:-0.82 [[ 9.86530139e-01 -1.59880407e-01 3.45910535e-02 9.73529199e+01] [ 1.59809482e-01 9.87136092e-01 4.82348216e-03 4.08602614e+01] [-3.49172576e-02 7.69467817e-04 9.99389910e-01 -8.24853374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89591999999999 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:97.38, Y:40.86, Z:-0.82 [[ 9.86986334e-01 -1.57763586e-01 3.11227783e-02 9.73836930e+01] [ 1.57705192e-01 9.87476713e-01 4.33757623e-03 4.08642577e+01] [-3.14173303e-02 6.27095271e-04 9.99506157e-01 -8.23208952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92591999999999 meters Centerline goodness [0,1] 0.9998005882646194 Centerline is valid? [True, True] Translation: X:97.42, Y:40.87, Z:-0.82 [[ 9.87114331e-01 -1.57143884e-01 3.01843957e-02 9.74156541e+01] [ 1.57089068e-01 9.87575535e-01 4.19371547e-03 4.08689138e+01] [-3.04683875e-02 6.01961961e-04 9.99535550e-01 -8.22794408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.45, Y:40.87, Z:-0.82 [[ 9.87549961e-01 -1.54228508e-01 3.09619491e-02 9.74475004e+01] [ 1.54169832e-01 9.88035059e-01 4.28790215e-03 4.08710526e+01] [-3.12528079e-02 5.38880873e-04 9.99511366e-01 -8.22952040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:40.88, Z:-0.82 [[ 9.87837753e-01 -1.52242199e-01 3.16051544e-02 9.74803935e+01] [ 1.52180558e-01 9.88343089e-01 4.36082347e-03 4.08755183e+01] [-3.19006373e-02 5.01903989e-04 9.99490919e-01 -8.22099118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:40.88, Z:-0.82 [[ 9.88362198e-01 -1.48978240e-01 3.07513999e-02 9.75121617e+01] [ 1.48918738e-01 9.88840394e-01 4.22907345e-03 4.08810584e+01] [-3.10382663e-02 3.99603339e-04 9.99518117e-01 -8.21834189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.54, Y:40.89, Z:-0.82 [[ 9.88572826e-01 -1.47443529e-01 3.13715232e-02 9.75444729e+01] [ 1.47381342e-01 9.89070405e-01 4.29820563e-03 4.08857689e+01] [-3.16623878e-02 3.74487899e-04 9.99498551e-01 -8.22107701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07592 meters Centerline goodness [0,1] 0.9999004182433778 Centerline is valid? [True, True] Translation: X:97.58, Y:40.89, Z:-0.82 [[ 9.88840286e-01 -1.45612500e-01 3.14942649e-02 9.75774518e+01] [ 1.45549416e-01 9.89341644e-01 4.29868576e-03 4.08919840e+01] [-3.17845302e-02 3.33258197e-04 9.99494689e-01 -8.20965743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10592 meters Centerline goodness [0,1] 0.9998507388427285 Centerline is valid? [True, True] Translation: X:97.61, Y:40.90, Z:-0.82 [[ 9.89076433e-01 -1.44260023e-01 3.02796311e-02 9.76091626e+01] [ 1.44201501e-01 9.89539772e-01 4.11907007e-03 4.08980889e+01] [-3.05571164e-02 2.92293130e-04 9.99532980e-01 -8.19789139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13592 meters Centerline goodness [0,1] 0.9999003884849088 Centerline is valid? [True, True] Translation: X:97.64, Y:40.90, Z:-0.82 [[ 9.89017697e-01 -1.44158655e-01 3.25925917e-02 9.76411226e+01] [ 1.44091286e-01 9.89554534e-01 4.41874378e-03 4.09028970e+01] [-3.28891471e-02 3.26092665e-04 9.99458952e-01 -8.22024137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:40.91, Z:-0.82 [[ 9.88828882e-01 -1.45066210e-01 3.42525501e-02 9.76732606e+01] [ 1.44992885e-01 9.89421873e-01 4.62821544e-03 4.09067995e+01] [-3.45616200e-02 3.89862978e-04 9.99402493e-01 -8.23426454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19592 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:97.70, Y:40.91, Z:-0.82 [[ 9.87870093e-01 -1.50577164e-01 3.79367421e-02 9.77042001e+01] [ 1.50491379e-01 9.88598047e-01 5.12322437e-03 4.09120233e+01] [-3.82756297e-02 6.48072474e-04 9.99267009e-01 -8.23876626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:40.92, Z:-0.82 [[ 9.87586919e-01 -1.52900534e-01 3.59653040e-02 9.77360823e+01] [ 1.52825540e-01 9.88241324e-01 4.84139310e-03 4.09177426e+01] [-3.62826513e-02 7.15120505e-04 9.99341312e-01 -8.21214460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25591999999999 meters Centerline goodness [0,1] 0.9996020494453565 Centerline is valid? [True, True] Translation: X:97.77, Y:40.92, Z:-0.82 [[ 9.87708573e-01 -1.52504630e-01 3.42653242e-02 9.77681135e+01] [ 1.52436846e-01 9.88302521e-01 4.59736877e-03 4.09210385e+01] [-3.45656263e-02 6.82437409e-04 9.99402197e-01 -8.20444153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28591999999999 meters Centerline goodness [0,1] 0.9996516546404578 Centerline is valid? [True, True] Translation: X:97.80, Y:40.93, Z:-0.82 [[ 9.87844294e-01 -1.51726459e-01 3.38043335e-02 9.78002305e+01] [ 1.51660542e-01 9.88422301e-01 4.52054820e-03 4.09252707e+01] [-3.40988438e-02 6.61185803e-04 9.99418247e-01 -8.21029355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31591999999999 meters Centerline goodness [0,1] 0.9999004975124378 Centerline is valid? [True, True] Translation: X:97.83, Y:40.93, Z:-0.82 [[ 9.88546077e-01 -1.47694162e-01 3.10336609e-02 9.78312306e+01] [ 1.47636694e-01 9.89032963e-01 4.14775495e-03 4.09289259e+01] [-3.13059128e-02 4.81460231e-04 9.99509734e-01 -8.20799158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34591999999999 meters Centerline goodness [0,1] 0.9999500674089978 Centerline is valid? [True, True] Translation: X:97.86, Y:40.93, Z:-0.82 [[ 9.88781752e-01 -1.46564894e-01 2.87989429e-02 9.78633629e+01] [ 1.46515293e-01 9.89200966e-01 3.83648652e-03 4.09325743e+01] [-2.90502364e-02 4.26037704e-04 9.99577862e-01 -8.20144339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37592 meters Centerline goodness [0,1] 0.9999500674089978 Centerline is valid? [True, True] Translation: X:97.90, Y:40.94, Z:-0.82 [[ 9.88855952e-01 -1.46063052e-01 2.88008778e-02 9.78955857e+01] [ 1.46013662e-01 9.89275191e-01 3.82193307e-03 4.09371859e+01] [-2.90502371e-02 4.25980379e-04 9.99577862e-01 -8.20172436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40592 meters Centerline goodness [0,1] 0.9998504486540379 Centerline is valid? [True, True] Translation: X:97.93, Y:40.94, Z:-0.82 [[ 9.89228861e-01 -1.43972057e-01 2.64255238e-02 9.79280970e+01] [ 1.43930051e-01 9.89581693e-01 3.49477228e-03 4.09395636e+01] [-2.66533642e-02 3.46297392e-04 9.99644676e-01 -8.19897814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:40.94, Z:-0.82 [[ 9.89224610e-01 -1.43596345e-01 2.85440077e-02 9.79603036e+01] [ 1.43547551e-01 9.89636271e-01 3.76196742e-03 4.09404758e+01] [-2.87883901e-02 3.75991640e-04 9.99585458e-01 -8.19142982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:97.99, Y:40.95, Z:-0.82 [[ 9.89051879e-01 -1.44414988e-01 3.03429180e-02 9.79915519e+01] [ 1.44360625e-01 9.89517114e-01 3.98624487e-03 4.09463553e+01] [-3.06005101e-02 4.37719628e-04 9.99531599e-01 -8.18049827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49592 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:98.02, Y:40.95, Z:-0.82 [[ 9.89149367e-01 -1.43859040e-01 2.98011292e-02 9.80241983e+01] [ 1.43806807e-01 9.89598097e-01 3.89985672e-03 4.09513304e+01] [-3.00521704e-02 4.28064423e-04 9.99548240e-01 -8.17482943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:98.06, Y:40.95, Z:-0.82 [[ 9.89096476e-01 -1.44225074e-01 2.97873985e-02 9.80573543e+01] [ 1.44173516e-01 9.89544805e-01 3.88270978e-03 4.09540508e+01] [-3.00359495e-02 4.54179412e-04 9.99548716e-01 -8.19164418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55592 meters Centerline goodness [0,1] 0.9998010049251281 Centerline is valid? [True, True] Translation: X:98.09, Y:40.96, Z:-0.82 [[ 9.89106726e-01 -1.44266400e-01 2.92419248e-02 9.80897822e+01] [ 1.44217175e-01 9.89538778e-01 3.79658310e-03 4.09584328e+01] [-2.94837379e-02 4.61961910e-04 9.99565153e-01 -8.19234495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.12, Y:40.96, Z:-0.82 [[ 9.89084776e-01 -1.44382006e-01 2.94133111e-02 9.81225727e+01] [ 1.44332702e-01 9.89521906e-01 3.80371347e-03 4.09631997e+01] [-2.96543034e-02 4.83107570e-04 9.99560098e-01 -8.19335519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61591999999999 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:98.15, Y:40.97, Z:-0.82 [[ 9.88663667e-01 -1.46814078e-01 3.14607711e-02 9.81546228e+01] [ 1.46759348e-01 9.89163918e-01 4.05434966e-03 4.09681146e+01] [-3.17150952e-02 6.08774064e-04 9.99496764e-01 -8.19508376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64591999999999 meters Centerline goodness [0,1] 0.9999004331159457 Centerline is valid? [True, True] Translation: X:98.19, Y:40.97, Z:-0.82 [[ 9.88286004e-01 -1.49802011e-01 2.91570116e-02 9.81876385e+01] [ 1.49756735e-01 9.88715789e-01 3.74279893e-03 4.09706928e+01] [-2.93886765e-02 6.67503051e-04 9.99567837e-01 -8.18326236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.22, Y:40.97, Z:-0.82 [[ 9.88074703e-01 -1.51135678e-01 2.94344791e-02 9.82191672e+01] [ 1.51090488e-01 9.88512762e-01 3.76621807e-03 4.09738401e+01] [-2.96655682e-02 7.25965021e-04 9.99559617e-01 -8.18182235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70591999999999 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:98.25, Y:40.97, Z:-0.82 [[ 9.88015365e-01 -1.51587646e-01 2.91002330e-02 9.82518553e+01] [ 1.51544077e-01 9.88443540e-01 3.70968321e-03 4.09747747e+01] [-2.93262795e-02 7.44743955e-04 9.99569615e-01 -8.19515356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73592 meters Centerline goodness [0,1] 0.9998506794086904 Centerline is valid? [True, True] Translation: X:98.28, Y:40.98, Z:-0.82 [[ 9.88145338e-01 -1.50896054e-01 2.82696456e-02 9.82837181e+01] [ 1.50855009e-01 9.88549376e-01 3.59134021e-03 4.09773093e+01] [-2.84878596e-02 7.15851556e-04 9.99593882e-01 -8.18844150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.32, Y:40.98, Z:-0.82 [[ 9.88253028e-01 -1.50196312e-01 2.82315661e-02 9.83162880e+01] [ 1.50155497e-01 9.88655939e-01 3.57228384e-03 4.09806112e+01] [-2.84478494e-02 7.08804519e-04 9.99595027e-01 -8.19488681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:40.98, Z:-0.82 [[ 9.88735023e-01 -1.47154383e-01 2.73613376e-02 9.83485295e+01] [ 1.47115216e-01 9.89113346e-01 3.45002273e-03 4.09812847e+01] [-2.75711501e-02 6.14110784e-04 9.99619655e-01 -8.19937050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82592 meters Centerline goodness [0,1] 0.9999005272058092 Centerline is valid? [True, True] Translation: X:98.38, Y:40.98, Z:-0.82 [[ 9.88993479e-01 -1.45125703e-01 2.88171438e-02 9.83818019e+01] [ 1.45081822e-01 9.89413042e-01 3.61895129e-03 4.09808163e+01] [-2.90372608e-02 6.01724493e-04 9.99578149e-01 -8.20819596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.41, Y:40.98, Z:-0.82 [[ 9.89023346e-01 -1.44892550e-01 2.89649644e-02 9.84145779e+01] [ 1.44848546e-01 9.89447206e-01 3.62285018e-03 4.09839724e+01] [-2.91842271e-02 6.12449562e-04 9.99573862e-01 -8.19367973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88592 meters Centerline goodness [0,1] 0.9999005815976537 Centerline is valid? [True, True] Translation: X:98.45, Y:40.99, Z:-0.82 [[ 9.89185396e-01 -1.43841498e-01 2.86683889e-02 9.84466939e+01] [ 1.43798319e-01 9.89600565e-01 3.57293724e-03 4.09865960e+01] [-2.88841905e-02 5.88168809e-04 9.99582592e-01 -8.18731976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91592 meters Centerline goodness [0,1] 0.9996522257551669 Centerline is valid? [True, True] Translation: X:98.48, Y:40.99, Z:-0.82 [[ 9.89162638e-01 -1.44089394e-01 2.82049907e-02 9.84795631e+01] [ 1.44048108e-01 9.89564493e-01 3.50085533e-03 4.09873388e+01] [-2.84150934e-02 5.99960254e-04 9.99596030e-01 -8.18044360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94592 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:98.51, Y:40.99, Z:-0.82 [[ 9.89095752e-01 -1.44717267e-01 2.73222590e-02 9.85126098e+01] [ 1.44679147e-01 9.89472858e-01 3.37739683e-03 4.09878673e+01] [-2.75234013e-02 6.12392268e-04 9.99620972e-01 -8.18430652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97592 meters Centerline goodness [0,1] 0.9998508872210349 Centerline is valid? [True, True] Translation: X:98.55, Y:40.99, Z:-0.82 [[ 9.89110511e-01 -1.44708482e-01 2.68300463e-02 9.85454905e+01] [ 1.44672090e-01 9.89474142e-01 3.30288204e-03 4.09904751e+01] [-2.70255921e-02 6.14643521e-04 9.99634553e-01 -8.18823173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00591999999999 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:98.58, Y:40.99, Z:-0.82 [[ 9.89027608e-01 -1.44916468e-01 2.86985716e-02 9.85782436e+01] [ 1.44875286e-01 9.89443662e-01 3.52015370e-03 4.09889319e+01] [-2.89057480e-02 6.76184582e-04 9.99581913e-01 -8.19077844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03591999999999 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:98.61, Y:40.99, Z:-0.82 [[ 9.89253416e-01 -1.43435440e-01 2.83540661e-02 9.86108876e+01] [ 1.43394994e-01 9.89659471e-01 3.46524732e-03 4.09901136e+01] [-2.85579093e-02 6.37823391e-04 9.99591936e-01 -8.17893649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06591999999999 meters Centerline goodness [0,1] 0.999751688518077 Centerline is valid? [True, True] Translation: X:98.64, Y:40.99, Z:-0.82 [[ 9.89432620e-01 -1.42109457e-01 2.87748734e-02 9.86439819e+01] [ 1.42067665e-01 9.89850754e-01 3.50205188e-03 4.09915627e+01] [-2.89805048e-02 6.22934706e-04 9.99579783e-01 -8.16708408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09591999999999 meters Centerline goodness [0,1] 0.9997513427491546 Centerline is valid? [True, True] Translation: X:98.68, Y:40.99, Z:-0.82 [[ 9.89948181e-01 -1.38993011e-01 2.61446306e-02 9.86767606e+01] [ 1.38957542e-01 9.90293242e-01 3.17745357e-03 4.09924593e+01] [-2.63324948e-02 4.87479235e-04 9.99653121e-01 -8.15852740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12592 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:98.71, Y:41.00, Z:-0.82 [[ 9.90325874e-01 -1.36283323e-01 2.61059324e-02 9.87091774e+01] [ 1.36247323e-01 9.90669811e-01 3.16115493e-03 4.09955856e+01] [-2.62931718e-02 4.26289889e-04 9.99654184e-01 -8.16996556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:41.00, Z:-0.82 [[ 9.90961848e-01 -1.31546099e-01 2.62723979e-02 9.87412281e+01] [ 1.31508290e-01 9.91310004e-01 3.16936112e-03 4.09982567e+01] [-2.64610080e-02 3.14322158e-04 9.99649797e-01 -8.18075139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:41.00, Z:-0.82 [[ 9.91235402e-01 -1.29329476e-01 2.69493044e-02 9.87736870e+01] [ 1.29289256e-01 9.91601639e-01 3.23694117e-03 4.10013733e+01] [-2.71416064e-02 2.75684831e-04 9.99631561e-01 -8.16293974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:41.00, Z:-0.81 [[ 9.91338959e-01 -1.28456263e-01 2.73140379e-02 9.88065602e+01] [ 1.28415013e-01 9.91715138e-01 3.26628858e-03 4.10047073e+01] [-2.75073201e-02 2.69533395e-04 9.99621566e-01 -8.14195075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:98.84, Y:41.01, Z:-0.81 [[ 9.91352012e-01 -1.28553204e-01 2.63678092e-02 9.88387239e+01] [ 1.28515121e-01 9.91702576e-01 3.14093111e-03 4.10090279e+01] [-2.65528011e-02 2.74893816e-04 9.99647374e-01 -8.13520625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27592 meters Centerline goodness [0,1] 0.9999006211180124 Centerline is valid? [True, True] Translation: X:98.87, Y:41.01, Z:-0.81 [[ 9.91019778e-01 -1.31715456e-01 2.30399309e-02 9.88706390e+01] [ 1.31687478e-01 9.91287513e-01 2.73401401e-03 4.10131540e+01] [-2.31993077e-02 3.24608449e-04 9.99730807e-01 -8.13767150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:98.90, Y:41.02, Z:-0.81 [[ 9.90780941e-01 -1.33493664e-01 2.30774320e-02 9.89026918e+01] [ 1.33466321e-01 9.91049595e-01 2.72796217e-03 4.10173759e+01] [-2.32350453e-02 3.77247029e-04 9.99729959e-01 -8.13342410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:98.93, Y:41.02, Z:-0.81 [[ 9.90321386e-01 -1.36706031e-01 2.39794468e-02 9.89344884e+01] [ 1.36677713e-01 9.90611543e-01 2.82370363e-03 4.10228708e+01] [-2.41403342e-02 4.81081848e-04 9.99708464e-01 -8.12872590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36591999999999 meters Centerline goodness [0,1] 0.9999502140794583 Centerline is valid? [True, True] Translation: X:98.97, Y:41.03, Z:-0.81 [[ 9.90198274e-01 -1.37529311e-01 2.43529670e-02 9.89669030e+01] [ 1.37500620e-01 9.90497561e-01 2.85676505e-03 4.10263475e+01] [-2.45144433e-02 5.19784223e-04 9.99699341e-01 -8.12157607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39591999999999 meters Centerline goodness [0,1] 0.9999501097585313 Centerline is valid? [True, True] Translation: X:99.00, Y:41.03, Z:-0.81 [[ 9.90156641e-01 -1.37955643e-01 2.36234500e-02 9.90000061e+01] [ 1.37929054e-01 9.90438268e-01 2.75910259e-03 4.10264707e+01] [-2.37782027e-02 5.26416366e-04 9.99717120e-01 -8.11217859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42591999999999 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:99.03, Y:41.03, Z:-0.81 [[ 9.90305822e-01 -1.36623096e-01 2.50700547e-02 9.90334096e+01] [ 1.36593050e-01 9.90622956e-01 2.91515451e-03 4.10278521e+01] [-2.52332491e-02 5.37500746e-04 9.99681446e-01 -8.11232181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:41.03, Z:-0.81 [[ 9.90420291e-01 -1.36140027e-01 2.30985020e-02 9.90655274e+01] [ 1.36114633e-01 9.90689482e-01 2.67544061e-03 4.10307831e+01] [-2.32476775e-02 4.94233443e-04 9.99729614e-01 -8.11225963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:41.03, Z:-0.81 [[ 9.90549162e-01 -1.35481708e-01 2.13790468e-02 9.90979461e+01] [ 1.35459879e-01 9.90779747e-01 2.47262859e-03 4.10344967e+01] [-2.15169225e-02 4.46742914e-04 9.99768384e-01 -8.10969056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51592 meters Centerline goodness [0,1] 0.999950144580716 Centerline is valid? [True, True] Translation: X:99.13, Y:41.04, Z:-0.81 [[ 9.90843470e-01 -1.33400856e-01 2.08189867e-02 9.91305214e+01] [ 1.33379890e-01 9.91062083e-01 2.39864500e-03 4.10360553e+01] [-2.09528896e-02 4.00152409e-04 9.99780384e-01 -8.10012042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:41.04, Z:-0.81 [[ 9.90846650e-01 -1.33325758e-01 2.11461411e-02 9.91632537e+01] [ 1.33304344e-01 9.91072182e-01 2.42538092e-03 4.10394111e+01] [-2.12807179e-02 4.15691895e-04 9.99773453e-01 -8.11157857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57592 meters Centerline goodness [0,1] 0.9998506942716369 Centerline is valid? [True, True] Translation: X:99.20, Y:41.04, Z:-0.81 [[ 9.90798359e-01 -1.33208616e-01 2.39598942e-02 9.91952786e+01] [ 1.33181352e-01 9.91087905e-01 2.73719452e-03 4.10430955e+01] [-2.41109793e-02 4.79003269e-04 9.99709173e-01 -8.10958744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60592 meters Centerline goodness [0,1] 0.9998508427385273 Centerline is valid? [True, True] Translation: X:99.23, Y:41.05, Z:-0.81 [[ 9.90720291e-01 -1.33522378e-01 2.53984284e-02 9.92271099e+01] [ 1.33492138e-01 9.91045658e-01 2.89006552e-03 4.10471364e+01] [-2.55568906e-02 5.27243940e-04 9.99673230e-01 -8.11097743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:41.05, Z:-0.81 [[ 9.90442629e-01 -1.35280109e-01 2.68829151e-02 9.92586876e+01] [ 1.35247203e-01 9.90807201e-01 3.04694752e-03 4.10520461e+01] [-2.70479773e-02 6.18012363e-04 9.99633945e-01 -8.11283006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66592 meters Centerline goodness [0,1] 0.9999501793543244 Centerline is valid? [True, True] Translation: X:99.29, Y:41.06, Z:-0.81 [[ 9.90264763e-01 -1.36639594e-01 2.65578730e-02 9.92904453e+01] [ 1.36608285e-01 9.90620607e-01 2.99823786e-03 4.10564483e+01] [-2.67184543e-02 6.58976174e-04 9.99642781e-01 -8.11799254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69592 meters Centerline goodness [0,1] 0.999800905878254 Centerline is valid? [True, True] Translation: X:99.32, Y:41.06, Z:-0.81 [[ 9.89745634e-01 -1.40825373e-01 2.39122270e-02 9.93225766e+01] [ 1.40801466e-01 9.90034200e-01 2.68896495e-03 4.10568687e+01] [-2.40525970e-02 7.05485301e-04 9.99710446e-01 -8.13534404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72592 meters Centerline goodness [0,1] 0.9998011631953074 Centerline is valid? [True, True] Translation: X:99.36, Y:41.06, Z:-0.81 [[ 9.89411806e-01 -1.42857241e-01 2.56141915e-02 9.93550989e+01] [ 1.42830780e-01 9.89742965e-01 2.86909654e-03 4.10586574e+01] [-2.57613371e-02 8.19776959e-04 9.99667786e-01 -8.13319286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75591999999999 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:99.39, Y:41.06, Z:-0.81 [[ 9.89239505e-01 -1.43764205e-01 2.71487691e-02 9.93872625e+01] [ 1.43735143e-01 9.89611557e-01 3.02913261e-03 4.10603605e+01] [-2.73022165e-02 9.05694568e-04 9.99626815e-01 -8.12022298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:41.06, Z:-0.81 [[ 9.89335734e-01 -1.43018103e-01 2.75794673e-02 9.94200665e+01] [ 1.42988202e-01 9.89719652e-01 3.06347193e-03 4.10633984e+01] [-2.77340727e-02 9.12736196e-04 9.99614920e-01 -8.12787439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:41.06, Z:-0.81 [[ 9.89511110e-01 -1.41825469e-01 2.74463170e-02 9.94532062e+01] [ 1.41795585e-01 9.89891286e-01 3.04192043e-03 4.10607069e+01] [-2.76002918e-02 8.81752513e-04 9.99618650e-01 -8.14384408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84591999999999 meters Centerline goodness [0,1] 0.9999004975124378 Centerline is valid? [True, True] Translation: X:99.49, Y:41.06, Z:-0.81 [[ 9.89592891e-01 -1.41305494e-01 2.71784232e-02 9.94866701e+01] [ 1.41276364e-01 9.89965654e-01 2.99873658e-03 4.10618189e+01] [-2.73294435e-02 8.72140401e-04 9.99626101e-01 -8.14254932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:99.52, Y:41.06, Z:-0.81 [[ 9.89818477e-01 -1.39773719e-01 2.68829118e-02 9.95191837e+01] [ 1.39744977e-01 9.90183122e-01 2.95419970e-03 4.10639861e+01] [-2.70319250e-02 8.32630438e-04 9.99634224e-01 -8.14627007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90592 meters Centerline goodness [0,1] 0.9999004033663662 Centerline is valid? [True, True] Translation: X:99.55, Y:41.06, Z:-0.81 [[ 9.89876779e-01 -1.39722407e-01 2.49321483e-02 9.95518712e+01] [ 1.39697822e-01 9.90190409e-01 2.73370461e-03 4.10635981e+01] [-2.50695339e-02 7.76936092e-04 9.99685408e-01 -8.14567393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93592 meters Centerline goodness [0,1] 0.9998506199273017 Centerline is valid? [True, True] Translation: X:99.59, Y:41.06, Z:-0.81 [[ 9.89764332e-01 -1.40862516e-01 2.28980132e-02 9.95855016e+01] [ 1.40842346e-01 9.90028882e-01 2.49926550e-03 4.10614934e+01] [-2.30217472e-02 7.51326055e-04 9.99734682e-01 -8.14028328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96592 meters Centerline goodness [0,1] 0.9999005766553987 Centerline is valid? [True, True] Translation: X:99.62, Y:41.06, Z:-0.81 [[ 9.89690036e-01 -1.41466678e-01 2.23788024e-02 9.96175643e+01] [ 1.41447790e-01 9.89942728e-01 2.43269971e-03 4.10642696e+01] [-2.24978786e-02 7.57813476e-04 9.99746603e-01 -8.13923964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99592 meters Centerline goodness [0,1] 0.99985055295407 Centerline is valid? [True, True] Translation: X:99.65, Y:41.07, Z:-0.81 [[ 9.89703815e-01 -1.41653941e-01 2.05065569e-02 9.96502889e+01] [ 1.41638332e-01 9.89915986e-01 2.21896064e-03 4.10669841e+01] [-2.06140931e-02 7.08400706e-04 9.99787256e-01 -8.13890362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02592 meters Centerline goodness [0,1] 0.999900457893689 Centerline is valid? [True, True] Translation: X:99.68, Y:41.07, Z:-0.81 [[ 9.89891950e-01 -1.40320726e-01 2.05917845e-02 9.96830192e+01] [ 1.40304773e-01 9.90105864e-01 2.22460389e-03 4.10680534e+01] [-2.07002046e-02 6.87008158e-04 9.99785492e-01 -8.13935679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:41.07, Z:-0.81 [[ 9.90040524e-01 -1.38924176e-01 2.27998855e-02 9.97159712e+01] [ 1.38904492e-01 9.90302745e-01 2.45253398e-03 4.10656102e+01] [-2.29195055e-02 7.38898480e-04 9.99737041e-01 -8.14151318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08592 meters Centerline goodness [0,1] 0.9998013902681231 Centerline is valid? [True, True] Translation: X:99.75, Y:41.07, Z:-0.81 [[ 9.90195116e-01 -1.37901745e-01 2.22876923e-02 9.97479898e+01] [ 1.37882898e-01 9.90445660e-01 2.38754941e-03 4.10679272e+01] [-2.24039953e-02 7.08951836e-04 9.99748748e-01 -8.13537403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11591999999999 meters Centerline goodness [0,1] 0.9999005964214712 Centerline is valid? [True, True] Translation: X:99.78, Y:41.07, Z:-0.81 [[ 9.90543311e-01 -1.35587742e-01 2.09741243e-02 9.97807229e+01] [ 1.35570728e-01 9.90765144e-01 2.23759185e-03 4.10678076e+01] [-2.10838213e-02 6.27045646e-04 9.99777515e-01 -8.13073164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:41.07, Z:-0.81 [[ 9.90810013e-01 -1.33640249e-01 2.08758734e-02 9.98125535e+01] [ 1.33623157e-01 9.91029734e-01 2.21779244e-03 4.10694599e+01] [-2.09849976e-02 5.92089174e-04 9.99779615e-01 -8.12119384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:41.07, Z:-0.81 [[ 9.91089223e-01 -1.31759694e-01 1.95329060e-02 9.98442498e+01] [ 1.31744537e-01 9.91281548e-01 2.06639753e-03 4.10714166e+01] [-1.96348772e-02 5.25369317e-04 9.99807079e-01 -8.11654112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:41.07, Z:-0.81 [[ 9.91627050e-01 -1.27484153e-01 2.05811446e-02 9.98761836e+01] [ 1.27466599e-01 9.91840494e-01 2.16791718e-03 4.10716119e+01] [-2.06895877e-02 4.73643173e-04 9.99785835e-01 -8.12394922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:41.07, Z:-0.81 [[ 9.91853026e-01 -1.25742688e-01 2.04046902e-02 9.99087259e+01] [ 1.25725254e-01 9.92062791e-01 2.14010949e-03 4.10732153e+01] [-2.05118370e-02 4.42710796e-04 9.99789512e-01 -8.12020616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:41.07, Z:-0.81 [[ 9.92559790e-01 -1.20057609e-01 2.02789104e-02 9.99410872e+01] [ 1.20039392e-01 9.92766871e-01 2.11762156e-03 4.10740229e+01] [-2.03864670e-02 3.32402074e-04 9.99792119e-01 -8.10807216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:41.08, Z:-0.81 [[ 9.92622345e-01 -1.19539119e-01 2.02800073e-02 9.99733603e+01] [ 1.19521009e-01 9.92829436e-01 2.10708933e-03 4.10777001e+01] [-2.03864679e-02 3.32343000e-04 9.99792119e-01 -8.10835301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:41.08, Z:-0.81 [[ 9.93485368e-01 -1.12166933e-01 2.01346280e-02 1.00004998e+02] [ 1.12147757e-01 9.93689360e-01 2.08259646e-03 4.10815761e+01] [-2.02411641e-02 1.89024259e-04 9.99795109e-01 -8.10339006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:41.09, Z:-0.81 [[ 9.93967915e-01 -1.07922287e-01 1.95080388e-02 1.00036784e+02] [ 1.07903648e-01 9.94159327e-01 2.00861438e-03 4.10863947e+01] [-1.96108730e-02 1.08490310e-04 9.99807682e-01 -8.10182432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:41.09, Z:-0.81 [[ 9.94220020e-01 -1.05934843e-01 1.74459508e-02 1.00068658e+02] [ 1.05919686e-01 9.94373071e-01 1.79312659e-03 4.10920170e+01] [-1.75377383e-02 6.51072810e-05 9.99846200e-01 -8.09529753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:41.10, Z:-0.81 [[ 9.94629789e-01 -1.01774918e-01 1.88002122e-02 1.00101249e+02] [ 1.01756763e-01 9.94807452e-01 1.92226656e-03 4.10991586e+01] [-1.88982297e-02 1.10515488e-06 9.99821413e-01 -8.11328454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:41.10, Z:-0.81 [[ 9.94830209e-01 -9.97219504e-02 1.91934203e-02 1.00134136e+02] [ 9.97028472e-02 9.95015343e-01 1.95203963e-03 4.11037188e+01] [-1.92924089e-02 -2.83093489e-05 9.99813884e-01 -8.10399885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:41.11, Z:-0.81 [[ 9.94970140e-01 -9.82092019e-02 1.97325596e-02 1.00165950e+02] [ 9.81889252e-02 9.95165790e-01 1.99616581e-03 4.11122553e+01] [-1.98332101e-02 -4.86065521e-05 9.99803301e-01 -8.09629446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:41.12, Z:-0.81 [[ 9.95276870e-01 -9.51188806e-02 1.93997765e-02 1.00198412e+02] [ 9.50988996e-02 9.95465916e-01 1.95200255e-03 4.11205779e+01] [-1.94974886e-02 -9.78855865e-05 9.99809901e-01 -8.11289606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:41.12, Z:-0.81 [[ 9.95423915e-01 -9.32366168e-02 2.09323390e-02 1.00229796e+02] [ 9.32131318e-02 9.95643970e-01 2.09697785e-03 4.11248461e+01] [-2.10366722e-02 -1.36213030e-04 9.99778695e-01 -8.11656618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:41.13, Z:-0.81 [[ 9.95583230e-01 -9.12849376e-02 2.19338055e-02 1.00261310e+02] [ 9.12589031e-02 9.95824798e-01 2.18708592e-03 4.11292561e+01] [-2.20418755e-02 -1.75771034e-04 9.99757033e-01 -8.11221243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:41.14, Z:-0.81 [[ 9.95880815e-01 -8.80008516e-02 2.18461228e-02 1.00292378e+02] [ 8.79744568e-02 9.96120371e-01 2.16822474e-03 4.11389861e+01] [-2.19521736e-02 -2.37392632e-04 9.99758994e-01 -8.11164804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:41.15, Z:-0.81 [[ 9.96079247e-01 -8.60290547e-02 2.06188197e-02 1.00324269e+02] [ 8.60053446e-02 9.96292596e-01 2.03558817e-03 4.11473391e+01] [-2.07174972e-02 -2.54278437e-04 9.99785337e-01 -8.12310809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:41.15, Z:-0.81 [[ 9.96124462e-01 -8.53065992e-02 2.14205660e-02 1.00356514e+02] [ 8.52810864e-02 9.96354712e-01 2.10338899e-03 4.11521400e+01] [-2.15219148e-02 -2.68468084e-04 9.99768341e-01 -8.12538664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:41.16, Z:-0.81 [[ 9.95951338e-01 -8.68144542e-02 2.33277454e-02 1.00389058e+02] [ 8.67848992e-02 9.96224468e-01 2.27827102e-03 4.11597225e+01] [-2.34374576e-02 -2.44551040e-04 9.99725275e-01 -8.12261536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.42, Y:41.17, Z:-0.81 [[ 9.95835456e-01 -8.81046849e-02 2.34373236e-02 1.00421967e+02] [ 8.80755039e-02 9.96111200e-01 2.27644548e-03 4.11654110e+01] [-2.35467461e-02 -2.02711039e-04 9.99722716e-01 -8.12481839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:41.17, Z:-0.81 [[ 9.95673753e-01 -9.00491192e-02 2.29114283e-02 1.00453935e+02] [ 9.00219959e-02 9.95937315e-01 2.21459313e-03 4.11709783e+01] [-2.30177686e-02 -1.42479750e-04 9.99735046e-01 -8.12956217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:41.18, Z:-0.81 [[ 9.95215999e-01 -9.52362322e-02 2.17985125e-02 1.00485016e+02] [ 9.52131485e-02 9.95454700e-01 2.09676053e-03 4.11812458e+01] [-2.18991193e-02 -1.12246181e-05 9.99760185e-01 -8.13644535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80592 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:100.52, Y:41.19, Z:-0.81 [[ 9.95046631e-01 -9.68881393e-02 2.22461174e-02 1.00517169e+02] [ 9.68647777e-02 9.95295276e-01 2.12785969e-03 4.11875303e+01] [-2.23476199e-02 3.75456033e-05 9.99750260e-01 -8.13557291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83592 meters Centerline goodness [0,1] 0.9996517759426923 Centerline is valid? [True, True] Translation: X:100.55, Y:41.19, Z:-0.82 [[ 9.94544001e-01 -1.01351520e-01 2.47002084e-02 1.00548895e+02] [ 1.01324387e-01 9.94850663e-01 2.35083269e-03 4.11927111e+01] [-2.48112792e-02 1.64726933e-04 9.99692139e-01 -8.16380152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86591999999999 meters Centerline goodness [0,1] 0.9995522388059701 Centerline is valid? [True, True] Translation: X:100.58, Y:41.20, Z:-0.82 [[ 9.94326534e-01 -1.03074500e-01 2.62752983e-02 1.00580772e+02] [ 1.03044719e-01 9.94673611e-01 2.48854518e-03 4.11962486e+01] [-2.63918514e-02 2.33104211e-04 9.99651647e-01 -8.16948204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89591999999999 meters Centerline goodness [0,1] 0.9991544391942303 Centerline is valid? [True, True] Translation: X:100.61, Y:41.20, Z:-0.82 [[ 9.93982948e-01 -1.06384019e-01 2.60833191e-02 1.00612751e+02] [ 1.06356123e-01 9.94325063e-01 2.45841823e-03 4.12020028e+01] [-2.61968344e-02 3.30494906e-04 9.99656749e-01 -8.18306123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92591999999999 meters Centerline goodness [0,1] 0.9987067250298448 Centerline is valid? [True, True] Translation: X:100.65, Y:41.21, Z:-0.82 [[ 9.93912020e-01 -1.07125793e-01 2.57480116e-02 1.00645896e+02] [ 1.07099204e-01 9.94245410e-01 2.41346315e-03 4.12065999e+01] [-2.58583865e-02 3.58821505e-04 9.99665552e-01 -8.18738714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95591999999999 meters Centerline goodness [0,1] 0.9987025948103793 Centerline is valid? [True, True] Translation: X:100.68, Y:41.21, Z:-0.82 [[ 9.93601819e-01 -1.09497780e-01 2.76705926e-02 1.00677692e+02] [ 1.09468339e-01 9.93986932e-01 2.58112820e-03 4.12092271e+01] [-2.77868352e-02 4.64440130e-04 9.99613763e-01 -8.19696723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98592 meters Centerline goodness [0,1] 0.9991536393507916 Centerline is valid? [True, True] Translation: X:100.71, Y:41.21, Z:-0.82 [[ 9.93672563e-01 -1.09008621e-01 2.70547247e-02 1.00710359e+02] [ 1.08980676e-01 9.94040700e-01 2.50965425e-03 4.12117574e+01] [-2.71670714e-02 4.54667625e-04 9.99630804e-01 -8.19088429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01592 meters Centerline goodness [0,1] 0.9990551024467873 Centerline is valid? [True, True] Translation: X:100.74, Y:41.21, Z:-0.82 [[ 9.93949105e-01 -1.06799044e-01 2.56737314e-02 1.00742918e+02] [ 1.06773312e-01 9.94280554e-01 2.37496962e-03 4.12141683e+01] [-2.57805364e-02 3.80670410e-04 9.99667554e-01 -8.19820062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04592 meters Centerline goodness [0,1] 0.9992539540435691 Centerline is valid? [True, True] Translation: X:100.78, Y:41.22, Z:-0.82 [[ 9.94129498e-01 -1.05204463e-01 2.52697985e-02 1.00775124e+02] [ 1.05179308e-01 9.94450553e-01 2.32628068e-03 4.12165519e+01] [-2.53743002e-02 3.45235663e-04 9.99677961e-01 -8.20906673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07592 meters Centerline goodness [0,1] 0.9993041403648293 Centerline is valid? [True, True] Translation: X:100.81, Y:41.22, Z:-0.82 [[ 9.94312956e-01 -1.03937737e-01 2.32097331e-02 1.00807759e+02] [ 1.03916264e-01 9.94583763e-01 2.13263055e-03 4.12184700e+01] [-2.33056844e-02 2.91366565e-04 9.99728343e-01 -8.20612631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10592 meters Centerline goodness [0,1] 0.9992038216560509 Centerline is valid? [True, True] Translation: X:100.84, Y:41.22, Z:-0.82 [[ 9.94462037e-01 -1.02612470e-01 2.27142551e-02 1.00840446e+02] [ 1.02591789e-01 9.94721373e-01 2.07703428e-03 4.12190733e+01] [-2.28074846e-02 2.64764318e-04 9.99739840e-01 -8.19819235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13592 meters Centerline goodness [0,1] 0.999005123613391 Centerline is valid? [True, True] Translation: X:100.87, Y:41.22, Z:-0.82 [[ 9.94292692e-01 -1.03402330e-01 2.62678576e-02 1.00872613e+02] [ 1.03375265e-01 9.94639554e-01 2.38984085e-03 4.12221438e+01] [-2.63741653e-02 3.39245456e-04 9.99652084e-01 -8.20368629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16592 meters Centerline goodness [0,1] 0.999004132848678 Centerline is valid? [True, True] Translation: X:100.91, Y:41.23, Z:-0.82 [[ 9.94320673e-01 -1.03094571e-01 2.64179527e-02 1.00905558e+02] [ 1.03067255e-01 9.94671501e-01 2.39723565e-03 4.12252421e+01] [-2.65243266e-02 3.39204885e-04 9.99648111e-01 -8.20838241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19592 meters Centerline goodness [0,1] 0.9992525041112273 Centerline is valid? [True, True] Translation: X:100.94, Y:41.23, Z:-0.82 [[ 9.94314176e-01 -1.02924127e-01 2.73119542e-02 1.00937373e+02] [ 1.02895206e-01 9.94689145e-01 2.46594159e-03 4.12286181e+01] [-2.74207093e-02 3.58348484e-04 9.99623917e-01 -8.22250602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22592 meters Centerline goodness [0,1] 0.9993026846640435 Centerline is valid? [True, True] Translation: X:100.97, Y:41.23, Z:-0.82 [[ 9.94453934e-01 -1.02317804e-01 2.43400954e-02 1.00969063e+02] [ 1.02294924e-01 9.94751711e-01 2.18657502e-03 4.12326910e+01] [-2.44360771e-02 3.15420073e-04 9.99701345e-01 -8.22517954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25591999999999 meters Centerline goodness [0,1] 0.9993024762094564 Centerline is valid? [True, True] Translation: X:101.00, Y:41.24, Z:-0.82 [[ 9.94500390e-01 -1.01824960e-01 2.45082061e-02 1.01001475e+02] [ 1.01801928e-01 9.94802280e-01 2.18887283e-03 4.12374778e+01] [-2.46037012e-02 3.18147740e-04 9.99697233e-01 -8.22103899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28591999999999 meters Centerline goodness [0,1] 0.9991022443890274 Centerline is valid? [True, True] Translation: X:101.03, Y:41.24, Z:-0.82 [[ 9.94661722e-01 -1.00210884e-01 2.46137520e-02 1.01034387e+02] [ 1.00187476e-01 9.94966177e-01 2.18547964e-03 4.12434314e+01] [-2.47088596e-02 2.92176743e-04 9.99694647e-01 -8.22495434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31591999999999 meters Centerline goodness [0,1] 0.9989052002985818 Centerline is valid? [True, True] Translation: X:101.07, Y:41.25, Z:-0.82 [[ 9.94705655e-01 -9.95255826e-02 2.55991996e-02 1.01067401e+02] [ 9.95003798e-02 9.95034959e-01 2.25958391e-03 4.12463193e+01] [-2.56969849e-02 2.99509190e-04 9.99669733e-01 -8.22077776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34591999999999 meters Centerline goodness [0,1] 0.9992534713581844 Centerline is valid? [True, True] Translation: X:101.10, Y:41.25, Z:-0.82 [[ 9.94711725e-01 -9.94806204e-02 2.55380138e-02 1.01099941e+02] [ 9.94558676e-02 9.95039451e-01 2.24074693e-03 4.12497356e+01] [-2.56342422e-02 3.11008078e-04 9.99671340e-01 -8.22473315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37592 meters Centerline goodness [0,1] 0.9989550679205852 Centerline is valid? [True, True] Translation: X:101.13, Y:41.25, Z:-0.82 [[ 9.94652328e-01 -9.99362154e-02 2.60672067e-02 1.01131894e+02] [ 9.99108963e-02 9.94993787e-01 2.27518972e-03 4.12547565e+01] [-2.61640826e-02 3.41375231e-04 9.99657604e-01 -8.23091489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40592 meters Centerline goodness [0,1] 0.9990045293912697 Centerline is valid? [True, True] Translation: X:101.16, Y:41.26, Z:-0.82 [[ 9.94629899e-01 -1.00356164e-01 2.52983091e-02 1.01164156e+02] [ 1.00332786e-01 9.94951513e-01 2.19495909e-03 4.12602432e+01] [-2.53908686e-02 3.55077898e-04 9.99677537e-01 -8.22698694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43592 meters Centerline goodness [0,1] 0.9990535020424429 Centerline is valid? [True, True] Translation: X:101.20, Y:41.27, Z:-0.82 [[ 9.94588854e-01 -1.01127717e-01 2.37948733e-02 1.01195891e+02] [ 1.01107514e-01 9.94873385e-01 2.05369403e-03 4.12656047e+01] [-2.38805715e-02 3.63259285e-04 9.99714752e-01 -8.22053279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46592 meters Centerline goodness [0,1] 0.9988050784167289 Centerline is valid? [True, True] Translation: X:101.23, Y:41.27, Z:-0.82 [[ 9.94534719e-01 -1.00941356e-01 2.66746361e-02 1.01227777e+02] [ 1.00916224e-01 9.94892291e-01 2.29013667e-03 4.12678219e+01] [-2.67695593e-02 4.14283124e-04 9.99641545e-01 -8.21056704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49592 meters Centerline goodness [0,1] 0.9988049594184136 Centerline is valid? [True, True] Translation: X:101.26, Y:41.27, Z:-0.82 [[ 9.94539696e-01 -1.00738589e-01 2.72493903e-02 1.01260768e+02] [ 1.00712672e-01 9.94912836e-01 2.32536680e-03 4.12708678e+01] [-2.73450223e-02 4.31689319e-04 9.99625962e-01 -8.21916918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52592 meters Centerline goodness [0,1] 0.9984535568193156 Centerline is valid? [True, True] Translation: X:101.29, Y:41.27, Z:-0.82 [[ 9.94497147e-01 -1.01065689e-01 2.75889587e-02 1.01293385e+02] [ 1.01039642e-01 9.94879648e-01 2.34010893e-03 4.12740470e+01] [-2.76841983e-02 4.60346865e-04 9.99616613e-01 -8.20749874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55592 meters Centerline goodness [0,1] 0.9986545074002093 Centerline is valid? [True, True] Translation: X:101.33, Y:41.28, Z:-0.82 [[ 9.94564798e-01 -1.01148880e-01 2.46934736e-02 1.01325895e+02] [ 1.01128318e-01 9.94871209e-01 2.08327546e-03 4.12756582e+01] [-2.47775469e-02 4.25257016e-04 9.99692899e-01 -8.20627186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58592 meters Centerline goodness [0,1] 0.9983064355449293 Centerline is valid? [True, True] Translation: X:101.36, Y:41.28, Z:-0.82 [[ 9.94699173e-01 -1.00201847e-01 2.30899272e-02 1.01357661e+02] [ 1.00183854e-01 9.94967055e-01 1.93763487e-03 4.12773643e+01] [-2.31678715e-02 3.85874098e-04 9.99731514e-01 -8.20471548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61591999999999 meters Centerline goodness [0,1] 0.9986553784860558 Centerline is valid? [True, True] Translation: X:101.39, Y:41.28, Z:-0.82 [[ 9.94944035e-01 -9.76768776e-02 2.33579516e-02 1.01389583e+02] [ 9.76580164e-02 9.95218122e-01 1.94956293e-03 4.12801620e+01] [-2.34366839e-02 3.41385213e-04 9.99725265e-01 -8.21184614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64591999999999 meters Centerline goodness [0,1] 0.9985545531575537 Centerline is valid? [True, True] Translation: X:101.42, Y:41.28, Z:-0.82 [[ 9.95153085e-01 -9.53971055e-02 2.38689961e-02 1.01422417e+02] [ 9.53770517e-02 9.95439249e-01 1.97979908e-03 4.12825326e+01] [-2.39490027e-02 3.06351309e-04 9.99713135e-01 -8.20651722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67591999999999 meters Centerline goodness [0,1] 0.9984580950012435 Centerline is valid? [True, True] Translation: X:101.45, Y:41.28, Z:-0.82 [[ 9.95707075e-01 -8.93412811e-02 2.41982819e-02 1.01454449e+02] [ 8.93191524e-02 9.96001057e-01 1.99594758e-03 4.12810494e+01] [-2.42798348e-02 1.73990904e-04 9.99705186e-01 -8.20419496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70591999999999 meters Centerline goodness [0,1] 0.9984080394010248 Centerline is valid? [True, True] Translation: X:101.49, Y:41.28, Z:-0.82 [[ 9.96016332e-01 -8.63221508e-02 2.23596132e-02 1.01486557e+02] [ 8.63027279e-02 9.96267271e-01 1.83398175e-03 4.12819695e+01] [-2.24344641e-02 1.03019839e-04 9.99748310e-01 -8.19322525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73592 meters Centerline goodness [0,1] 0.9987539251358222 Centerline is valid? [True, True] Translation: X:101.52, Y:41.28, Z:-0.82 [[ 9.96569710e-01 -8.03158239e-02 1.99544700e-02 1.01518737e+02] [ 8.02993371e-02 9.96769466e-01 1.62739163e-03 4.12813587e+01] [-2.00207117e-02 -1.94784948e-05 9.99799565e-01 -8.20168174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76592 meters Centerline goodness [0,1] 0.9987562189054726 Centerline is valid? [True, True] Translation: X:101.55, Y:41.28, Z:-0.82 [[ 9.96937767e-01 -7.56475947e-02 1.98123486e-02 1.01552189e+02] [ 7.56306309e-02 9.97134610e-01 1.60518923e-03 4.12830097e+01] [-1.98770072e-02 -1.01853344e-04 9.99802428e-01 -8.19490306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79592 meters Centerline goodness [0,1] 0.9991531334063963 Centerline is valid? [True, True] Translation: X:101.58, Y:41.29, Z:-0.82 [[ 9.97321910e-01 -7.04149288e-02 1.97672797e-02 1.01583795e+02] [ 7.03971982e-02 9.97517769e-01 1.59224921e-03 4.12864464e+01] [-1.98303309e-02 -1.96423918e-04 9.99803340e-01 -8.19545319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82592 meters Centerline goodness [0,1] 0.9992525413593781 Centerline is valid? [True, True] Translation: X:101.62, Y:41.29, Z:-0.82 [[ 9.97490709e-01 -6.78974741e-02 2.00553831e-02 1.01616090e+02] [ 6.78789000e-02 9.97692275e-01 1.60621522e-03 4.12906198e+01] [-2.01181587e-02 -2.40847419e-04 9.99797580e-01 -8.19266007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85592 meters Centerline goodness [0,1] 0.9993031358885017 Centerline is valid? [True, True] Translation: X:101.65, Y:41.29, Z:-0.82 [[ 9.97712658e-01 -6.40953704e-02 2.14764048e-02 1.01647590e+02] [ 6.40733892e-02 9.97943723e-01 1.71076705e-03 4.12941058e+01] [-2.15418956e-02 -3.30787900e-04 9.99767892e-01 -8.19802274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88592 meters Centerline goodness [0,1] 0.9992533227139231 Centerline is valid? [True, True] Translation: X:101.68, Y:41.30, Z:-0.82 [[ 9.97851999e-01 -6.22547094e-02 2.03896704e-02 1.01680779e+02] [ 6.22347300e-02 9.98060236e-01 1.61357258e-03 4.12977766e+01] [-2.04505717e-02 -3.41160996e-04 9.99790807e-01 -8.19035194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91592 meters Centerline goodness [0,1] 0.9993031358885017 Centerline is valid? [True, True] Translation: X:101.71, Y:41.31, Z:-0.82 [[ 9.98057686e-01 -5.95075906e-02 1.84310289e-02 1.01713176e+02] [ 5.94909752e-02 9.98227792e-01 1.44895858e-03 4.13064318e+01] [-1.84845893e-02 -3.49664363e-04 9.99829084e-01 -8.19308895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94592 meters Centerline goodness [0,1] 0.9994007789873165 Centerline is valid? [True, True] Translation: X:101.75, Y:41.31, Z:-0.82 [[ 9.98208075e-01 -5.74501709e-02 1.67366946e-02 1.01745286e+02] [ 5.74363273e-02 9.98348316e-01 1.30704807e-03 4.13130412e+01] [-1.67841410e-02 -3.43411670e-04 9.99859077e-01 -8.18513054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97592 meters Centerline goodness [0,1] 0.9995017190692113 Centerline is valid? [True, True] Translation: X:101.78, Y:41.32, Z:-0.82 [[ 9.98443348e-01 -5.33243061e-02 1.63523397e-02 1.01777003e+02] [ 5.33106600e-02 9.98577169e-01 1.26958559e-03 4.13225508e+01] [-1.63967728e-02 -3.95855271e-04 9.99865486e-01 -8.17408277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00591999999999 meters Centerline goodness [0,1] 0.9995511669658886 Centerline is valid? [True, True] Translation: X:101.81, Y:41.33, Z:-0.82 [[ 9.98523339e-01 -5.13529555e-02 1.77204889e-02 1.01808255e+02] [ 5.13367527e-02 9.98680462e-01 1.36833657e-03 4.13296762e+01] [-1.77673741e-02 -4.56603642e-04 9.99842043e-01 -8.17315610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03591999999999 meters Centerline goodness [0,1] 0.9995012966287652 Centerline is valid? [True, True] Translation: X:101.84, Y:41.34, Z:-0.82 [[ 9.98638823e-01 -4.96509957e-02 1.59774533e-02 1.01840270e+02] [ 4.96377368e-02 9.98766536e-01 1.22559441e-03 4.13412801e+01] [-1.60185977e-02 -4.30841539e-04 9.99871601e-01 -8.16070758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06591999999999 meters Centerline goodness [0,1] 0.9996511685852395 Centerline is valid? [True, True] Translation: X:101.87, Y:41.35, Z:-0.82 [[ 9.98609435e-01 -4.95359777e-02 1.80383797e-02 1.01872476e+02] [ 4.95192089e-02 9.98772224e-01 1.37536482e-03 4.13483990e+01] [-1.80843627e-02 -4.80205995e-04 9.99836349e-01 -8.16944816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09591999999999 meters Centerline goodness [0,1] 0.9993025804523263 Centerline is valid? [True, True] Translation: X:101.90, Y:41.36, Z:-0.82 [[ 9.98490587e-01 -5.17933635e-02 1.82755590e-02 1.01904724e+02] [ 5.17765881e-02 9.98657725e-01 1.39020701e-03 4.13556035e+01] [-1.83230316e-02 -4.41862525e-04 9.99832022e-01 -8.15993276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12592 meters Centerline goodness [0,1] 0.9994527635441023 Centerline is valid? [True, True] Translation: X:101.94, Y:41.37, Z:-0.82 [[ 9.98171783e-01 -5.67640955e-02 2.07588317e-02 1.01936289e+02] [ 5.67437172e-02 9.98387543e-01 1.56986176e-03 4.13697775e+01] [-2.08144707e-02 -3.89058439e-04 9.99783280e-01 -8.16161672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15592 meters Centerline goodness [0,1] 0.999651255480271 Centerline is valid? [True, True] Translation: X:101.97, Y:41.38, Z:-0.82 [[ 9.98094109e-01 -5.83785547e-02 2.00023438e-02 1.01968215e+02] [ 5.83601440e-02 9.98294462e-01 1.50342121e-03 4.13782532e+01] [-2.00559966e-02 -3.33216185e-04 9.99798803e-01 -8.15676536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18592 meters Centerline goodness [0,1] 0.999651255480271 Centerline is valid? [True, True] Translation: X:102.00, Y:41.38, Z:-0.82 [[ 9.98124953e-01 -5.78485321e-02 2.00031345e-02 1.02000635e+02] [ 5.78302265e-02 9.98325316e-01 1.49286248e-03 4.13809900e+01] [-2.00559954e-02 -3.33277496e-04 9.99798803e-01 -8.15704627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21592 meters Centerline goodness [0,1] 0.9997508843605202 Centerline is valid? [True, True] Translation: X:102.03, Y:41.39, Z:-0.82 [[ 9.97852322e-01 -6.18466190e-02 2.15809856e-02 1.02032666e+02] [ 6.18263318e-02 9.98085629e-01 1.60664460e-03 4.13908109e+01] [-2.16390371e-02 -2.68920866e-04 9.99765812e-01 -8.16709714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24592 meters Centerline goodness [0,1] 0.9998503815271059 Centerline is valid? [True, True] Translation: X:102.06, Y:41.40, Z:-0.82 [[ 9.97749634e-01 -6.34862364e-02 2.15676877e-02 1.02064590e+02] [ 6.34665682e-02 9.97982689e-01 1.59589424e-03 4.13956945e+01] [-2.16254962e-02 -2.23475771e-04 9.99766117e-01 -8.16353140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:41.40, Z:-0.82 [[ 9.97683884e-01 -6.43782299e-02 2.19616026e-02 1.02097158e+02] [ 6.43583103e-02 9.97925551e-01 1.61334250e-03 4.14041457e+01] [-2.20199085e-02 -1.96194174e-04 9.99757513e-01 -8.15776755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30592 meters Centerline goodness [0,1] 0.9999501917617174 Centerline is valid? [True, True] Translation: X:102.13, Y:41.41, Z:-0.82 [[ 9.97661146e-01 -6.51525403e-02 2.06732674e-02 1.02128743e+02] [ 6.51352559e-02 9.97875303e-01 1.50904274e-03 4.14108256e+01] [-2.07276609e-02 -1.58954746e-04 9.99785146e-01 -8.15220323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:41.42, Z:-0.82 [[ 9.97630941e-01 -6.53520538e-02 2.14852072e-02 1.02161315e+02] [ 6.53336766e-02 9.97862258e-01 1.55691888e-03 4.14169904e+01] [-2.15410253e-02 -1.49522872e-04 9.99767954e-01 -8.16151566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:41.42, Z:-0.82 [[ 9.97457897e-01 -6.75137415e-02 2.27955603e-02 1.02193606e+02] [ 6.74938951e-02 9.97718340e-01 1.63976396e-03 4.14231291e+01] [-2.28542552e-02 -9.70343532e-05 9.99738803e-01 -8.17298480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.23, Y:41.43, Z:-0.82 [[ 9.97405115e-01 -6.80752861e-02 2.34262888e-02 1.02226581e+02] [ 6.80547710e-02 9.97680184e-01 1.67279073e-03 4.14282022e+01] [-2.34858198e-02 -7.41793144e-05 9.99724167e-01 -8.18320974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:41.43, Z:-0.82 [[ 9.97366593e-01 -6.88060721e-02 2.29260653e-02 1.02259744e+02] [ 6.87868956e-02 9.97630053e-01 1.62494829e-03 4.14320289e+01] [-2.29835380e-02 -4.36562732e-05 9.99735843e-01 -8.17518177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.29, Y:41.44, Z:-0.82 [[ 9.97251885e-01 -7.06079513e-02 2.24320146e-02 1.02292780e+02] [ 7.05903143e-02 9.97504144e-01 1.57810157e-03 4.14363349e+01] [-2.24874540e-02 9.71819000e-06 9.99747125e-01 -8.18072147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:41.44, Z:-0.82 [[ 9.97069585e-01 -7.29905079e-02 2.29047515e-02 1.02325645e+02] [ 7.29730235e-02 9.97332633e-01 1.59936772e-03 4.14425979e+01] [-2.29603948e-02 7.67480570e-05 9.99736372e-01 -8.17499703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51592 meters Centerline goodness [0,1] 0.9998507536938461 Centerline is valid? [True, True] Translation: X:102.36, Y:41.45, Z:-0.82 [[ 9.97069943e-01 -7.28319351e-02 2.33888456e-02 1.02358740e+02] [ 7.28139483e-02 9.97344224e-01 1.62088329e-03 4.14473134e+01] [-2.34447821e-02 8.69001852e-05 9.99725130e-01 -8.17497294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:41.45, Z:-0.82 [[ 9.97073725e-01 -7.24808714e-02 2.43004024e-02 1.02390080e+02] [ 7.24615069e-02 9.97369799e-01 1.67764636e-03 4.14535645e+01] [-2.43580847e-02 8.81066641e-05 9.99703294e-01 -8.18415277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57592 meters Centerline goodness [0,1] 0.999900363672595 Centerline is valid? [True, True] Translation: X:102.42, Y:41.46, Z:-0.82 [[ 9.97159947e-01 -7.15599972e-02 2.34777818e-02 1.02421676e+02] [ 7.15419143e-02 9.97436294e-01 1.61033085e-03 4.14578947e+01] [-2.35328269e-02 7.38880239e-05 9.99723062e-01 -8.18895541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.45, Y:41.47, Z:-0.82 [[ 9.97305862e-01 -6.90888070e-02 2.46526813e-02 1.02454638e+02] [ 6.90684317e-02 9.97610513e-01 1.67804766e-03 4.14662003e+01] [-2.47097084e-02 2.91952644e-05 9.99694668e-01 -8.18692731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63592 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:102.49, Y:41.47, Z:-0.82 [[ 9.97410773e-01 -6.75805073e-02 2.45891116e-02 1.02487230e+02] [ 6.75600979e-02 9.97713824e-01 1.66076808e-03 4.14729276e+01] [-2.46451321e-02 4.77480971e-06 9.99696263e-01 -8.18033087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.52, Y:41.48, Z:-0.82 [[ 9.97418509e-01 -6.69840614e-02 2.58737831e-02 1.02519279e+02] [ 6.69615730e-02 9.97754046e-01 1.73557472e-03 4.14798359e+01] [-2.59319276e-02 1.45486729e-06 9.99663711e-01 -8.19379721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:41.49, Z:-0.82 [[ 9.97539723e-01 -6.63311182e-02 2.26866338e-02 1.02550695e+02] [ 6.63138960e-02 9.97797666e-01 1.51143996e-03 4.14897310e+01] [-2.27369258e-02 -3.28232365e-06 9.99741483e-01 -8.17412789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.58, Y:41.50, Z:-0.82 [[ 9.97437510e-01 -6.72809705e-02 2.43245545e-02 1.02582274e+02] [ 6.72617261e-02 9.97734068e-01 1.60939063e-03 4.14992457e+01] [-2.43777180e-02 3.08449344e-05 9.99702819e-01 -8.17900821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:41.50, Z:-0.82 [[ 9.97331990e-01 -6.86136109e-02 2.49213565e-02 1.02614590e+02] [ 6.85941482e-02 9.97643306e-01 1.63599698e-03 4.15047306e+01] [-2.49748761e-02 7.78270909e-05 9.99688076e-01 -8.19395305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:41.51, Z:-0.82 [[ 9.97131673e-01 -7.11183329e-02 2.58961322e-02 1.02646571e+02] [ 7.10984669e-02 9.97467873e-01 1.68824356e-03 4.15102575e+01] [-2.59506249e-02 1.57774171e-04 9.99663213e-01 -8.19486813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.68, Y:41.52, Z:-0.82 [[ 9.96742838e-01 -7.62351609e-02 2.63042890e-02 1.02678600e+02] [ 7.62167532e-02 9.97089818e-01 1.70313838e-03 4.15186622e+01] [-2.63575778e-02 3.07236521e-04 9.99652531e-01 -8.19462309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:41.52, Z:-0.82 [[ 9.96561939e-01 -7.85766129e-02 2.62682011e-02 1.02710837e+02] [ 7.85593751e-02 9.96908005e-01 1.68916580e-03 4.15245394e+01] [-2.63197089e-02 3.80255115e-04 9.99653504e-01 -8.19241301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:41.53, Z:-0.82 [[ 9.96275747e-01 -8.22763934e-02 2.57920567e-02 1.02742453e+02] [ 8.22613078e-02 9.96609434e-01 1.64717083e-03 4.15339521e+01] [-2.58401303e-02 4.80651968e-04 9.99665973e-01 -8.18632667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.77, Y:41.54, Z:-0.82 [[ 9.96180758e-01 -8.32878430e-02 2.62113081e-02 1.02774018e+02] [ 8.32729109e-02 9.96525393e-01 1.66260072e-03 4.15393570e+01] [-2.62587086e-02 5.26441083e-04 9.99655042e-01 -8.19517938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:41.55, Z:-0.82 [[ 9.95753083e-01 -8.83152030e-02 2.60042680e-02 1.02805946e+02] [ 8.83025088e-02 9.96092357e-01 1.63831861e-03 4.15464788e+01] [-2.60473411e-02 6.64881302e-04 9.99660489e-01 -8.20130637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:41.55, Z:-0.82 [[ 9.95590420e-01 -9.07229786e-02 2.38548923e-02 1.02837858e+02] [ 9.07132299e-02 9.95875937e-01 1.49271869e-03 4.15514589e+01] [-2.38919371e-02 6.77817901e-04 9.99714317e-01 -8.19261056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99592 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:102.87, Y:41.56, Z:-0.82 [[ 9.94899612e-01 -9.78209433e-02 2.46135176e-02 1.02868532e+02] [ 9.78127774e-02 9.95203644e-01 1.53838268e-03 4.15603960e+01] [-2.46459485e-02 8.76980185e-04 9.99695858e-01 -8.19280008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:41.56, Z:-0.82 [[ 9.94667822e-01 -1.00258382e-01 2.41698339e-02 1.02900788e+02] [ 1.00251459e-01 9.94961000e-01 1.50102531e-03 4.15647968e+01] [-2.41985325e-02 9.30039533e-04 9.99706740e-01 -8.18779337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05592 meters Centerline goodness [0,1] 0.9998509612996175 Centerline is valid? [True, True] Translation: X:102.93, Y:41.57, Z:-0.82 [[ 9.94197611e-01 -1.04789207e-01 2.42967457e-02 1.02932816e+02] [ 1.04783637e-01 9.94493902e-01 1.50579507e-03 4.15708789e+01] [-2.43207565e-02 1.04884352e-03 9.99703656e-01 -8.19509357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08592 meters Centerline goodness [0,1] 0.9998011236513697 Centerline is valid? [True, True] Translation: X:102.97, Y:41.57, Z:-0.82 [[ 9.94043942e-01 -1.06365783e-01 2.37268182e-02 1.02965257e+02] [ 1.06361141e-01 9.94326492e-01 1.46111269e-03 4.15739467e+01] [-2.37476163e-02 1.07120124e-03 9.99717412e-01 -8.20195493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11591999999999 meters Centerline goodness [0,1] 0.9999501420950292 Centerline is valid? [True, True] Translation: X:103.00, Y:41.58, Z:-0.82 [[ 9.93721305e-01 -1.09464019e-01 2.31429613e-02 1.02997098e+02] [ 1.09460509e-01 9.93990128e-01 1.42222893e-03 4.15775415e+01] [-2.31595579e-02 1.11994113e-03 9.99731154e-01 -8.20480453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14591999999999 meters Centerline goodness [0,1] 0.9999501222006085 Centerline is valid? [True, True] Translation: X:103.03, Y:41.58, Z:-0.82 [[ 9.93812018e-01 -1.08791434e-01 2.24075355e-02 1.03029268e+02] [ 1.08788169e-01 9.94064013e-01 1.36828308e-03 4.15781179e+01] [-2.24233822e-02 1.07785859e-03 9.99747983e-01 -8.20414522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17591999999999 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:103.06, Y:41.58, Z:-0.82 [[ 9.93732214e-01 -1.09234581e-01 2.37506543e-02 1.03061463e+02] [ 1.09231268e-01 9.94015319e-01 1.44067476e-03 4.15757002e+01] [-2.37658857e-02 1.16266917e-03 9.99716875e-01 -8.20881838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20591999999999 meters Centerline goodness [0,1] 0.9999003140108658 Centerline is valid? [True, True] Translation: X:103.09, Y:41.58, Z:-0.82 [[ 9.93816048e-01 -1.08596391e-01 2.31621644e-02 1.03093743e+02] [ 1.08593283e-01 9.94085284e-01 1.39563605e-03 4.15753144e+01] [-2.31767278e-02 1.12824998e-03 9.99730747e-01 -8.20328023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:103.13, Y:41.58, Z:-0.82 [[ 9.93862692e-01 -1.07867160e-01 2.45280409e-02 1.03126879e+02] [ 1.07863734e-01 9.94164606e-01 1.46652154e-03 4.15756250e+01] [-2.45430997e-02 1.18816504e-03 9.99698067e-01 -8.20959971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26592 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:103.16, Y:41.58, Z:-0.82 [[ 9.93915560e-01 -1.07419771e-01 2.43485514e-02 1.03159558e+02] [ 1.07416538e-01 9.94213056e-01 1.44446559e-03 4.15763666e+01] [-2.43628119e-02 1.17976027e-03 9.99702487e-01 -8.20619225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29592 meters Centerline goodness [0,1] 0.9999502438053538 Centerline is valid? [True, True] Translation: X:103.19, Y:41.58, Z:-0.82 [[ 9.93984933e-01 -1.06612159e-01 2.50559304e-02 1.03192513e+02] [ 1.06608772e-01 9.94299952e-01 1.47478485e-03 4.15769121e+01] [-2.50703404e-02 1.20526805e-03 9.99684963e-01 -8.21029906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32592 meters Centerline goodness [0,1] 0.9998506719761076 Centerline is valid? [True, True] Translation: X:103.23, Y:41.58, Z:-0.82 [[ 9.94015154e-01 -1.06304968e-01 2.51620445e-02 1.03226118e+02] [ 1.06301746e-01 9.94332831e-01 1.46939672e-03 4.15771300e+01] [-2.51756511e-02 1.21416665e-03 9.99682306e-01 -8.19727548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:41.58, Z:-0.82 [[ 9.94027341e-01 -1.06301749e-01 2.46897370e-02 1.03258785e+02] [ 1.06298926e-01 9.94333190e-01 1.43047893e-03 4.15781918e+01] [-2.47018874e-02 1.20255737e-03 9.99694139e-01 -8.19719935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38592 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:103.29, Y:41.58, Z:-0.82 [[ 9.94111729e-01 -1.05969817e-01 2.26333455e-02 1.03291068e+02] [ 1.05967566e-01 9.94368734e-01 1.30216416e-03 4.15756303e+01] [-2.26438812e-02 1.10390388e-03 9.99742985e-01 -8.20597642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:103.32, Y:41.58, Z:-0.82 [[ 9.94216519e-01 -1.04993994e-01 2.25781748e-02 1.03323357e+02] [ 1.04991710e-01 9.94472261e-01 1.28983074e-03 4.15750728e+01] [-2.25887930e-02 1.08815016e-03 9.99744248e-01 -8.20912675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:103.36, Y:41.57, Z:-0.82 [[ 9.94255030e-01 -1.04314745e-01 2.39868442e-02 1.03356864e+02] [ 1.04312237e-01 9.94543669e-01 1.35917711e-03 4.15732131e+01] [-2.39977463e-02 1.15075271e-03 9.99711350e-01 -8.20866544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47592 meters Centerline goodness [0,1] 0.9999004182433778 Centerline is valid? [True, True] Translation: X:103.39, Y:41.57, Z:-0.82 [[ 9.94286569e-01 -1.03631440e-01 2.55879505e-02 1.03389593e+02] [ 1.03628630e-01 9.94615019e-01 1.43941612e-03 4.15735591e+01] [-2.55993286e-02 1.22045213e-03 9.99671538e-01 -8.20739478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50591999999999 meters Centerline goodness [0,1] 0.9998508946322068 Centerline is valid? [True, True] Translation: X:103.42, Y:41.57, Z:-0.82 [[ 9.94551805e-01 -1.00721859e-01 2.68666115e-02 1.03422461e+02] [ 1.00717814e-01 9.94913891e-01 1.50718600e-03 4.15715438e+01] [-2.68817716e-02 1.20697183e-03 9.99637891e-01 -8.20525473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:41.57, Z:-0.82 [[ 9.94818174e-01 -9.82333874e-02 2.62107388e-02 1.03454852e+02] [ 9.82289502e-02 9.95162772e-01 1.45990601e-03 4.15711215e+01] [-2.62273630e-02 1.12231232e-03 9.99655374e-01 -8.21466932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56591999999999 meters Centerline goodness [0,1] 0.9999004628477579 Centerline is valid? [True, True] Translation: X:103.49, Y:41.57, Z:-0.82 [[ 9.95227934e-01 -9.45698766e-02 2.40394943e-02 1.03486297e+02] [ 9.45651335e-02 9.95517779e-01 1.33659612e-03 4.15680379e+01] [-2.40581457e-02 9.43080197e-04 9.99710116e-01 -8.21129778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:41.57, Z:-0.82 [[ 9.95513748e-01 -9.16447794e-02 2.35289603e-02 1.03518586e+02] [ 9.16396440e-02 9.95791388e-01 1.29868331e-03 4.15689877e+01] [-2.35489536e-02 8.63328453e-04 9.99722312e-01 -8.21194438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62592 meters Centerline goodness [0,1] 0.9999005469915465 Centerline is valid? [True, True] Translation: X:103.55, Y:41.57, Z:-0.82 [[ 9.95898577e-01 -8.75462457e-02 2.28402980e-02 1.03550526e+02] [ 8.75404021e-02 9.96160176e-01 1.25749989e-03 4.15669472e+01] [-2.28626847e-02 7.47106525e-04 9.99738336e-01 -8.21138308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.58, Y:41.57, Z:-0.82 [[ 9.96167434e-01 -8.47983049e-02 2.14403940e-02 1.03582481e+02] [ 8.47927098e-02 9.96397924e-01 1.17156274e-03 4.15666368e+01] [-2.14625106e-02 6.50916465e-04 9.99769442e-01 -8.20932675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:41.56, Z:-0.82 [[ 9.96431708e-01 -8.09954188e-02 2.37401193e-02 1.03614672e+02] [ 8.09877214e-02 9.96714268e-01 1.28710400e-03 4.15645575e+01] [-2.37663652e-02 6.40146935e-04 9.99717335e-01 -8.20338118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:41.57, Z:-0.82 [[ 9.96495414e-01 -7.97006166e-02 2.53909792e-02 1.03647411e+02] [ 7.96917098e-02 9.96818625e-01 1.36409406e-03 4.15656298e+01] [-2.54189201e-02 6.64137066e-04 9.99676666e-01 -8.21082084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:41.57, Z:-0.82 [[ 9.96517081e-01 -7.92866446e-02 2.58328208e-02 1.03680791e+02] [ 7.92776160e-02 9.96851628e-01 1.37508186e-03 4.15670862e+01] [-2.58605151e-02 6.77671888e-04 9.99665331e-01 -8.20587468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.71, Y:41.57, Z:-0.82 [[ 9.96567273e-01 -7.91719662e-02 2.41964716e-02 1.03712864e+02] [ 7.91642633e-02 9.96860766e-01 1.27758019e-03 4.15662964e+01] [-2.42216617e-02 6.42301241e-04 9.99706406e-01 -8.20240966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:41.57, Z:-0.82 [[ 9.96547756e-01 -7.94438553e-02 2.41089884e-02 1.03746221e+02] [ 7.94365723e-02 9.96839125e-01 1.26115996e-03 4.15676484e+01] [-2.41329743e-02 6.58329275e-04 9.99708541e-01 -8.21676670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.78, Y:41.57, Z:-0.82 [[ 9.96466047e-01 -8.03182379e-02 2.45844893e-02 1.03778505e+02] [ 8.03111907e-02 9.96769023e-01 1.27546708e-03 4.15697356e+01] [-2.46075007e-02 7.03449968e-04 9.99696942e-01 -8.22137807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.81, Y:41.57, Z:-0.82 [[ 9.96372277e-01 -8.11567825e-02 2.56098044e-02 1.03810366e+02] [ 8.11496921e-02 9.96701054e-01 1.31774267e-03 4.15711501e+01] [-2.56322628e-02 7.65265472e-04 9.99671147e-01 -8.22039328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:41.57, Z:-0.82 [[ 9.96436984e-01 -8.15058829e-02 2.16824432e-02 1.03842532e+02] [ 8.15010828e-02 9.96672639e-01 1.10643661e-03 4.15713892e+01] [-2.17004790e-02 6.64648247e-04 9.99764296e-01 -8.19932081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:41.57, Z:-0.82 [[ 9.96455180e-01 -8.12763402e-02 2.17078564e-02 1.03875733e+02] [ 8.12717070e-02 9.96691380e-01 1.09703226e-03 4.15734929e+01] [-2.17251961e-02 6.71091069e-04 9.99763755e-01 -8.20183175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95591999999999 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:103.91, Y:41.58, Z:-0.82 [[ 9.96479529e-01 -8.06326200e-02 2.29549529e-02 1.03908759e+02] [ 8.06275279e-02 9.96743639e-01 1.14877315e-03 4.15764962e+01] [-2.29728318e-02 7.06072174e-04 9.99735840e-01 -8.21382250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:41.58, Z:-0.82 [[ 9.96556445e-01 -7.95700570e-02 2.33207679e-02 1.03941553e+02] [ 7.95647767e-02 9.96829028e-01 1.15569257e-03 4.15787110e+01] [-2.33387769e-02 7.03798806e-04 9.99727366e-01 -8.21781236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.97, Y:41.58, Z:-0.82 [[ 9.96647909e-01 -7.82679544e-02 2.38133085e-02 1.03974863e+02] [ 7.82623559e-02 9.96932113e-01 1.16841411e-03 4.15808606e+01] [-2.38317014e-02 6.99188150e-04 9.99715740e-01 -8.20888192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:41.58, Z:-0.82 [[ 9.96915365e-01 -7.45989874e-02 2.43874332e-02 1.04006716e+02] [ 7.45922765e-02 9.97213410e-01 1.18602551e-03 4.15834274e+01] [-2.44079517e-02 6.36747105e-04 9.99701879e-01 -8.21288797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:41.59, Z:-0.82 [[ 9.97008946e-01 -7.32176476e-02 2.47454399e-02 1.04039209e+02] [ 7.32106155e-02 9.97315791e-01 1.19123063e-03 4.15869839e+01] [-2.47662370e-02 6.23961290e-04 9.99693075e-01 -8.21536071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:41.59, Z:-0.82 [[ 9.97044779e-01 -7.27278743e-02 2.47460219e-02 1.04071730e+02] [ 7.27209929e-02 9.97351627e-01 1.17907579e-03 4.15888647e+01] [-2.47662369e-02 6.23963923e-04 9.99693075e-01 -8.21564168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:41.59, Z:-0.82 [[ 9.97312728e-01 -6.99140263e-02 2.18941032e-02 1.04103561e+02] [ 6.99081685e-02 9.97552896e-01 1.03375680e-03 4.15924497e+01] [-2.19128001e-02 4.99597835e-04 9.99759761e-01 -8.22015572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.14, Y:41.60, Z:-0.82 [[ 9.97435069e-01 -6.78127479e-02 2.29066520e-02 1.04136791e+02] [ 6.78060435e-02 9.97697948e-01 1.07015607e-03 4.15952728e+01] [-2.29264899e-02 4.85798247e-04 9.99737035e-01 -8.22333832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.17, Y:41.60, Z:-0.82 [[ 9.97592929e-01 -6.47457904e-02 2.48260202e-02 1.04169404e+02] [ 6.47372734e-02 9.97901683e-01 1.14746834e-03 4.15997567e+01] [-2.48482211e-02 4.62462554e-04 9.99691128e-01 -8.19868541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.20, Y:41.60, Z:-0.82 [[ 9.97670874e-01 -6.33333606e-02 2.53320541e-02 1.04202091e+02] [ 6.33243584e-02 9.97992327e-01 1.15821229e-03 4.16036879e+01] [-2.53545491e-02 4.48621406e-04 9.99678421e-01 -8.20153443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:41.61, Z:-0.82 [[ 9.97801515e-01 -6.16847646e-02 2.42306804e-02 1.04234265e+02] [ 6.16763003e-02 9.98095602e-01 1.09721835e-03 4.16070983e+01] [-2.42522171e-02 3.99652584e-04 9.99705792e-01 -8.20419793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.27, Y:41.61, Z:-0.82 [[ 9.98009843e-01 -5.86709875e-02 2.31099045e-02 1.04266291e+02] [ 5.86626142e-02 9.98277324e-01 1.04067833e-03 4.16120136e+01] [-2.31311512e-02 3.17080192e-04 9.99732389e-01 -8.20532432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31591999999999 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:104.30, Y:41.62, Z:-0.82 [[ 9.98131755e-01 -5.62356596e-02 2.38861963e-02 1.04298954e+02] [ 5.62263085e-02 9.98417483e-01 1.06344891e-03 4.16167722e+01] [-2.39081998e-02 2.81570516e-04 9.99714118e-01 -8.21349442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:41.63, Z:-0.82 [[ 9.98158076e-01 -5.50680446e-02 2.54551756e-02 1.04330494e+02] [ 5.50573362e-02 9.98482564e-01 1.12187650e-03 4.16257316e+01] [-2.54783286e-02 2.81684073e-04 9.99675335e-01 -8.21700159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:41.63, Z:-0.82 [[ 9.98215067e-01 -5.39045247e-02 2.57095674e-02 1.04363470e+02] [ 5.38935476e-02 9.98546058e-01 1.12018150e-03 4.16301427e+01] [-2.57325701e-02 2.67397748e-04 9.99668827e-01 -8.21670375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:41.64, Z:-0.82 [[ 9.98194478e-01 -5.49210584e-02 2.43199875e-02 1.04396105e+02] [ 5.49118358e-02 9.98490658e-01 1.04738928e-03 4.16375106e+01] [-2.43408040e-02 2.89956965e-04 9.99703677e-01 -8.21670000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.43, Y:41.64, Z:-0.82 [[ 9.98166687e-01 -5.49985958e-02 2.52669657e-02 1.04427917e+02] [ 5.49889491e-02 9.98486382e-01 1.07697085e-03 4.16423655e+01] [-2.52879531e-02 3.14407467e-04 9.99680159e-01 -8.22793376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:41.65, Z:-0.82 [[ 9.98141725e-01 -5.58111760e-02 2.44583113e-02 1.04460624e+02] [ 5.58026833e-02 9.98441285e-01 1.03014892e-03 4.16475450e+01] [-2.44776816e-02 3.36604781e-04 9.99700320e-01 -8.23445623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:41.65, Z:-0.82 [[ 9.98041910e-01 -5.73345960e-02 2.50017892e-02 1.04492375e+02] [ 5.73264741e-02 9.98354942e-01 1.04206876e-03 4.16545111e+01] [-2.50204064e-02 3.93236124e-04 9.99686863e-01 -8.24412935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.53, Y:41.66, Z:-0.82 [[ 9.98027659e-01 -5.79394755e-02 2.41621348e-02 1.04525042e+02] [ 5.79323550e-02 9.98320015e-01 9.95170926e-04 4.16628752e+01] [-2.41792024e-02 4.06561258e-04 9.99707558e-01 -8.22724832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:104.56, Y:41.67, Z:-0.82 [[ 9.98055121e-01 -5.73460001e-02 2.44420047e-02 1.04557716e+02] [ 5.73388339e-02 9.98354280e-01 9.94511764e-04 4.16689120e+01] [-2.44588113e-02 4.08898489e-04 9.99700755e-01 -8.23119128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:41.67, Z:-0.82 [[ 9.98133229e-01 -5.63040715e-02 2.36624005e-02 1.04589775e+02] [ 5.62973073e-02 9.98413595e-01 9.52452510e-04 4.16746548e+01] [-2.36784893e-02 3.81454937e-04 9.99719552e-01 -8.23502548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:41.68, Z:-0.82 [[ 9.98165925e-01 -5.44971020e-02 2.63600521e-02 1.04621336e+02] [ 5.44883811e-02 9.98513853e-01 1.04954149e-03 4.16822229e+01] [-2.63780742e-02 3.88700017e-04 9.99651962e-01 -8.23690023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64591999999999 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:104.65, Y:41.69, Z:-0.82 [[ 9.98180913e-01 -5.43924512e-02 2.60062761e-02 1.04654023e+02] [ 5.43842600e-02 9.98519557e-01 1.02267675e-03 4.16864401e+01] [-2.60234012e-02 3.93515671e-04 9.99661256e-01 -8.24281554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:41.69, Z:-0.82 [[ 9.98168279e-01 -5.65129495e-02 2.15956649e-02 1.04686468e+02] [ 5.65079092e-02 9.98401795e-01 8.44045981e-04 4.16928423e+01] [-2.16088501e-02 3.77825947e-04 9.99766430e-01 -8.23264147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70591999999999 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:104.72, Y:41.70, Z:-0.82 [[ 9.98108819e-01 -5.81098979e-02 2.00505786e-02 1.04718985e+02] [ 5.81060685e-02 9.98310115e-01 7.74015872e-04 4.16974538e+01] [-2.00616734e-02 3.92508224e-04 9.99798667e-01 -8.23981119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73592 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:104.75, Y:41.70, Z:-0.82 [[ 9.98031642e-01 -5.94457975e-02 1.99759649e-02 1.04751097e+02] [ 5.94424364e-02 9.98231444e-01 7.62512375e-04 4.17016548e+01] [-1.99859644e-02 4.26408544e-04 9.99800170e-01 -8.23952168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.78, Y:41.71, Z:-0.82 [[ 9.97742526e-01 -6.28815709e-02 2.35745714e-02 1.04782719e+02] [ 6.28779694e-02 9.98020822e-01 8.94736242e-04 4.17076862e+01] [-2.35841755e-02 5.89604779e-04 9.99721681e-01 -8.22995126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.81, Y:41.71, Z:-0.82 [[ 9.97486005e-01 -6.57821438e-02 2.63510751e-02 1.04814635e+02] [ 6.57787419e-02 9.97833735e-01 9.96842117e-04 4.17140077e+01] [-2.63595661e-02 7.39004504e-04 9.99652253e-01 -8.23593590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:41.72, Z:-0.82 [[ 9.97392346e-01 -6.72948533e-02 2.60750824e-02 1.04846747e+02] [ 6.72923182e-02 9.97732826e-01 9.75685606e-04 4.17172386e+01] [-2.60816243e-02 7.81511386e-04 9.99659511e-01 -8.24336424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:41.72, Z:-0.82 [[ 9.97298773e-01 -6.89703199e-02 2.52636613e-02 1.04879247e+02] [ 6.89687420e-02 9.97618383e-01 9.34832503e-04 4.17188263e+01] [-2.52679687e-02 8.10095633e-04 9.99680386e-01 -8.24443386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:104.91, Y:41.72, Z:-0.82 [[ 9.97019972e-01 -7.32016368e-02 2.43453270e-02 1.04910874e+02] [ 7.32016599e-02 9.97316761e-01 8.91437943e-04 4.17226797e+01] [-2.43452574e-02 8.93336918e-04 9.99703211e-01 -8.24817711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:104.94, Y:41.73, Z:-0.82 [[ 9.96876672e-01 -7.50297417e-02 2.46462581e-02 1.04942947e+02] [ 7.50305709e-02 9.97180835e-01 8.92409823e-04 4.17267523e+01] [-2.46437335e-02 9.59600280e-04 9.99695837e-01 -8.24512806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94592 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:104.97, Y:41.73, Z:-0.82 [[ 9.96598191e-01 -7.88882598e-02 2.38471757e-02 1.04974716e+02] [ 7.88903528e-02 9.96882933e-01 8.54476070e-04 4.17300190e+01] [-2.38402506e-02 1.02974280e-03 9.99715251e-01 -8.23524041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97591999999999 meters Centerline goodness [0,1] 0.9999005568814638 Centerline is valid? [True, True] Translation: X:105.01, Y:41.73, Z:-0.82 [[ 9.96577155e-01 -7.92391499e-02 2.35612312e-02 1.05007186e+02] [ 7.92415145e-02 9.96855098e-01 8.34737947e-04 4.17301352e+01] [-2.35532773e-02 1.03514687e-03 9.99722047e-01 -8.23447376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00591999999999 meters Centerline goodness [0,1] 0.9997512561564101 Centerline is valid? [True, True] Translation: X:105.04, Y:41.73, Z:-0.82 [[ 9.96614675e-01 -7.85163765e-02 2.43796474e-02 1.05040769e+02] [ 7.85189666e-02 9.96912255e-01 8.52497907e-04 4.17306950e+01] [-2.43713043e-02 1.06465280e-03 9.99702409e-01 -8.22998454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03591999999999 meters Centerline goodness [0,1] 0.9998507611182967 Centerline is valid? [True, True] Translation: X:105.07, Y:41.73, Z:-0.82 [[ 9.96703859e-01 -7.73635816e-02 2.44191209e-02 1.05072877e+02] [ 7.73660765e-02 9.97002396e-01 8.43975341e-04 4.17334414e+01] [-2.44112150e-02 1.04801809e-03 9.99701453e-01 -8.23511914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06591999999999 meters Centerline goodness [0,1] 0.9998012027235227 Centerline is valid? [True, True] Translation: X:105.11, Y:41.74, Z:-0.82 [[ 9.96802018e-01 -7.59856143e-02 2.47370953e-02 1.05105519e+02] [ 7.59879972e-02 9.97108374e-01 8.45023498e-04 4.17353587e+01] [-2.47297745e-02 1.03740120e-03 9.99693634e-01 -8.23908733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:41.73, Z:-0.82 [[ 9.97069671e-01 -7.28362332e-02 2.33870541e-02 1.05136900e+02] [ 7.28375512e-02 9.97343500e-01 7.96618319e-04 4.17348770e+01] [-2.33829491e-02 9.09171787e-04 9.99726168e-01 -8.22173283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:41.74, Z:-0.82 [[ 9.97316936e-01 -6.96324950e-02 2.25885839e-02 1.05168938e+02] [ 6.96331065e-02 9.97572379e-01 7.60440206e-04 4.17379127e+01] [-2.25866988e-02 8.14513373e-04 9.99744556e-01 -8.21544531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15592 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:105.20, Y:41.74, Z:-0.82 [[ 9.97380863e-01 -6.91717872e-02 2.11347401e-02 1.05201268e+02] [ 6.91724014e-02 9.97604473e-01 7.02863588e-04 4.17399658e+01] [-2.11327296e-02 7.60918037e-04 9.99776389e-01 -8.21149144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:41.74, Z:-0.82 [[ 9.97364681e-01 -6.91973126e-02 2.18042588e-02 1.05233633e+02] [ 6.91981680e-02 9.97602677e-01 7.16169325e-04 4.17415884e+01] [-2.18015439e-02 7.94532773e-04 9.99762002e-01 -8.22437358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21592 meters Centerline goodness [0,1] 0.9997513303824539 Centerline is valid? [True, True] Translation: X:105.27, Y:41.74, Z:-0.82 [[ 9.97248958e-01 -7.09380870e-02 2.15012502e-02 1.05265927e+02] [ 7.09395124e-02 9.97480375e-01 6.97393703e-04 4.17446635e+01] [-2.14965469e-02 8.29813059e-04 9.99768578e-01 -8.22006136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24592 meters Centerline goodness [0,1] 0.9997510580034852 Centerline is valid? [True, True] Translation: X:105.30, Y:41.75, Z:-0.82 [[ 9.97038172e-01 -7.33406314e-02 2.31524198e-02 1.05298206e+02] [ 7.33429999e-02 9.97306495e-01 7.47975302e-04 4.17484078e+01] [-2.31449156e-02 9.52307995e-04 9.99731667e-01 -8.21980299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27592 meters Centerline goodness [0,1] 0.9997015073876921 Centerline is valid? [True, True] Translation: X:105.33, Y:41.75, Z:-0.82 [[ 9.96727750e-01 -7.74417282e-02 2.31640070e-02 1.05330061e+02] [ 7.74452659e-02 9.96996326e-01 7.45678056e-04 4.17537569e+01] [-2.31521765e-02 1.05070467e-03 9.99731400e-01 -8.22508082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30592 meters Centerline goodness [0,1] 0.9996513770606106 Centerline is valid? [True, True] Translation: X:105.36, Y:41.76, Z:-0.82 [[ 9.96658078e-01 -7.81101021e-02 2.39057931e-02 1.05361841e+02] [ 7.81142697e-02 9.96944122e-01 7.60870421e-04 4.17555930e+01] [-2.38921716e-02 1.10905592e-03 9.99713926e-01 -8.22587677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33592 meters Centerline goodness [0,1] 0.9997017447929611 Centerline is valid? [True, True] Translation: X:105.39, Y:41.76, Z:-0.82 [[ 9.96611851e-01 -7.90205898e-02 2.28158969e-02 1.05393627e+02] [ 7.90248301e-02 9.96872390e-01 7.17132138e-04 4.17576081e+01] [-2.28012059e-02 1.08831999e-03 9.99739426e-01 -8.22801954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36591999999999 meters Centerline goodness [0,1] 0.9994031038599284 Centerline is valid? [True, True] Translation: X:105.43, Y:41.76, Z:-0.82 [[ 9.96667747e-01 -7.84211320e-02 2.24394436e-02 1.05425870e+02] [ 7.84252824e-02 9.96919751e-01 6.96356994e-04 4.17610531e+01] [-2.24249337e-02 1.06578315e-03 9.99747961e-01 -8.22971706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39591999999999 meters Centerline goodness [0,1] 0.9997016112989855 Centerline is valid? [True, True] Translation: X:105.46, Y:41.76, Z:-0.82 [[ 9.96753110e-01 -7.74934523e-02 2.18632638e-02 1.05458005e+02] [ 7.74973591e-02 9.96992332e-01 6.69802741e-04 4.17646421e+01] [-2.18494117e-02 1.02671724e-03 9.99760746e-01 -8.22840790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42591999999999 meters Centerline goodness [0,1] 0.999801064305963 Centerline is valid? [True, True] Translation: X:105.49, Y:41.77, Z:-0.82 [[ 9.96809605e-01 -7.65210723e-02 2.26966222e-02 1.05491178e+02] [ 7.65252653e-02 9.97067407e-01 6.85024461e-04 4.17695400e+01] [-2.26824810e-02 1.05402607e-03 9.99742164e-01 -8.22585834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45591999999999 meters Centerline goodness [0,1] 0.9998014001290899 Centerline is valid? [True, True] Translation: X:105.52, Y:41.77, Z:-0.82 [[ 9.96832595e-01 -7.61552234e-02 2.29163612e-02 1.05523927e+02] [ 7.61596418e-02 9.97095404e-01 6.81166268e-04 4.17725644e+01] [-2.29016728e-02 1.06629312e-03 9.99737154e-01 -8.22585172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48592 meters Centerline goodness [0,1] 0.9996024844720497 Centerline is valid? [True, True] Translation: X:105.56, Y:41.78, Z:-0.82 [[ 9.96734637e-01 -7.75097127e-02 2.26342036e-02 1.05555906e+02] [ 7.75145756e-02 9.96990998e-01 6.63748486e-04 4.17753870e+01] [-2.26175442e-02 1.09289958e-03 9.99743593e-01 -8.22044048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:105.59, Y:41.78, Z:-0.82 [[ 9.96593130e-01 -7.91036841e-02 2.33396868e-02 1.05588267e+02] [ 7.91095081e-02 9.96865703e-01 6.75130760e-04 4.17780147e+01] [-2.33199386e-02 1.17356046e-03 9.99727364e-01 -8.23212304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54592 meters Centerline goodness [0,1] 0.9996502273522211 Centerline is valid? [True, True] Translation: X:105.62, Y:41.78, Z:-0.82 [[ 9.96064312e-01 -8.46664441e-02 2.62198425e-02 1.05619481e+02] [ 8.46757589e-02 9.96408271e-01 7.56821050e-04 4.17818236e+01] [-2.61897453e-02 1.46634262e-03 9.99655914e-01 -8.23523896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57592 meters Centerline goodness [0,1] 0.9993532660066663 Centerline is valid? [True, True] Translation: X:105.65, Y:41.78, Z:-0.82 [[ 9.95887778e-01 -8.64016826e-02 2.72448748e-02 1.05651365e+02] [ 8.64126489e-02 9.96259128e-01 7.76810096e-04 4.17843882e+01] [-2.72100729e-02 1.58068612e-03 9.99628488e-01 -8.23856617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60592 meters Centerline goodness [0,1] 0.99945295404814 Centerline is valid? [True, True] Translation: X:105.68, Y:41.79, Z:-0.82 [[ 9.95755432e-01 -8.75992377e-02 2.82399060e-02 1.05683237e+02] [ 8.76117883e-02 9.96154377e-01 7.94969826e-04 4.17855863e+01] [-2.82009447e-02 1.68255314e-03 9.99600858e-01 -8.24502510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63592 meters Centerline goodness [0,1] 0.9995030315078024 Centerline is valid? [True, True] Translation: X:105.71, Y:41.79, Z:-0.82 [[ 9.95644895e-01 -8.98597625e-02 2.48287220e-02 1.05714991e+02] [ 8.98703830e-02 9.95953231e-01 6.90035433e-04 4.17866654e+01] [-2.47902523e-02 1.54433650e-03 9.99691482e-01 -8.24284279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66592 meters Centerline goodness [0,1] 0.9993028582810477 Centerline is valid? [True, True] Translation: X:105.75, Y:41.79, Z:-0.82 [[ 9.95645202e-01 -9.04017280e-02 2.27630971e-02 1.05747992e+02] [ 9.04110221e-02 9.95904343e-01 6.22631659e-04 4.17880692e+01] [-2.27261542e-02 1.43811465e-03 9.99740693e-01 -8.24031063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69592 meters Centerline goodness [0,1] 0.9994031632348552 Centerline is valid? [True, True] Translation: X:105.78, Y:41.79, Z:-0.82 [[ 9.95607122e-01 -9.05058337e-02 2.39823616e-02 1.05780623e+02] [ 9.05164052e-02 9.95894755e-01 6.46617260e-04 4.17864630e+01] [-2.39424308e-02 1.52702041e-03 9.99712173e-01 -8.24095099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72591999999999 meters Centerline goodness [0,1] 0.9992543619824029 Centerline is valid? [True, True] Translation: X:105.81, Y:41.79, Z:-0.83 [[ 9.95600002e-01 -9.00406605e-02 2.59483316e-02 1.05812662e+02] [ 9.00531400e-02 9.95936723e-01 6.89600266e-04 4.17854713e+01] [-2.59049884e-02 1.65016271e-03 9.99663048e-01 -8.25449364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75591999999999 meters Centerline goodness [0,1] 0.9990048761070753 Centerline is valid? [True, True] Translation: X:105.85, Y:41.78, Z:-0.82 [[ 9.95390563e-01 -9.31629259e-02 2.27661070e-02 1.05845298e+02] [ 9.31734043e-02 9.95649714e-01 6.02348406e-04 4.17828913e+01] [-2.27231845e-02 1.52162377e-03 9.99740637e-01 -8.24586786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78591999999999 meters Centerline goodness [0,1] 0.999251497005988 Centerline is valid? [True, True] Translation: X:105.88, Y:41.78, Z:-0.82 [[ 9.95358203e-01 -9.38747955e-02 2.12030757e-02 1.05877507e+02] [ 9.38842105e-02 9.95582969e-01 5.53153240e-04 4.17821162e+01] [-2.11613482e-02 1.44004840e-03 9.99775037e-01 -8.23338711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81591999999999 meters Centerline goodness [0,1] 0.9992052059013462 Centerline is valid? [True, True] Translation: X:105.91, Y:41.78, Z:-0.82 [[ 9.95591096e-01 -9.09656331e-02 2.28827985e-02 1.05909657e+02] [ 9.09760355e-02 9.95852908e-01 5.88188510e-04 4.17779270e+01] [-2.28414064e-02 1.49619105e-03 9.99737981e-01 -8.22049553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84591999999999 meters Centerline goodness [0,1] 0.9993540372670807 Centerline is valid? [True, True] Translation: X:105.94, Y:41.78, Z:-0.82 [[ 9.95817427e-01 -8.82099173e-02 2.38046949e-02 1.05941040e+02] [ 8.82204295e-02 9.96100790e-01 6.10267250e-04 4.17762064e+01] [-2.37657070e-02 1.49234565e-03 9.99716442e-01 -8.22506581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87592 meters Centerline goodness [0,1] 0.9996519317786287 Centerline is valid? [True, True] Translation: X:105.97, Y:41.78, Z:-0.82 [[ 9.96021643e-01 -8.48302249e-02 2.72895648e-02 1.05973224e+02] [ 8.48430604e-02 9.96394089e-01 6.89284213e-04 4.17755906e+01] [-2.72496332e-02 1.62878820e-03 9.99627333e-01 -8.22388348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90592 meters Centerline goodness [0,1] 0.9995024380535377 Centerline is valid? [True, True] Translation: X:106.00, Y:41.77, Z:-0.82 [[ 9.96527663e-01 -7.85921531e-02 2.74934454e-02 1.06003830e+02] [ 7.86028437e-02 9.96905769e-01 6.93354622e-04 4.17735194e+01] [-2.74628666e-02 1.47011593e-03 9.99621743e-01 -8.20607515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93592 meters Centerline goodness [0,1] 0.9993038635572572 Centerline is valid? [True, True] Translation: X:106.04, Y:41.77, Z:-0.82 [[ 9.96794152e-01 -7.49388372e-02 2.80283701e-02 1.06035007e+02] [ 7.49485518e-02 9.97187153e-01 7.05268389e-04 4.17722500e+01] [-2.80023825e-02 1.39767834e-03 9.99606879e-01 -8.21299897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96592 meters Centerline goodness [0,1] 0.999701477685457 Centerline is valid? [True, True] Translation: X:106.07, Y:41.77, Z:-0.82 [[ 9.97275725e-01 -6.76346328e-02 2.94395044e-02 1.06066070e+02] [ 6.76422242e-02 9.97709368e-01 7.39092273e-04 4.17668564e+01] [-2.94220575e-02 1.25427477e-03 9.99566291e-01 -8.23626389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99592 meters Centerline goodness [0,1] 0.999701477685457 Centerline is valid? [True, True] Translation: X:106.10, Y:41.77, Z:-0.82 [[ 9.97307040e-01 -6.71711479e-02 2.94398358e-02 1.06098690e+02] [ 6.71789305e-02 9.97740680e-01 7.25767905e-04 4.17679929e+01] [-2.94220724e-02 1.25392324e-03 9.99566291e-01 -8.23654565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02592 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:106.13, Y:41.77, Z:-0.82 [[ 9.97471127e-01 -6.44355938e-02 2.99900850e-02 1.06130815e+02] [ 6.44428038e-02 9.97921137e-01 7.27072286e-04 4.17671910e+01] [-2.99745890e-02 1.20741155e-03 9.99549932e-01 -8.24638394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:41.77, Z:-0.82 [[ 9.97614786e-01 -6.20827896e-02 3.01739133e-02 1.06162820e+02] [ 6.20893822e-02 9.98070334e-01 7.19323604e-04 4.17676437e+01] [-3.01603453e-02 1.15587177e-03 9.99544405e-01 -8.23904056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08592 meters Centerline goodness [0,1] 0.9998007273451901 Centerline is valid? [True, True] Translation: X:106.20, Y:41.77, Z:-0.82 [[ 9.97728962e-01 -6.06393297e-02 2.93221885e-02 1.06195470e+02] [ 6.06451282e-02 9.98159150e-01 6.92343293e-04 4.17699387e+01] [-2.93101940e-02 1.08747692e-03 9.99569772e-01 -8.23481443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11591999999999 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:106.23, Y:41.77, Z:-0.82 [[ 9.97824001e-01 -5.97375583e-02 2.79049767e-02 1.06228204e+02] [ 5.97425720e-02 9.98213603e-01 6.54762745e-04 4.17706956e+01] [-2.78942412e-02 1.01377709e-03 9.99610366e-01 -8.21568575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14591999999999 meters Centerline goodness [0,1] 0.9998508056494927 Centerline is valid? [True, True] Translation: X:106.26, Y:41.77, Z:-0.82 [[ 9.97853765e-01 -5.90098174e-02 2.83849300e-02 1.06261596e+02] [ 5.90150830e-02 9.98256878e-01 6.52926763e-04 4.17726999e+01] [-2.83739807e-02 1.02361357e-03 9.99596853e-01 -8.21165589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17591999999999 meters Centerline goodness [0,1] 0.9996523984506902 Centerline is valid? [True, True] Translation: X:106.29, Y:41.77, Z:-0.82 [[ 9.97891296e-01 -5.89302014e-02 2.72064686e-02 1.06294272e+02] [ 5.89353122e-02 9.98261615e-01 6.14666969e-04 4.17749657e+01] [-2.71953957e-02 9.90050902e-04 9.99629647e-01 -8.20745517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20591999999999 meters Centerline goodness [0,1] 0.999801093983093 Centerline is valid? [True, True] Translation: X:106.33, Y:41.78, Z:-0.82 [[ 9.97836952e-01 -5.93120105e-02 2.83461122e-02 1.06326403e+02] [ 5.93178934e-02 9.98238942e-01 6.34044705e-04 4.17764621e+01] [-2.83337995e-02 1.04875842e-03 9.99597967e-01 -8.20902719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23592 meters Centerline goodness [0,1] 0.9996520701824146 Centerline is valid? [True, True] Translation: X:106.36, Y:41.78, Z:-0.82 [[ 9.97681765e-01 -6.14309345e-02 2.92802970e-02 1.06358270e+02] [ 6.14384465e-02 9.98110667e-01 6.43887786e-04 4.17779986e+01] [-2.92645314e-02 1.15654086e-03 9.99571033e-01 -8.22946947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26592 meters Centerline goodness [0,1] 0.9997514663485436 Centerline is valid? [True, True] Translation: X:106.39, Y:41.78, Z:-0.82 [[ 9.97637314e-01 -6.20630838e-02 2.94612175e-02 1.06390680e+02] [ 6.20713141e-02 9.98071514e-01 6.35988717e-04 4.17786586e+01] [-2.94438734e-02 1.19421041e-03 9.99565722e-01 -8.23382888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29592 meters Centerline goodness [0,1] 0.9994035192365046 Centerline is valid? [True, True] Translation: X:106.42, Y:41.78, Z:-0.82 [[ 9.97595819e-01 -6.30066432e-02 2.88573207e-02 1.06422362e+02] [ 6.30152482e-02 9.98012377e-01 6.12029970e-04 4.17813287e+01] [-2.88385252e-02 1.20789269e-03 9.99583353e-01 -8.22657880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32592 meters Centerline goodness [0,1] 0.9997013885432737 Centerline is valid? [True, True] Translation: X:106.45, Y:41.78, Z:-0.82 [[ 9.97521090e-01 -6.47749718e-02 2.74932265e-02 1.06454667e+02] [ 6.47837550e-02 9.97899162e-01 5.72076812e-04 4.17842961e+01] [-2.74725239e-02 1.21045576e-03 9.99621826e-01 -8.21299142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35592 meters Centerline goodness [0,1] 0.999403578528827 Centerline is valid? [True, True] Translation: X:106.49, Y:41.78, Z:-0.82 [[ 9.97556538e-01 -6.43276555e-02 2.72563050e-02 1.06487784e+02] [ 6.43364612e-02 9.97928110e-01 5.54666537e-04 4.17843815e+01] [-2.72355133e-02 1.20026298e-03 9.99628324e-01 -8.21087643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38592 meters Centerline goodness [0,1] 0.9994034302759135 Centerline is valid? [True, True] Translation: X:106.52, Y:41.78, Z:-0.82 [[ 9.97473078e-01 -6.53842801e-02 2.77912752e-02 1.06520437e+02] [ 6.53941569e-02 9.97859357e-01 5.54301592e-04 4.17822720e+01] [-2.77680267e-02 1.26448610e-03 9.99613594e-01 -8.22546829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41592 meters Centerline goodness [0,1] 0.9994024499551838 Centerline is valid? [True, True] Translation: X:106.55, Y:41.78, Z:-0.82 [[ 9.97478086e-01 -6.55374339e-02 2.72454045e-02 1.06553240e+02] [ 6.55473243e-02 9.97849321e-01 5.30888973e-04 4.17827132e+01] [-2.72216015e-02 1.25631325e-03 9.99628634e-01 -8.23356406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44592 meters Centerline goodness [0,1] 0.9994536061990861 Centerline is valid? [True, True] Translation: X:106.59, Y:41.78, Z:-0.83 [[ 9.97407828e-01 -6.57151361e-02 2.93111733e-02 1.06585201e+02] [ 6.57270069e-02 9.97837486e-01 5.59341311e-04 4.17811439e+01] [-2.92845447e-02 1.36864429e-03 9.99570179e-01 -8.25820494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47591999999999 meters Centerline goodness [0,1] 0.9996524329692155 Centerline is valid? [True, True] Translation: X:106.62, Y:41.78, Z:-0.83 [[ 9.97361597e-01 -6.58506529e-02 3.05538383e-02 1.06617457e+02] [ 6.58639902e-02 9.97828447e-01 5.70801568e-04 4.17806379e+01] [-3.05250766e-02 1.44310214e-03 9.99532960e-01 -8.25798632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50591999999999 meters Centerline goodness [0,1] 0.9996521047661647 Centerline is valid? [True, True] Translation: X:106.65, Y:41.78, Z:-0.83 [[ 9.97456405e-01 -6.53029908e-02 2.85699162e-02 1.06649318e+02] [ 6.53147542e-02 9.97864575e-01 5.22271504e-04 4.17805608e+01] [-2.85430132e-02 1.34509400e-03 9.99591660e-01 -8.25087073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53591999999999 meters Centerline goodness [0,1] 0.9996519490851233 Centerline is valid? [True, True] Translation: X:106.68, Y:41.78, Z:-0.82 [[ 9.97500856e-01 -6.51424232e-02 2.73588564e-02 1.06681782e+02] [ 6.51532615e-02 9.97875146e-01 4.96031939e-04 4.17755447e+01] [-2.73330355e-02 1.28772644e-03 9.99625553e-01 -8.23294031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56591999999999 meters Centerline goodness [0,1] 0.9989571953520707 Centerline is valid? [True, True] Translation: X:106.71, Y:41.77, Z:-0.82 [[ 9.97582872e-01 -6.45825091e-02 2.56420083e-02 1.06714413e+02] [ 6.45921027e-02 9.97911646e-01 4.54823728e-04 4.17735223e+01] [-2.56178323e-02 1.20254687e-03 9.99671086e-01 -8.22281529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59591999999999 meters Centerline goodness [0,1] 0.9990560882309106 Centerline is valid? [True, True] Translation: X:106.75, Y:41.77, Z:-0.82 [[ 9.97428163e-01 -6.66511620e-02 2.63568223e-02 1.06746382e+02] [ 6.66621053e-02 9.97775500e-01 4.64215254e-04 4.17697960e+01] [-2.63291321e-02 1.29397990e-03 9.99652491e-01 -8.23394111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62592 meters Centerline goodness [0,1] 0.9987059526179574 Centerline is valid? [True, True] Translation: X:106.78, Y:41.77, Z:-0.82 [[ 9.97396104e-01 -6.75062778e-02 2.53754761e-02 1.06778214e+02] [ 6.75169476e-02 9.97718032e-01 4.37041694e-04 4.17690389e+01] [-2.53470731e-02 1.27737101e-03 9.99677895e-01 -8.23343875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65592 meters Centerline goodness [0,1] 0.9987586891757696 Centerline is valid? [True, True] Translation: X:106.81, Y:41.77, Z:-0.82 [[ 9.97213449e-01 -6.96122320e-02 2.68230355e-02 1.06810327e+02] [ 6.96250035e-02 9.97573129e-01 4.58647757e-04 4.17667245e+01] [-2.67898670e-02 1.41018423e-03 9.99640092e-01 -8.23515474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68592 meters Centerline goodness [0,1] 0.9987570846176792 Centerline is valid? [True, True] Translation: X:106.84, Y:41.76, Z:-0.82 [[ 9.97204506e-01 -7.01620456e-02 2.56994235e-02 1.06842557e+02] [ 7.01742045e-02 9.97534659e-01 4.29552731e-04 4.17648476e+01] [-2.56662039e-02 1.37508468e-03 9.99669623e-01 -8.22911160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71592 meters Centerline goodness [0,1] 0.9987052437627608 Centerline is valid? [True, True] Translation: X:106.88, Y:41.76, Z:-0.82 [[ 9.97099027e-01 -7.19727265e-02 2.47680449e-02 1.06875112e+02] [ 7.19848197e-02 9.97405646e-01 4.04151395e-04 4.17605802e+01] [-2.47328757e-02 1.37994428e-03 9.99693143e-01 -8.22137196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74592 meters Centerline goodness [0,1] 0.9983566555450426 Centerline is valid? [True, True] Translation: X:106.91, Y:41.76, Z:-0.82 [[ 9.97012896e-01 -7.35188497e-02 2.36698812e-02 1.06907476e+02] [ 7.35305499e-02 9.97292894e-01 3.76844864e-04 4.17586744e+01] [-2.36335095e-02 1.36474019e-03 9.99719758e-01 -8.22227667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77592 meters Centerline goodness [0,1] 0.9986551105797967 Centerline is valid? [True, True] Translation: X:106.94, Y:41.76, Z:-0.82 [[ 9.96928687e-01 -7.38715493e-02 2.60035848e-02 1.06940071e+02] [ 7.38860599e-02 9.97266608e-01 4.03661757e-04 4.17564108e+01] [-2.59623260e-02 1.51888044e-03 9.99661768e-01 -8.23651406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80592 meters Centerline goodness [0,1] 0.9985081306877518 Centerline is valid? [True, True] Translation: X:106.97, Y:41.75, Z:-0.82 [[ 9.96763279e-01 -7.53584969e-02 2.80011058e-02 1.06971983e+02] [ 7.53761966e-02 9.97155078e-01 4.24373834e-04 4.17499292e+01] [-2.79534251e-02 1.68761661e-03 9.99607802e-01 -8.23810420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83592 meters Centerline goodness [0,1] 0.9989536100453436 Centerline is valid? [True, True] Translation: X:107.00, Y:41.75, Z:-0.82 [[ 9.96777891e-01 -7.44631271e-02 2.98174118e-02 1.07004291e+02] [ 7.44831495e-02 9.97222175e-01 4.40174998e-04 4.17467455e+01] [-2.97673611e-02 1.78213804e-03 9.99555265e-01 -8.24571202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86591999999999 meters Centerline goodness [0,1] 0.9990056182568489 Centerline is valid? [True, True] Translation: X:107.04, Y:41.74, Z:-0.82 [[ 9.96941973e-01 -7.24877869e-02 2.91928653e-02 1.07037088e+02] [ 7.25062606e-02 9.97367866e-01 4.26639939e-04 4.17389042e+01] [-2.91469519e-02 1.69133023e-03 9.99573706e-01 -8.24222439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89591999999999 meters Centerline goodness [0,1] 0.9992996848581862 Centerline is valid? [True, True] Translation: X:107.07, Y:41.74, Z:-0.82 [[ 9.97120992e-01 -7.08417668e-02 2.70401749e-02 1.07068213e+02] [ 7.08570548e-02 9.97486402e-01 3.93572137e-04 4.17356774e+01] [-2.70000881e-02 1.52354811e-03 9.99634270e-01 -8.23183066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92591999999999 meters Centerline goodness [0,1] 0.999354101455756 Centerline is valid? [True, True] Translation: X:107.10, Y:41.73, Z:-0.82 [[ 9.97457343e-01 -6.62457593e-02 2.62744981e-02 1.07098604e+02] [ 6.62586045e-02 9.97802411e-01 3.82379750e-04 4.17289442e+01] [-2.62420886e-02 1.35950409e-03 9.99654693e-01 -8.22569221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95591999999999 meters Centerline goodness [0,1] 0.9994530084535057 Centerline is valid? [True, True] Translation: X:107.13, Y:41.72, Z:-0.82 [[ 9.97768894e-01 -6.05475226e-02 2.81288392e-02 1.07130659e+02] [ 6.05600538e-02 9.98164473e-01 4.06988911e-04 4.17211995e+01] [-2.81018501e-02 1.29740314e-03 9.99604223e-01 -8.23077851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98592 meters Centerline goodness [0,1] 0.9997512437810945 Centerline is valid? [True, True] Translation: X:107.16, Y:41.72, Z:-0.82 [[ 9.97954336e-01 -5.75547627e-02 2.78314874e-02 1.07162603e+02] [ 5.75659368e-02 9.98341626e-01 4.00236200e-04 4.17178634e+01] [-2.78083679e-02 1.20272819e-03 9.99612549e-01 -8.22780413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01592 meters Centerline goodness [0,1] 0.9997016112989855 Centerline is valid? [True, True] Translation: X:107.19, Y:41.71, Z:-0.82 [[ 9.98150986e-01 -5.36140362e-02 2.86381684e-02 1.07194743e+02] [ 5.36243682e-02 9.98561095e-01 4.07663899e-04 4.17147278e+01] [-2.86188173e-02 1.12879356e-03 9.99589760e-01 -8.22991760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04592 meters Centerline goodness [0,1] 0.9998005783228637 Centerline is valid? [True, True] Translation: X:107.23, Y:41.71, Z:-0.82 [[ 9.98525121e-01 -4.50775309e-02 3.02588800e-02 1.07226147e+02] [ 4.50852094e-02 9.98983053e-01 4.28808673e-04 4.17113792e+01] [-3.02474379e-02 9.36051708e-04 9.99542003e-01 -8.24273980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:107.26, Y:41.71, Z:-0.82 [[ 9.98683425e-01 -4.12984761e-02 3.04278194e-02 1.07258064e+02] [ 4.13048706e-02 9.99146502e-01 4.18638594e-04 4.17103875e+01] [-3.04191385e-02 8.38729720e-04 9.99536879e-01 -8.24259255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10592 meters Centerline goodness [0,1] 0.9997516761857462 Centerline is valid? [True, True] Translation: X:107.29, Y:41.71, Z:-0.82 [[ 9.98905911e-01 -3.56233306e-02 3.02978556e-02 1.07290890e+02] [ 3.56272101e-02 9.99365065e-01 4.11952700e-04 4.17083655e+01] [-3.02932935e-02 6.67926080e-04 9.99540830e-01 -8.24961322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13592 meters Centerline goodness [0,1] 0.9999006754072308 Centerline is valid? [True, True] Translation: X:107.32, Y:41.71, Z:-0.82 [[ 9.99037854e-01 -3.32665002e-02 2.85780892e-02 1.07323493e+02] [ 3.32691378e-02 9.99446356e-01 3.83315098e-04 4.17075880e+01] [-2.85750187e-02 5.67822096e-04 9.99591490e-01 -8.24356338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:107.36, Y:41.71, Z:-0.82 [[ 9.99143164e-01 -3.21201564e-02 2.61004499e-02 1.07356018e+02] [ 3.21222571e-02 9.99483890e-01 3.38891661e-04 4.17093194e+01] [-2.60978644e-02 4.99804074e-04 9.99659268e-01 -8.23569461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:41.71, Z:-0.82 [[ 9.99102520e-01 -3.21664297e-02 2.75585974e-02 1.07388288e+02] [ 3.21691190e-02 9.99482380e-01 3.45875632e-04 4.17097335e+01] [-2.75554581e-02 5.40970585e-04 9.99620130e-01 -8.23159221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:41.71, Z:-0.82 [[ 9.99020911e-01 -3.28740335e-02 2.96060272e-02 1.07420779e+02] [ 3.28778292e-02 9.99459314e-01 3.58715507e-04 4.17106487e+01] [-2.96018121e-02 6.15017613e-04 9.99561581e-01 -8.23701174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:41.71, Z:-0.82 [[ 9.98994724e-01 -3.25543142e-02 3.08181494e-02 1.07452858e+02] [ 3.25586869e-02 9.99469761e-01 3.60052670e-04 4.17123807e+01] [-3.08135297e-02 6.43707761e-04 9.99524943e-01 -8.24117555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.48, Y:41.72, Z:-0.82 [[ 9.99060137e-01 -3.12864805e-02 2.99999788e-02 1.07484975e+02] [ 3.12904411e-02 9.99510277e-01 3.37549326e-04 4.17159450e+01] [-2.99958478e-02 6.01480491e-04 9.99549842e-01 -8.23879031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.52, Y:41.72, Z:-0.82 [[ 9.99176942e-01 -2.93648777e-02 2.79846870e-02 1.07517515e+02] [ 2.93679059e-02 9.99568624e-01 3.02879559e-04 4.17169382e+01] [-2.79815091e-02 5.19221383e-04 9.99608306e-01 -8.22431244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:41.72, Z:-0.82 [[ 9.99250529e-01 -2.74476766e-02 2.72947744e-02 1.07550116e+02] [ 2.74501652e-02 9.99623133e-01 2.83584327e-04 4.17178886e+01] [-2.72922716e-02 4.65874277e-04 9.99627388e-01 -8.21995200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:41.72, Z:-0.82 [[ 9.99396550e-01 -2.35396485e-02 2.55425437e-02 1.07581960e+02] [ 2.35408345e-02 9.99722844e-01 2.54301101e-04 4.17197411e+01] [-2.55414506e-02 3.47145152e-04 9.99673704e-01 -8.21880660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:41.72, Z:-0.82 [[ 9.99398969e-01 -2.20645421e-02 2.67368191e-02 1.07615264e+02] [ 2.20656753e-02 9.99756491e-01 2.52685909e-04 4.17212504e+01] [-2.67358839e-02 3.37431932e-04 9.99642475e-01 -8.22565284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:41.72, Z:-0.82 [[ 9.99337862e-01 -2.21809098e-02 2.88417160e-02 1.07646907e+02] [ 2.21824822e-02 9.99753903e-01 2.65478350e-04 4.17217138e+01] [-2.88405067e-02 3.74478285e-04 9.99583956e-01 -8.23450495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.68, Y:41.72, Z:-0.82 [[ 9.99363095e-01 -2.36790354e-02 2.66965705e-02 1.07678847e+02] [ 2.36812231e-02 9.99719533e-01 2.34256689e-04 4.17234598e+01] [-2.66946300e-02 3.98099953e-04 9.99643556e-01 -8.21998790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.71, Y:41.73, Z:-0.82 [[ 9.99296668e-01 -2.67663822e-02 2.62627320e-02 1.07711353e+02] [ 2.67698662e-02 9.99641599e-01 2.18981450e-04 4.17265704e+01] [-2.62591807e-02 4.84222388e-04 9.99655051e-01 -8.23036888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:107.74, Y:41.73, Z:-0.82 [[ 9.99297061e-01 -2.78963765e-02 2.50434918e-02 1.07743994e+02] [ 2.79002087e-02 9.99610694e-01 1.96449905e-04 4.17270917e+01] [-2.50392224e-02 5.02406833e-04 9.99686343e-01 -8.23628535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:41.73, Z:-0.82 [[ 9.99234994e-01 -2.91029020e-02 2.61236962e-02 1.07775984e+02] [ 2.91077810e-02 9.99576260e-01 1.93561176e-04 4.17270526e+01] [-2.61182597e-02 5.66989728e-04 9.99658699e-01 -8.23467335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:41.73, Z:-0.82 [[ 9.99109884e-01 -3.15353711e-02 2.80171544e-02 1.07808437e+02] [ 3.15422769e-02 9.99502399e-01 1.95539714e-04 4.17285708e+01] [-2.80093794e-02 6.88359181e-04 9.99607423e-01 -8.21913379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:41.73, Z:-0.82 [[ 9.99125695e-01 -3.13426113e-02 2.76674175e-02 1.07841605e+02] [ 3.13496495e-02 9.99508463e-01 1.79450484e-04 4.17298403e+01] [-2.76594424e-02 6.88070251e-04 9.99617168e-01 -8.21971004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64591999999999 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:107.87, Y:41.73, Z:-0.82 [[ 9.99098100e-01 -3.17085865e-02 2.82409649e-02 1.07873351e+02] [ 3.17163844e-02 9.99496894e-01 1.71892225e-04 4.17266447e+01] [-2.82322071e-02 7.23964100e-04 9.99601130e-01 -8.22512054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67591999999999 meters Centerline goodness [0,1] 0.999900616179686 Centerline is valid? [True, True] Translation: X:107.91, Y:41.72, Z:-0.82 [[ 9.99150583e-01 -3.04886459e-02 2.77228308e-02 1.07905601e+02] [ 3.04960191e-02 9.99534876e-01 1.56896658e-04 4.17249121e+01] [-2.77147198e-02 6.88672590e-04 9.99615636e-01 -8.23529212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:41.72, Z:-0.82 [[ 9.99277224e-01 -2.65650362e-02 2.71906041e-02 1.07937629e+02] [ 2.65709930e-02 9.99646919e-01 1.42269887e-04 4.17242964e+01] [-2.71847830e-02 5.80314293e-04 9.99630257e-01 -8.22083686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.97, Y:41.73, Z:-0.82 [[ 9.99350286e-01 -2.47842428e-02 2.61676633e-02 1.07969469e+02] [ 2.47894446e-02 9.99692687e-01 1.25641680e-04 4.17263014e+01] [-2.61627356e-02 5.23121791e-04 9.99657560e-01 -8.21048924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:41.73, Z:-0.82 [[ 9.99398910e-01 -2.04742942e-02 2.79753790e-02 1.08001624e+02] [ 2.04788935e-02 9.99790278e-01 1.22124686e-04 4.17288087e+01] [-2.79720124e-02 4.50853530e-04 9.99608605e-01 -8.20782531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.03, Y:41.73, Z:-0.82 [[ 9.99461974e-01 -1.84077610e-02 2.71461969e-02 1.08033995e+02] [ 1.84116538e-02 9.99830485e-01 1.06560999e-04 4.17295376e+01] [-2.71435568e-02 3.93302713e-04 9.99631468e-01 -8.20599445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.07, Y:41.73, Z:-0.82 [[ 9.99458468e-01 -1.64286092e-02 2.85108986e-02 1.08066678e+02] [ 1.64325057e-02 9.99864973e-01 9.76423647e-05 4.17322258e+01] [-2.85086530e-02 3.70916015e-04 9.99593477e-01 -8.21014999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:41.73, Z:-0.82 [[ 9.99486210e-01 -1.55564273e-02 2.80234339e-02 1.08099348e+02] [ 1.55599810e-02 9.99878932e-01 9.12629842e-05 4.17343160e+01] [-2.80214609e-02 3.44828005e-04 9.99607262e-01 -8.21423386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.13, Y:41.74, Z:-0.82 [[ 9.99447176e-01 -1.63767276e-02 2.89334727e-02 1.08131084e+02] [ 1.63811933e-02 9.99865816e-01 8.26972947e-05 4.17374687e+01] [-2.89309446e-02 3.91313232e-04 9.99581336e-01 -8.22086866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.16, Y:41.74, Z:-0.82 [[ 9.99455238e-01 -1.58769764e-02 2.89335101e-02 1.08163663e+02] [ 1.58816490e-02 9.99873876e-01 6.83170827e-05 4.17378834e+01] [-2.89309456e-02 3.91231985e-04 9.99581336e-01 -8.22114968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:108.20, Y:41.74, Z:-0.82 [[ 9.99469240e-01 -1.69595445e-02 2.78138793e-02 1.08196936e+02] [ 1.69646676e-02 9.99856088e-01 5.17882531e-05 4.17429335e+01] [-2.78107549e-02 4.20092451e-04 9.99613118e-01 -8.22094981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.23, Y:41.75, Z:-0.82 [[ 9.99450723e-01 -1.91723223e-02 2.70309748e-02 1.08229486e+02] [ 1.91782880e-02 9.99816079e-01 3.85601756e-05 4.17489389e+01] [-2.70267426e-02 4.79868825e-04 9.99634596e-01 -8.22026755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.26, Y:41.75, Z:-0.82 [[ 9.99457707e-01 -1.91407015e-02 2.67941360e-02 1.08262716e+02] [ 1.91469039e-02 9.99816681e-01 2.50815028e-05 4.17508986e+01] [-2.67897042e-02 4.87956844e-04 9.99640972e-01 -8.21561352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:41.75, Z:-0.82 [[ 9.99454978e-01 -1.98618246e-02 2.63676872e-02 1.08296209e+02] [ 1.98684262e-02 9.99802603e-01 1.16205963e-05 4.17524795e+01] [-2.63627131e-02 5.12270185e-04 9.99652312e-01 -8.20707178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06591999999999 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:108.33, Y:41.75, Z:-0.82 [[ 9.99391382e-01 -2.09064663e-02 2.79246456e-02 1.08328117e+02] [ 2.09146179e-02 9.99781265e-01 1.60902060e-07 4.17541467e+01] [-2.79185409e-02 5.83872489e-04 9.99610031e-01 -8.20965366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09591999999999 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:108.36, Y:41.76, Z:-0.82 [[ 9.99318888e-01 -2.48472591e-02 2.72832106e-02 1.08359928e+02] [ 2.48568048e-02 9.99691022e-01 -1.07256934e-05 4.17572844e+01] [-2.72745141e-02 6.88891826e-04 9.99627744e-01 -8.22637081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12592 meters Centerline goodness [0,1] 0.9999502140794583 Centerline is valid? [True, True] Translation: X:108.39, Y:41.76, Z:-0.82 [[ 9.99305985e-01 -2.66834497e-02 2.59911695e-02 1.08391944e+02] [ 2.66930166e-02 9.99643678e-01 -2.11400046e-05 4.17571789e+01] [-2.59813441e-02 7.14908050e-04 9.99662172e-01 -8.22048161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:41.76, Z:-0.82 [[ 9.99192825e-01 -2.91334195e-02 2.76575872e-02 1.08424127e+02] [ 2.91455094e-02 9.99575179e-01 -3.40183465e-05 4.17567436e+01] [-2.76448466e-02 8.40085356e-04 9.99617455e-01 -8.22446433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:108.46, Y:41.76, Z:-0.82 [[ 9.99034542e-01 -3.32498669e-02 2.87128837e-02 1.08455730e+02] [ 3.32649184e-02 9.99446568e-01 -4.65689092e-05 4.17565063e+01] [-2.86954447e-02 1.00165568e-03 9.99587699e-01 -8.20985041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:41.76, Z:-0.82 [[ 9.99004903e-01 -3.43975307e-02 2.83903942e-02 1.08487868e+02] [ 3.44130401e-02 9.99407694e-01 -5.77289917e-05 4.17562790e+01] [-2.83715927e-02 1.03467132e-03 9.99596910e-01 -8.20058817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24592 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:108.52, Y:41.75, Z:-0.82 [[ 9.99026239e-01 -3.43101206e-02 2.77378852e-02 1.08521065e+02] [ 3.43252566e-02 9.99410712e-01 -6.95757757e-05 4.17544341e+01] [-2.77191524e-02 1.02161805e-03 9.99615228e-01 -8.21456994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27592 meters Centerline goodness [0,1] 0.9997516515174092 Centerline is valid? [True, True] Translation: X:108.55, Y:41.75, Z:-0.82 [[ 9.99012195e-01 -3.36647268e-02 2.90055135e-02 1.08552958e+02] [ 3.36813584e-02 9.99432618e-01 -8.48684095e-05 4.17534364e+01] [-2.89861992e-02 1.06172967e-03 9.99579248e-01 -8.21922633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.58, Y:41.75, Z:-0.82 [[ 9.99064188e-01 -3.23376892e-02 2.87232048e-02 1.08584917e+02] [ 3.23537920e-02 9.99476474e-01 -9.59274963e-05 4.17498781e+01] [-2.87050654e-02 1.02514232e-03 9.99587399e-01 -8.20974284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33592 meters Centerline goodness [0,1] 0.9998011730788349 Centerline is valid? [True, True] Translation: X:108.62, Y:41.75, Z:-0.82 [[ 9.99095437e-01 -3.16496523e-02 2.84008305e-02 1.08617356e+02] [ 3.16654547e-02 9.99498518e-01 -1.06713561e-04 4.17483557e+01] [-2.83832105e-02 1.00594224e-03 9.99596609e-01 -8.20431106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:41.75, Z:-0.82 [[ 9.99158889e-01 -3.05589518e-02 2.73434508e-02 1.08649883e+02] [ 3.05735045e-02 9.99532515e-01 -1.14206174e-04 4.17481984e+01] [-2.73271781e-02 9.50095228e-04 9.99626091e-01 -8.20514892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:41.75, Z:-0.82 [[ 9.99162564e-01 -3.08329626e-02 2.68979267e-02 1.08682596e+02] [ 3.08474882e-02 9.99524095e-01 -1.25155430e-04 4.17495282e+01] [-2.68812669e-02 9.54784098e-04 9.99638177e-01 -8.19632516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:41.75, Z:-0.82 [[ 9.99143009e-01 -3.13623048e-02 2.70121066e-02 1.08715030e+02] [ 3.13774518e-02 9.99507597e-01 -1.36964569e-04 4.17496102e+01] [-2.69945102e-02 9.84418264e-04 9.99635097e-01 -8.19969193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45591999999999 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:108.75, Y:41.75, Z:-0.82 [[ 9.99072042e-01 -3.00725610e-02 3.08333658e-02 1.08747089e+02] [ 3.00920833e-02 9.99547116e-01 -1.69214375e-04 4.17455265e+01] [-3.08143131e-02 1.09689756e-03 9.99524524e-01 -8.20437584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:41.74, Z:-0.82 [[ 9.99010655e-01 -2.96619866e-02 3.31342397e-02 1.08778920e+02] [ 2.96847623e-02 9.99559291e-01 -1.95553508e-04 4.17435020e+01] [-3.31138367e-02 1.17894207e-03 9.99450891e-01 -8.21879670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:108.81, Y:41.74, Z:-0.82 [[ 9.99102450e-01 -2.63596559e-02 3.31581491e-02 1.08810950e+02] [ 2.63811084e-02 9.99651936e-01 -2.09570094e-04 4.17430160e+01] [-3.31410838e-02 1.08413072e-03 9.99450095e-01 -8.22495280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.84, Y:41.74, Z:-0.82 [[ 9.99238605e-01 -2.47537133e-02 3.01573357e-02 1.08842871e+02] [ 2.47708157e-02 9.99693138e-01 -1.93586751e-04 4.17433838e+01] [-3.01432896e-02 9.40461160e-04 9.99545145e-01 -8.22115032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:41.74, Z:-0.82 [[ 9.99422048e-01 -2.06500502e-02 2.70026782e-02 1.08874397e+02] [ 2.06623088e-02 9.99786496e-01 -1.75004370e-04 4.17403736e+01] [-2.69932992e-02 7.32840901e-04 9.99635346e-01 -8.21203096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:41.74, Z:-0.82 [[ 9.99483850e-01 -1.72587371e-02 2.70955546e-02 1.08906938e+02] [ 1.72701400e-02 9.99850843e-01 -1.86862123e-04 4.17388155e+01] [-2.70882881e-02 6.54709694e-04 9.99632831e-01 -8.20455398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.94, Y:41.74, Z:-0.82 [[ 9.99540473e-01 -1.43298557e-02 2.67113729e-02 1.08938936e+02] [ 1.43401978e-02 9.99897155e-01 -1.95653559e-04 4.17378893e+01] [-2.67058221e-02 5.78610022e-04 9.99643168e-01 -8.20080802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:41.74, Z:-0.82 [[ 9.99604949e-01 -9.75726268e-03 2.63579616e-02 1.08971524e+02] [ 9.76585737e-03 9.99952293e-01 -1.97366169e-04 4.17370921e+01] [-2.63547784e-02 4.54696293e-04 9.99652549e-01 -8.18705724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:41.74, Z:-0.82 [[ 9.99572289e-01 -8.64069033e-03 2.79388206e-02 1.09003712e+02] [ 8.65024364e-03 9.99962562e-01 -2.21090311e-04 4.17370566e+01] [-2.79358643e-02 4.62673354e-04 9.99609611e-01 -8.18991888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:41.74, Z:-0.82 [[ 9.99608467e-01 -9.34451656e-03 2.63740941e-02 1.09035759e+02] [ 9.35357581e-03 9.99956230e-01 -2.20141534e-04 4.17376770e+01] [-2.63708826e-02 4.66747430e-04 9.99652119e-01 -8.19722944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:41.74, Z:-0.82 [[ 9.99597901e-01 -9.68992728e-03 2.66484980e-02 1.09068342e+02] [ 9.69962899e-03 9.99952930e-01 -2.34820064e-04 4.17381810e+01] [-2.66449683e-02 4.93206187e-04 9.99644838e-01 -8.20324668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:41.74, Z:-0.82 [[ 9.99605862e-01 -1.15563270e-02 2.55846013e-02 1.09101845e+02] [ 1.15662051e-02 9.99933081e-01 -2.38140392e-04 4.17385438e+01] [-2.55801372e-02 5.33963277e-04 9.99672632e-01 -8.20527686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:41.74, Z:-0.82 [[ 9.99559058e-01 -1.24879110e-02 2.69396100e-02 1.09134382e+02] [ 1.24995193e-02 9.99921843e-01 -2.62540142e-04 4.17381822e+01] [-2.69342259e-02 5.99156552e-04 9.99637028e-01 -8.19971200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.17, Y:41.74, Z:-0.82 [[ 9.99496653e-01 -1.52619981e-02 2.78120859e-02 1.09166625e+02] [ 1.52757760e-02 9.99883278e-01 -2.82980021e-04 4.17374779e+01] [-2.78045208e-02 7.07688778e-04 9.99613129e-01 -8.18833452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:41.74, Z:-0.82 [[ 9.99496869e-01 -1.62540588e-02 2.72362674e-02 1.09198857e+02] [ 1.62679599e-02 9.99867626e-01 -2.88870921e-04 4.17377202e+01] [-2.72279668e-02 7.31804088e-04 9.99628982e-01 -8.19114981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.23, Y:41.74, Z:-0.82 [[ 9.99390166e-01 -1.84137645e-02 2.96686579e-02 1.09230913e+02] [ 1.84313280e-02 9.99830078e-01 -3.18597562e-04 4.17353497e+01] [-2.96577499e-02 8.65236037e-04 9.99559738e-01 -8.21411544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:41.73, Z:-0.82 [[ 9.99358441e-01 -1.90527030e-02 3.03265814e-02 1.09263155e+02] [ 1.90717290e-02 9.99818061e-01 -3.38209346e-04 4.17338139e+01] [-3.03146200e-02 9.16372706e-04 9.99539986e-01 -8.21643116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:41.73, Z:-0.82 [[ 9.99272872e-01 -2.16736021e-02 3.13684823e-02 1.09295063e+02] [ 2.16956575e-02 9.99764556e-01 -3.62873832e-04 4.17348602e+01] [-3.13532320e-02 1.04316983e-03 9.99507822e-01 -8.22148983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:41.74, Z:-0.82 [[ 9.99263922e-01 -2.22608933e-02 3.12420545e-02 1.09327008e+02] [ 2.22834661e-02 9.99751623e-01 -3.74481485e-04 4.17358873e+01] [-3.12259583e-02 1.07038710e-03 9.99511778e-01 -8.23184844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:109.36, Y:41.74, Z:-0.82 [[ 9.99279195e-01 -2.20982298e-02 3.08667937e-02 1.09360068e+02] [ 2.21206380e-02 9.99755235e-01 -3.84634931e-04 4.17359014e+01] [-3.08507388e-02 1.06715085e-03 9.99523433e-01 -8.22798558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:41.74, Z:-0.82 [[ 9.99284681e-01 -2.21693371e-02 3.06373554e-02 1.09393543e+02] [ 2.21918953e-02 9.99753651e-01 -3.96422451e-04 4.17355616e+01] [-3.06210195e-02 1.07603987e-03 9.99530487e-01 -8.22456798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08592 meters Centerline goodness [0,1] 0.999900616179686 Centerline is valid? [True, True] Translation: X:109.43, Y:41.74, Z:-0.82 [[ 9.99256220e-01 -2.27786762e-02 3.11149365e-02 1.09426057e+02] [ 2.28026436e-02 9.99739900e-01 -4.15619290e-04 4.17377957e+01] [-3.10973762e-02 1.12481297e-03 9.99515727e-01 -8.22399204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11591999999999 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:109.46, Y:41.74, Z:-0.82 [[ 9.99247395e-01 -2.26600745e-02 3.14827620e-02 1.09458467e+02] [ 2.26849677e-02 9.99742569e-01 -4.33691205e-04 4.17385781e+01] [-3.14648299e-02 1.14755025e-03 9.99504201e-01 -8.23153825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.49, Y:41.74, Z:-0.82 [[ 9.99267532e-01 -2.18344953e-02 3.14269769e-02 1.09490896e+02] [ 2.18593037e-02 9.99760957e-01 -4.46001386e-04 4.17380327e+01] [-3.14097263e-02 1.13264654e-03 9.99505951e-01 -8.23729592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17591999999999 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:109.52, Y:41.74, Z:-0.82 [[ 9.99357417e-01 -1.94629081e-02 3.00989675e-02 1.09523206e+02] [ 1.94849677e-02 9.99810053e-01 -4.39743627e-04 4.17358853e+01] [-3.00846916e-02 1.02593846e-03 9.99546827e-01 -8.24632589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:41.74, Z:-0.82 [[ 9.99429089e-01 -1.74810804e-02 2.89120859e-02 1.09555406e+02] [ 1.75008040e-02 9.99846757e-01 -4.29269104e-04 4.17372313e+01] [-2.89001513e-02 9.35008779e-04 9.99581866e-01 -8.23070574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:109.59, Y:41.74, Z:-0.82 [[ 9.99412622e-01 -1.63689740e-02 3.01076010e-02 1.09588037e+02] [ 1.63903001e-02 9.99865563e-01 -4.61654502e-04 4.17392419e+01] [-3.00959966e-02 9.54855951e-04 9.99546557e-01 -8.23535517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:109.62, Y:41.74, Z:-0.82 [[ 9.99491061e-01 -1.50961686e-02 2.81020264e-02 1.09620619e+02] [ 1.51143699e-02 9.99885677e-01 -4.35371227e-04 4.17373751e+01] [-2.80922413e-02 8.59894072e-04 9.99604965e-01 -8.22887220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.65, Y:41.73, Z:-0.82 [[ 9.99434819e-01 -1.46976060e-02 3.02327966e-02 1.09652430e+02] [ 1.47188706e-02 9.99891556e-01 -4.80921802e-04 4.17335770e+01] [-3.02224497e-02 9.25642615e-04 9.99542769e-01 -8.23900540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:41.73, Z:-0.82 [[ 9.99429337e-01 -1.37268641e-02 3.08637802e-02 1.09685399e+02] [ 1.37490221e-02 9.99905350e-01 -5.05811458e-04 4.17329008e+01] [-3.08539157e-02 9.29869607e-04 9.99523472e-01 -8.24216915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35592 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:109.72, Y:41.73, Z:-0.83 [[ 9.99329656e-01 -1.08749957e-02 3.49567457e-02 1.09717446e+02] [ 1.09022043e-02 9.99940396e-01 -5.87828882e-04 4.17320811e+01] [-3.49482695e-02 9.68540419e-04 9.99388653e-01 -8.26415918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:109.75, Y:41.73, Z:-0.83 [[ 9.99361350e-01 -9.51232923e-03 3.44442691e-02 1.09749926e+02] [ 9.53844147e-03 9.99954332e-01 -5.93855750e-04 4.17311013e+01] [-3.44370471e-02 9.22021129e-04 9.99406444e-01 -8.26150846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:41.73, Z:-0.82 [[ 9.99510593e-01 -7.02032278e-03 3.04842654e-02 1.09781188e+02] [ 7.03968049e-03 9.99975082e-01 -5.27727097e-04 4.17283165e+01] [-3.04798010e-02 7.42068312e-04 9.99535107e-01 -8.24519128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:41.73, Z:-0.82 [[ 9.99567831e-01 -6.18014996e-03 2.87394555e-02 1.09813671e+02] [ 6.19735309e-03 9.99980666e-01 -5.09554364e-04 4.17288536e+01] [-2.87357507e-02 6.87442704e-04 9.99586807e-01 -8.23850104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:41.73, Z:-0.82 [[ 9.99701963e-01 -2.88888345e-03 2.42412609e-02 1.09845298e+02] [ 2.90019693e-03 9.99995701e-01 -4.31558857e-04 4.17306731e+01] [-2.42399099e-02 5.01734667e-04 9.99706044e-01 -8.24000700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:41.73, Z:-0.83 [[ 9.99667284e-01 -1.31126216e-03 2.57604569e-02 1.09878503e+02] [ 1.32383504e-03 9.99999013e-01 -4.71020952e-04 4.17314795e+01] [-2.57598138e-02 5.04966831e-04 9.99668033e-01 -8.25647961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:41.73, Z:-0.83 [[ 9.99629520e-01 -5.17704736e-04 2.72131342e-02 1.09910770e+02] [ 5.31764272e-04 9.99999729e-01 -5.09410979e-04 4.17314012e+01] [-2.72128631e-02 5.23693225e-04 9.99629524e-01 -8.26006721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:41.73, Z:-0.83 [[ 9.99492204e-01 -4.76098600e-04 3.18607568e-02 1.09942399e+02] [ 4.95766097e-04 9.99999691e-01 -6.09398513e-04 4.17328296e+01] [-3.18604569e-02 6.24884545e-04 9.99492131e-01 -8.26353664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59591999999999 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:109.98, Y:41.74, Z:-0.83 [[ 9.99502887e-01 -1.37143624e-03 3.14975955e-02 1.09975324e+02] [ 1.39159142e-03 9.99998841e-01 -6.17983502e-04 4.17367912e+01] [-3.14967115e-02 6.61508078e-04 9.99503637e-01 -8.26087776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:41.74, Z:-0.83 [[ 9.99509266e-01 -1.45599140e-03 3.12906843e-02 1.10008099e+02] [ 1.47640739e-03 9.99998712e-01 -6.29367731e-04 4.17377120e+01] [-3.12897277e-02 6.75256677e-04 9.99510129e-01 -8.26434898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:41.74, Z:-0.83 [[ 9.99543852e-01 -1.82463629e-03 3.01456199e-02 1.10041614e+02] [ 1.84420307e-03 9.99998106e-01 -6.21284679e-04 4.17377107e+01] [-3.01444292e-02 6.76595926e-04 9.99545324e-01 -8.26591668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.07, Y:41.74, Z:-0.83 [[ 9.99564349e-01 -4.47923980e-03 2.91727265e-02 1.10073581e+02] [ 4.49905985e-03 9.99989691e-01 -6.13799874e-04 4.17393606e+01] [-2.91696764e-02 7.44782314e-04 9.99574197e-01 -8.28163983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71592 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:110.11, Y:41.74, Z:-0.83 [[ 9.99594763e-01 -6.33915917e-03 2.77511289e-02 1.10105961e+02] [ 6.35813689e-03 9.99979609e-01 -5.95666903e-04 4.17406758e+01] [-2.77467870e-02 7.71870993e-04 9.99614686e-01 -8.27668524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:41.74, Z:-0.83 [[ 9.99507890e-01 -9.30984522e-03 2.99550541e-02 1.10138348e+02] [ 9.33340851e-03 9.99956234e-01 -6.46891746e-04 4.17417057e+01] [-2.99477206e-02 9.26156161e-04 9.99551037e-01 -8.27065525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:41.74, Z:-0.83 [[ 9.99486762e-01 -9.08585793e-03 3.07190369e-02 1.10170663e+02] [ 9.11092594e-03 9.99958266e-01 -6.76164795e-04 4.17410477e+01] [-3.07116114e-02 9.55696632e-04 9.99527830e-01 -8.26471073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:41.74, Z:-0.83 [[ 9.99491034e-01 -8.60424188e-03 3.07187087e-02 1.10203258e+02] [ 8.62953546e-03 9.99962526e-01 -6.90910416e-04 4.17406479e+01] [-3.07116128e-02 9.55646953e-04 9.99527830e-01 -8.26499185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83592 meters Centerline goodness [0,1] 0.9998505455088925 Centerline is valid? [True, True] Translation: X:110.23, Y:41.74, Z:-0.82 [[ 9.99608006e-01 -6.65992411e-03 2.71933727e-02 1.10234281e+02] [ 6.67907804e-03 9.99977506e-01 -6.13589876e-04 4.17394254e+01] [-2.71886746e-02 7.94976011e-04 9.99630004e-01 -8.24951640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86591999999999 meters Centerline goodness [0,1] 0.9999003785614664 Centerline is valid? [True, True] Translation: X:110.27, Y:41.74, Z:-0.83 [[ 9.99638076e-01 -4.61331105e-03 2.65034852e-02 1.10267024e+02] [ 4.63094586e-03 9.99989095e-01 -6.04036192e-04 4.17391348e+01] [-2.65004096e-02 7.26553781e-04 9.99648538e-01 -8.25875450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89591999999999 meters Centerline goodness [0,1] 0.9998508353221957 Centerline is valid? [True, True] Translation: X:110.30, Y:41.74, Z:-0.83 [[ 9.99700309e-01 -2.23782731e-03 2.43779333e-02 1.10299292e+02] [ 2.25228915e-03 9.99997304e-01 -5.65793665e-04 4.17384293e+01] [-2.43766014e-02 6.20530257e-04 9.99702654e-01 -8.25920514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92591999999999 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:110.33, Y:41.74, Z:-0.83 [[ 9.99722161e-01 2.96633508e-03 2.33837895e-02 1.10331623e+02] [-2.95421880e-03 9.99995484e-01 -5.52676891e-04 4.17363510e+01] [-2.33853233e-02 4.83442506e-04 9.99726409e-01 -8.26709239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95591999999999 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:110.36, Y:41.74, Z:-0.83 [[ 9.99628632e-01 9.74558548e-03 2.54484247e-02 1.10364237e+02] [-9.73332260e-03 9.99952447e-01 -6.05699255e-04 4.17358175e+01] [-2.54531174e-02 3.57776590e-04 9.99675953e-01 -8.27446354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:41.74, Z:-0.83 [[ 9.99571868e-01 1.32653268e-02 2.60789372e-02 1.10396157e+02] [-1.32533544e-02 9.99911971e-01 -6.31884011e-04 4.17355805e+01] [-2.60850237e-02 2.85980084e-04 9.99659687e-01 -8.28382272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:41.74, Z:-0.83 [[ 9.99527110e-01 1.60076539e-02 2.62547531e-02 1.10427958e+02] [-1.59961592e-02 9.99871843e-01 -6.47794478e-04 4.17354250e+01] [-2.62617580e-02 2.27512933e-04 9.99655075e-01 -8.28577630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:41.74, Z:-0.83 [[ 9.99498788e-01 2.05934248e-02 2.40433679e-02 1.10460222e+02] [-2.05848545e-02 9.99787927e-01 -6.03925843e-04 4.17350789e+01] [-2.40507059e-02 1.08693918e-04 9.99710734e-01 -8.29161773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.49, Y:41.73, Z:-0.83 [[ 9.99441006e-01 2.32184028e-02 2.40536962e-02 1.10493195e+02] [-2.32102895e-02 9.99730415e-01 -6.16468582e-04 4.17346493e+01] [-2.40615251e-02 5.78307262e-05 9.99710478e-01 -8.30118067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:41.74, Z:-0.83 [[ 9.99337816e-01 2.63631418e-02 2.50781523e-02 1.10526520e+02] [-2.63549856e-02 9.99652432e-01 -6.55751731e-04 4.17358844e+01] [-2.50867236e-02 -5.61683992e-06 9.99685279e-01 -8.30436687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:110.56, Y:41.74, Z:-0.83 [[ 9.99265304e-01 2.74335484e-02 2.67628886e-02 1.10559079e+02] [-2.74243139e-02 9.99623629e-01 -7.12098842e-04 4.17372782e+01] [-2.67723512e-02 -2.23781908e-05 9.99641556e-01 -8.30102206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:41.74, Z:-0.83 [[ 9.99277859e-01 2.85075522e-02 2.51212922e-02 1.10591788e+02] [-2.84996457e-02 9.99593576e-01 -6.72781125e-04 4.17379161e+01] [-2.51302617e-02 -4.36526444e-05 9.99684184e-01 -8.29735858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:110.62, Y:41.74, Z:-0.83 [[ 9.99206284e-01 3.06435152e-02 2.54514762e-02 1.10624624e+02] [-3.06357651e-02 9.99530374e-01 -6.94465998e-04 4.17395139e+01] [-2.54608044e-02 -8.58106579e-05 9.99675817e-01 -8.29894044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:41.74, Z:-0.83 [[ 9.99187663e-01 3.12223413e-02 2.54789926e-02 1.10657625e+02] [-3.12144259e-02 9.99512460e-01 -7.08424425e-04 4.17404513e+01] [-2.54886892e-02 -8.74631802e-05 9.99675107e-01 -8.31248900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25591999999999 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:110.69, Y:41.74, Z:-0.83 [[ 9.99262934e-01 2.98318825e-02 2.41587955e-02 1.10690104e+02] [-2.98240962e-02 9.99554930e-01 -6.82622753e-04 4.17431950e+01] [-2.41684070e-02 -3.83946240e-05 9.99707901e-01 -8.31146148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28591999999999 meters Centerline goodness [0,1] 0.999950149551346 Centerline is valid? [True, True] Translation: X:110.72, Y:41.74, Z:-0.83 [[ 9.99306973e-01 2.67646346e-02 2.58694325e-02 1.10722163e+02] [-2.67543745e-02 9.99641762e-01 -7.42708305e-04 4.17439902e+01] [-2.58800434e-02 5.00731037e-05 9.99665054e-01 -8.31861297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31591999999999 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:110.76, Y:41.75, Z:-0.83 [[ 9.99435092e-01 2.22199095e-02 2.52145316e-02 1.10755588e+02] [-2.22083899e-02 9.99753092e-01 -7.36839380e-04 4.17452764e+01] [-2.52246784e-02 1.76448986e-04 9.99681792e-01 -8.31085682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34591999999999 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:110.79, Y:41.75, Z:-0.83 [[ 9.99481184e-01 1.98718141e-02 2.53470864e-02 1.10787953e+02] [-1.98591339e-02 9.99802505e-01 -7.51917384e-04 4.17463279e+01] [-2.53570224e-02 2.48156095e-04 9.99678428e-01 -8.30510568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37592 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:110.82, Y:41.75, Z:-0.83 [[ 9.99506493e-01 1.58538758e-02 2.71187361e-02 1.10820089e+02] [-1.58375591e-02 9.99874245e-01 -8.16373462e-04 4.17487848e+01] [-2.71282685e-02 3.86475991e-04 9.99631886e-01 -8.30432558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40592 meters Centerline goodness [0,1] 0.9999003934458888 Centerline is valid? [True, True] Translation: X:110.85, Y:41.75, Z:-0.83 [[ 9.99524014e-01 1.58432346e-02 2.64714520e-02 1.10853175e+02] [-1.58273303e-02 9.99874412e-01 -8.10239880e-04 4.17485490e+01] [-2.64809643e-02 3.90881804e-04 9.99649241e-01 -8.30178383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:110.89, Y:41.75, Z:-0.83 [[ 9.99485960e-01 1.72674823e-02 2.70120493e-02 1.10886612e+02] [-1.72510762e-02 9.99850836e-01 -8.40295391e-04 4.17474728e+01] [-2.70225299e-02 3.73876523e-04 9.99634755e-01 -8.31610773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:110.92, Y:41.75, Z:-0.83 [[ 9.99465289e-01 2.04138294e-02 2.55423694e-02 1.10919245e+02] [-2.04000781e-02 9.99791578e-01 -7.98858175e-04 4.17470711e+01] [-2.55533536e-02 2.77364686e-04 9.99673421e-01 -8.31258365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:110.95, Y:41.75, Z:-0.83 [[ 9.99394971e-01 2.40076884e-02 2.51659023e-02 1.10951687e+02] [-2.39953795e-02 9.99711756e-01 -7.91017853e-04 4.17471981e+01] [-2.51776389e-02 1.86673887e-04 9.99682976e-01 -8.29735805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:110.98, Y:41.75, Z:-0.83 [[ 9.99401018e-01 2.44505688e-02 2.44903202e-02 1.10984485e+02] [-2.44387479e-02 9.99701023e-01 -7.81907172e-04 4.17474585e+01] [-2.45021162e-02 1.82926061e-04 9.99699761e-01 -8.28683721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:111.02, Y:41.75, Z:-0.83 [[ 9.99449284e-01 2.38514738e-02 2.30702456e-02 1.11016599e+02] [-2.38405882e-02 9.99715494e-01 -7.46809946e-04 4.17487898e+01] [-2.30814945e-02 1.96390440e-04 9.99733568e-01 -8.27808238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.05, Y:41.75, Z:-0.83 [[ 9.99562785e-01 2.04522663e-02 2.13528138e-02 1.11049683e+02] [-2.04419376e-02 9.99790795e-01 -7.01898795e-04 4.17530323e+01] [-2.13627021e-02 2.65099028e-04 9.99771756e-01 -8.27641993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61591999999999 meters Centerline goodness [0,1] 0.9998013014753365 Centerline is valid? [True, True] Translation: X:111.08, Y:41.76, Z:-0.83 [[ 9.99528845e-01 1.74749971e-02 2.52331728e-02 1.11081652e+02] [-1.74593611e-02 9.99847221e-01 -8.39857179e-04 4.17560012e+01] [-2.52439942e-02 3.98906402e-04 9.99681240e-01 -8.27856517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64591999999999 meters Centerline goodness [0,1] 0.9999004628477579 Centerline is valid? [True, True] Translation: X:111.11, Y:41.76, Z:-0.83 [[ 9.99523797e-01 1.53963475e-02 2.67419621e-02 1.11114239e+02] [-1.53777341e-02 9.99881349e-01 -9.01562391e-04 4.17572865e+01] [-2.67526699e-02 4.89902283e-04 9.99641963e-01 -8.27575507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.15, Y:41.76, Z:-0.83 [[ 9.99554981e-01 1.37544384e-02 2.64699119e-02 1.11146789e+02] [-1.37353266e-02 9.99905258e-01 -9.03713892e-04 4.17593660e+01] [-2.64798341e-02 5.39738838e-04 9.99649202e-01 -8.26644770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.18, Y:41.76, Z:-0.83 [[ 9.99642902e-01 1.22779616e-02 2.37343638e-02 1.11179304e+02] [-1.22619395e-02 9.99924483e-01 -8.20482171e-04 4.17630104e+01] [-2.37426453e-02 5.29159845e-04 9.99717964e-01 -8.26251396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73592 meters Centerline goodness [0,1] 0.9999007197815836 Centerline is valid? [True, True] Translation: X:111.21, Y:41.76, Z:-0.83 [[ 9.99638755e-01 1.16710511e-02 2.42104363e-02 1.11211340e+02] [-1.16539517e-02 9.99931731e-01 -8.47261916e-04 4.17623442e+01] [-2.42186719e-02 5.64808591e-04 9.99706525e-01 -8.27482278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:111.24, Y:41.76, Z:-0.83 [[ 9.99579289e-01 1.34115102e-02 2.57172399e-02 1.11244475e+02] [-1.33924681e-02 9.99909900e-01 -9.12542502e-04 4.17608849e+01] [-2.57271614e-02 5.67741269e-04 9.99668841e-01 -8.27520524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.28, Y:41.76, Z:-0.83 [[ 9.99494802e-01 1.59765640e-02 2.74752736e-02 1.11277638e+02] [-1.59554286e-02 9.99872216e-01 -9.88328002e-04 4.17646735e+01] [-2.74875528e-02 5.49448935e-04 9.99621995e-01 -8.27251529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:41.77, Z:-0.83 [[ 9.99460861e-01 1.79499142e-02 2.74915792e-02 1.11310196e+02] [-1.79291747e-02 9.99838759e-01 -1.00072569e-03 4.17652206e+01] [-2.75051094e-02 5.07284831e-04 9.99621534e-01 -8.28086706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:41.76, Z:-0.83 [[ 9.99472977e-01 1.90066001e-02 2.63157431e-02 1.11342856e+02] [-1.89878522e-02 9.99819252e-01 -9.62141760e-04 4.17634180e+01] [-2.63292736e-02 4.61955248e-04 9.99653218e-01 -8.29160303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:41.76, Z:-0.83 [[ 9.99506916e-01 2.03734958e-02 2.38923778e-02 1.11375176e+02] [-2.03581953e-02 9.99792360e-01 -8.83484012e-04 4.17639712e+01] [-2.39054164e-02 3.96642688e-04 9.99714146e-01 -8.27912548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:41.77, Z:-0.83 [[ 9.99492153e-01 2.07262106e-02 2.42045575e-02 1.11408242e+02] [-2.07103263e-02 9.99785107e-01 -9.06772569e-04 4.17670500e+01] [-2.42181501e-02 4.05027784e-04 9.99706616e-01 -8.26739408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94592 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:111.44, Y:41.77, Z:-0.83 [[ 9.99512705e-01 1.95348887e-02 2.43462699e-02 1.11440537e+02] [-1.95182100e-02 9.99809076e-01 -9.22531424e-04 4.17737054e+01] [-2.43596431e-02 4.46886271e-04 9.99703160e-01 -8.27164533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97591999999999 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:111.47, Y:41.78, Z:-0.83 [[ 9.99528711e-01 1.75380407e-02 2.51947140e-02 1.11472393e+02] [-1.75192939e-02 9.99846060e-01 -9.64632355e-04 4.17753618e+01] [-2.52077532e-02 5.22784135e-04 9.99682097e-01 -8.29639318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00591999999999 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:111.51, Y:41.78, Z:-0.83 [[ 9.99572568e-01 1.66112971e-02 2.40571259e-02 1.11505371e+02] [-1.65936586e-02 9.99861881e-01 -9.32645705e-04 4.17774258e+01] [-2.40692956e-02 5.33051330e-04 9.99710150e-01 -8.28547132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03591999999999 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:111.54, Y:41.78, Z:-0.83 [[ 9.99604159e-01 1.45164719e-02 2.40997378e-02 1.11537596e+02] [-1.44979153e-02 9.99894454e-01 -9.44548005e-04 4.17813894e+01] [-2.41109057e-02 5.94778158e-04 9.99709113e-01 -8.28529230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06591999999999 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:111.57, Y:41.79, Z:-0.83 [[ 9.99659118e-01 1.23204332e-02 2.30185898e-02 1.11570217e+02] [-1.23027019e-02 9.99923903e-01 -9.11765742e-04 4.17851562e+01] [-2.30280715e-02 6.28264089e-04 9.99734621e-01 -8.28046123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:41.78, Z:-0.83 [[ 9.99623972e-01 1.12550975e-02 2.50047419e-02 1.11602692e+02] [-1.12335804e-02 9.99936400e-01 -1.00082796e-03 4.17847242e+01] [-2.50144160e-02 7.19558840e-04 9.99686832e-01 -8.29243006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:111.64, Y:41.79, Z:-0.83 [[ 9.99648549e-01 8.49124966e-03 2.51132959e-02 1.11635237e+02] [-8.46841180e-03 9.99963627e-01 -1.01560716e-03 4.17870029e+01] [-2.51210062e-02 8.02580494e-04 9.99684096e-01 -8.29365076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:41.79, Z:-0.83 [[ 9.99626861e-01 6.71131645e-03 2.64782252e-02 1.11667769e+02] [-6.68501383e-03 9.99977070e-01 -1.08176312e-03 4.17882733e+01] [-2.64848781e-02 9.04352170e-04 9.99648805e-01 -8.29861487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:111.70, Y:41.79, Z:-0.83 [[ 9.99633288e-01 1.05888382e-04 2.70791296e-02 1.11698431e+02] [-7.58961322e-05 9.99999383e-01 -1.10860348e-03 4.17866352e+01] [-2.70792302e-02 1.10614174e-03 9.99632678e-01 -8.31648182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.73, Y:41.78, Z:-0.83 [[ 9.99595610e-01 -2.81722483e-03 2.82962777e-02 1.11730403e+02] [ 2.85123499e-03 9.99995261e-01 -1.16165489e-03 4.17830413e+01] [-2.82928710e-02 1.24186447e-03 9.99598905e-01 -8.32800551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24592 meters Centerline goodness [0,1] 0.9998511904761904 Centerline is valid? [True, True] Translation: X:111.76, Y:41.78, Z:-0.83 [[ 9.99571896e-01 -6.06924171e-03 2.86214682e-02 1.11762397e+02] [ 6.10546325e-03 9.99980667e-01 -1.17831492e-03 4.17804706e+01] [-2.86137634e-02 1.35255780e-03 9.99589627e-01 -8.32957982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27592 meters Centerline goodness [0,1] 0.9997516268441706 Centerline is valid? [True, True] Translation: X:111.79, Y:41.78, Z:-0.83 [[ 9.99536963e-01 -1.13067074e-02 2.82491966e-02 1.11793646e+02] [ 1.13441251e-02 9.99934975e-01 -1.16464034e-03 4.17758133e+01] [-2.82341915e-02 1.48456349e-03 9.99600233e-01 -8.33155090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30592 meters Centerline goodness [0,1] 0.9997519718239992 Centerline is valid? [True, True] Translation: X:111.83, Y:41.77, Z:-0.83 [[ 9.99563271e-01 -1.28696456e-02 2.66014780e-02 1.11825659e+02] [ 1.29036468e-02 9.99916132e-01 -1.10690260e-03 4.17722645e+01] [-2.65850015e-02 1.44967526e-03 9.99645505e-01 -8.32871149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33592 meters Centerline goodness [0,1] 0.9997019077901431 Centerline is valid? [True, True] Translation: X:111.86, Y:41.76, Z:-0.83 [[ 9.99534620e-01 -1.39598830e-02 2.71231545e-02 1.11857145e+02] [ 1.39959006e-02 9.99901404e-01 -1.13853359e-03 4.17643361e+01] [-2.71045865e-02 1.51761671e-03 9.99631451e-01 -8.33669707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36591999999999 meters Centerline goodness [0,1] 0.9999002891614318 Centerline is valid? [True, True] Translation: X:111.89, Y:41.76, Z:-0.83 [[ 9.99493747e-01 -1.25852930e-02 2.92208762e-02 1.11889706e+02] [ 1.26268983e-02 9.99919509e-01 -1.23972704e-03 4.17581732e+01] [-2.92029219e-02 1.60806846e-03 9.99572210e-01 -8.34410159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39591999999999 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:111.92, Y:41.75, Z:-0.83 [[ 9.99550948e-01 -1.05140813e-02 2.80598769e-02 1.11921641e+02] [ 1.05519451e-02 9.99943605e-01 -1.20165663e-03 4.17530212e+01] [-2.80456601e-02 1.49720331e-03 9.99605522e-01 -8.33773541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42591999999999 meters Centerline goodness [0,1] 0.9998004688980895 Centerline is valid? [True, True] Translation: X:111.95, Y:41.74, Z:-0.83 [[ 9.99632528e-01 -7.64121211e-03 2.60080930e-02 1.11953059e+02] [ 7.67283369e-03 9.99969940e-01 -1.11625731e-03 4.17438274e+01] [-2.59987817e-02 1.31540289e-03 9.99661109e-01 -8.32408949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45591999999999 meters Centerline goodness [0,1] 0.9998012817328233 Centerline is valid? [True, True] Translation: X:111.98, Y:41.74, Z:-0.83 [[ 9.99571723e-01 -5.20251792e-03 2.87976445e-02 1.11984814e+02] [ 5.24060585e-03 9.99985490e-01 -1.24728916e-03 4.17359244e+01] [-2.87907376e-02 1.39767208e-03 9.99584484e-01 -8.32907260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48592 meters Centerline goodness [0,1] 0.9996518105849582 Centerline is valid? [True, True] Translation: X:112.02, Y:41.73, Z:-0.83 [[ 9.99557959e-01 -3.74514600e-03 2.94933922e-02 1.12017150e+02] [ 3.78462000e-03 9.99992016e-01 -1.28269224e-03 4.17281640e+01] [-2.94883529e-02 1.39374652e-03 9.99564152e-01 -8.32786669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51592 meters Centerline goodness [0,1] 0.9999503475670308 Centerline is valid? [True, True] Translation: X:112.05, Y:41.72, Z:-0.83 [[ 9.99561001e-01 -2.75700275e-03 2.94992177e-02 1.12049571e+02] [ 2.79641008e-03 9.99995252e-01 -1.29470568e-03 4.17216449e+01] [-2.94955081e-02 1.37662921e-03 9.99563965e-01 -8.32840011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54592 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:112.08, Y:41.71, Z:-0.83 [[ 9.99585885e-01 2.57521966e-04 2.87748699e-02 1.12080946e+02] [-2.21193245e-04 9.99999175e-01 -1.26569154e-03 4.17103801e+01] [-2.87751721e-02 1.25880259e-03 9.99585116e-01 -8.33334945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:112.11, Y:41.70, Z:-0.83 [[ 9.99605352e-01 5.03003663e-03 2.76376227e-02 1.12112073e+02] [-4.99829866e-03 9.99986767e-01 -1.21732507e-03 4.17018452e+01] [-2.76433802e-02 1.07870357e-03 9.99617267e-01 -8.32218993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60592 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:112.14, Y:41.70, Z:-0.83 [[ 9.99524721e-01 8.58008594e-03 2.96093577e-02 1.12144421e+02] [-8.54485724e-03 9.99962626e-01 -1.31611149e-03 4.16973564e+01] [-2.96195434e-02 1.06247824e-03 9.99560680e-01 -8.33087035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:41.69, Z:-0.83 [[ 9.99478397e-01 1.18400927e-02 3.00457329e-02 1.12176628e+02] [-1.18049149e-02 9.99929411e-01 -1.34792631e-03 4.16929664e+01] [-3.00595715e-02 9.92535902e-04 9.99547616e-01 -8.32070655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:41.69, Z:-0.83 [[ 9.99424782e-01 1.73414390e-02 2.91441236e-02 1.12207706e+02] [-1.73106175e-02 9.99849302e-01 -1.30954502e-03 4.16877792e+01] [-2.91624411e-02 8.04288969e-04 9.99574362e-01 -8.32443727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:41.69, Z:-0.83 [[ 9.99410703e-01 1.98908361e-02 2.79749967e-02 1.12239982e+02] [-1.98631130e-02 9.99801904e-01 -1.26856168e-03 4.16851409e+01] [-2.79946877e-02 7.12143604e-04 9.99607818e-01 -8.32393689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:41.68, Z:-0.83 [[ 9.99400818e-01 2.03823399e-02 2.79743723e-02 1.12272552e+02] [-2.03544262e-02 9.99792005e-01 -1.28225521e-03 4.16839794e+01] [-2.79946891e-02 7.12084606e-04 9.99607818e-01 -8.32421795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:41.68, Z:-0.83 [[ 9.99332799e-01 2.34316708e-02 2.80163263e-02 1.12304391e+02] [-2.34045301e-02 9.99725236e-01 -1.29631516e-03 4.16812650e+01] [-2.80390033e-02 6.39741308e-04 9.99606625e-01 -8.33182390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.34, Y:41.68, Z:-0.83 [[ 9.99344880e-01 2.37215577e-02 2.73331011e-02 1.12336146e+02] [-2.36957125e-02 9.99718412e-01 -1.26911869e-03 4.16795645e+01] [-2.73555099e-02 6.20609957e-04 9.99625575e-01 -8.32610125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:41.68, Z:-0.83 [[ 9.99360966e-01 2.51976820e-02 2.53522538e-02 1.12368305e+02] [-2.51756498e-02 9.99682337e-01 -1.18789698e-03 4.16818932e+01] [-2.53741326e-02 5.48878413e-04 9.99677874e-01 -8.32743375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.40, Y:41.68, Z:-0.83 [[ 9.99334639e-01 2.61265498e-02 2.54496280e-02 1.12401892e+02] [-2.61043272e-02 9.99658498e-01 -1.20509316e-03 4.16817080e+01] [-2.54724218e-02 5.39945926e-04 9.99675379e-01 -8.33741892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:112.43, Y:41.68, Z:-0.83 [[ 9.99293194e-01 2.78926286e-02 2.52014491e-02 1.12434005e+02] [-2.78711191e-02 9.99610799e-01 -1.20442027e-03 4.16810098e+01] [-2.52252351e-02 5.01176396e-04 9.99681668e-01 -8.33792025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90592 meters Centerline goodness [0,1] 0.9999502190362406 Centerline is valid? [True, True] Translation: X:112.47, Y:41.68, Z:-0.83 [[ 9.99236279e-01 2.90716954e-02 2.61092955e-02 1.12466727e+02] [-2.90488546e-02 9.99577207e-01 -1.25375758e-03 4.16798054e+01] [-2.61347055e-02 4.94354931e-04 9.99658308e-01 -8.33302185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:41.68, Z:-0.83 [[ 9.99265284e-01 2.94333735e-02 2.45472786e-02 1.12498646e+02] [-2.94130313e-02 9.99566636e-01 -1.18942122e-03 4.16798430e+01] [-2.45716494e-02 4.66537459e-04 9.99697963e-01 -8.33134076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:41.68, Z:-0.83 [[ 9.99276439e-01 2.96206130e-02 2.38582757e-02 1.12531647e+02] [-2.96011671e-02 9.99561107e-01 -1.16788861e-03 4.16782353e+01] [-2.38823980e-02 4.60810764e-04 9.99714669e-01 -8.33951577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:41.68, Z:-0.83 [[ 9.99258100e-01 3.00992218e-02 2.40267844e-02 1.12564563e+02] [-3.00793495e-02 9.99546808e-01 -1.18814928e-03 4.16761659e+01] [-2.40516580e-02 4.64557741e-04 9.99710609e-01 -8.34139535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02592 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:112.60, Y:41.67, Z:-0.83 [[ 9.99236591e-01 3.07402127e-02 2.41096193e-02 1.12597613e+02] [-3.07200992e-02 9.99527301e-01 -1.20427586e-03 4.16738538e+01] [-2.41352424e-02 4.62706608e-04 9.99708596e-01 -8.33134575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05592 meters Centerline goodness [0,1] 0.9999501097585313 Centerline is valid? [True, True] Translation: X:112.63, Y:41.67, Z:-0.83 [[ 9.99203596e-01 3.13645392e-02 2.46665704e-02 1.12630776e+02] [-3.13433696e-02 9.99507901e-01 -1.24448432e-03 4.16721710e+01] [-2.46934647e-02 4.70359778e-04 9.99694959e-01 -8.32659547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:41.67, Z:-0.83 [[ 9.99145374e-01 3.40704311e-02 2.34035793e-02 1.12663327e+02] [-3.40520232e-02 9.99419359e-01 -1.18473022e-03 4.16687281e+01] [-2.34303545e-02 3.86778495e-04 9.99725397e-01 -8.32262347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11591999999999 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:112.70, Y:41.67, Z:-0.83 [[ 9.99098434e-01 3.54984465e-02 2.32847408e-02 1.12695154e+02] [-3.54803792e-02 9.99369666e-01 -1.18873002e-03 4.16671423e+01] [-2.33122617e-02 3.61506868e-04 9.99728167e-01 -8.31892092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:41.67, Z:-0.83 [[ 9.99008294e-01 3.83725477e-02 2.25826472e-02 1.12727328e+02] [-3.83560617e-02 9.99263459e-01 -1.16288044e-03 4.16654008e+01] [-2.26106369e-02 2.95545791e-04 9.99744303e-01 -8.31820524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17591999999999 meters Centerline goodness [0,1] 0.9998508353221957 Centerline is valid? [True, True] Translation: X:112.76, Y:41.66, Z:-0.83 [[ 9.98882178e-01 4.09700913e-02 2.35763697e-02 1.12760295e+02] [-4.09525630e-02 9.99160340e-01 -1.22601456e-03 4.16642579e+01] [-2.36068035e-02 2.59131327e-04 9.99721287e-01 -8.31090973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20591999999999 meters Centerline goodness [0,1] 0.9999004876107075 Centerline is valid? [True, True] Translation: X:112.79, Y:41.66, Z:-0.83 [[ 9.98770711e-01 4.38854827e-02 2.30462673e-02 1.12792420e+02] [-4.38692708e-02 9.99036549e-01 -1.20880069e-03 4.16633173e+01] [-2.30771122e-02 1.96291785e-04 9.99733669e-01 -8.30052183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:41.67, Z:-0.83 [[ 9.98546456e-01 4.84650063e-02 2.35821825e-02 1.12826047e+02] [-4.84490221e-02 9.98824876e-01 -1.24902003e-03 4.16657419e+01] [-2.36150042e-02 1.04670844e-04 9.99721121e-01 -8.30381747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:41.67, Z:-0.83 [[ 9.98462140e-01 5.03556525e-02 2.31875506e-02 1.12859125e+02] [-5.03404301e-02 9.98731347e-01 -1.24010938e-03 4.16672046e+01] [-2.32205801e-02 7.09309940e-05 9.99730363e-01 -8.30419713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:41.67, Z:-0.83 [[ 9.98521178e-01 4.92309983e-02 2.30600576e-02 1.12892290e+02] [-4.92155318e-02 9.98787414e-01 -1.23810332e-03 4.16720756e+01] [-2.30930484e-02 1.01359385e-04 9.99733315e-01 -8.30260024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:41.67, Z:-0.83 [[ 9.98622308e-01 4.74579462e-02 2.23881695e-02 1.12925294e+02] [-4.74428247e-02 9.98873227e-01 -1.20638474e-03 4.16728650e+01] [-2.24201957e-02 1.42564708e-04 9.99748626e-01 -8.27946938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:112.96, Y:41.68, Z:-0.83 [[ 9.98892064e-01 4.19922314e-02 2.12437571e-02 1.12957813e+02] [-4.19771833e-02 9.99117903e-01 -1.15398150e-03 4.16766728e+01] [-2.12734763e-02 2.60949878e-04 9.99773660e-01 -8.26821152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38592 meters Centerline goodness [0,1] 0.9998509612996175 Centerline is valid? [True, True] Translation: X:112.99, Y:41.68, Z:-0.83 [[ 9.98944889e-01 3.99648026e-02 2.26257288e-02 1.12990600e+02] [-3.99469873e-02 9.99201032e-01 -1.23899812e-03 4.16788279e+01] [-2.26571679e-02 3.33861137e-04 9.99743238e-01 -8.26975564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41592 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:113.02, Y:41.68, Z:-0.83 [[ 9.99016703e-01 3.84322386e-02 2.21040556e-02 1.13024216e+02] [-3.84146164e-02 9.99261140e-01 -1.22145738e-03 4.16814104e+01] [-2.21346671e-02 3.71137506e-04 9.99754929e-01 -8.26821660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44592 meters Centerline goodness [0,1] 0.9996515505998308 Centerline is valid? [True, True] Translation: X:113.06, Y:41.69, Z:-0.83 [[ 9.99051332e-01 3.73609960e-02 2.23739157e-02 1.13056733e+02] [-3.73424535e-02 9.99301750e-01 -1.24613092e-03 4.16864575e+01] [-2.24048498e-02 4.09451847e-04 9.99748896e-01 -8.27935469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47591999999999 meters Centerline goodness [0,1] 0.9996024252062419 Centerline is valid? [True, True] Translation: X:113.09, Y:41.69, Z:-0.83 [[ 9.98981784e-01 3.97665964e-02 2.13076009e-02 1.13089459e+02] [-3.97501283e-02 9.99208936e-01 -1.19602243e-03 4.16885324e+01] [-2.13383069e-02 3.47824750e-04 9.99772252e-01 -8.28148250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50591999999999 meters Centerline goodness [0,1] 0.9996026424278548 Centerline is valid? [True, True] Translation: X:113.12, Y:41.69, Z:-0.83 [[ 9.98889523e-01 4.13363221e-02 2.26059630e-02 1.13122359e+02] [-4.13179306e-02 9.99145229e-01 -1.28023856e-03 4.16890367e+01] [-2.26395605e-02 3.44785273e-04 9.99743633e-01 -8.28617662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53591999999999 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:113.16, Y:41.69, Z:-0.83 [[ 9.98911577e-01 4.14971562e-02 2.12989893e-02 1.13155123e+02] [-4.14807901e-02 9.99138569e-01 -1.20981448e-03 4.16898404e+01] [-2.13308456e-02 3.24998782e-04 9.99772419e-01 -8.28417367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56591999999999 meters Centerline goodness [0,1] 0.9997512685304945 Centerline is valid? [True, True] Translation: X:113.19, Y:41.69, Z:-0.83 [[ 9.98936138e-01 4.22187253e-02 1.85518465e-02 1.13188039e+02] [-4.22063800e-02 9.99108355e-01 -1.05665510e-03 4.16929114e+01] [-1.85799155e-02 2.72524679e-04 9.99827341e-01 -8.28542576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59591999999999 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:113.22, Y:41.69, Z:-0.83 [[ 9.98923677e-01 4.29643026e-02 1.74801764e-02 1.13220697e+02] [-4.29534179e-02 9.99076578e-01 -9.97833402e-04 4.16947849e+01] [-1.75069061e-02 2.45926088e-04 9.99846712e-01 -8.29925477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62592 meters Centerline goodness [0,1] 0.9997019374068554 Centerline is valid? [True, True] Translation: X:113.25, Y:41.70, Z:-0.83 [[ 9.98930676e-01 4.28541413e-02 1.73501145e-02 1.13253943e+02] [-4.28433453e-02 9.99081308e-01 -9.93630657e-04 4.16962403e+01] [-1.73767563e-02 2.49231198e-04 9.99848982e-01 -8.29255113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65592 meters Centerline goodness [0,1] 0.9998010741993236 Centerline is valid? [True, True] Translation: X:113.29, Y:41.70, Z:-0.83 [[ 9.98944694e-01 4.20618194e-02 1.84472719e-02 1.13285862e+02] [-4.20493987e-02 9.99114970e-01 -1.06084390e-03 4.16991005e+01] [-1.84755666e-02 2.84027696e-04 9.99829272e-01 -8.30059824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:41.70, Z:-0.83 [[ 9.99030889e-01 3.93625134e-02 1.96945544e-02 1.13318742e+02] [-3.93477813e-02 9.99224931e-01 -1.13512673e-03 4.17044920e+01] [-1.97239712e-02 3.59089642e-04 9.99805399e-01 -8.29859643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:41.71, Z:-0.83 [[ 9.99034357e-01 3.80600958e-02 2.19495473e-02 1.13350619e+02] [-3.80413726e-02 9.99275358e-01 -1.27007437e-03 4.17053710e+01] [-2.19819809e-02 4.33857024e-04 9.99758273e-01 -8.30700528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:41.71, Z:-0.83 [[ 9.99094865e-01 3.57455797e-02 2.30586997e-02 1.13383145e+02] [-3.57240774e-02 9.99360788e-01 -1.34388902e-03 4.17079498e+01] [-2.30919984e-02 5.18921849e-04 9.99733210e-01 -8.31916078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:41.71, Z:-0.83 [[ 9.99144002e-01 3.39178076e-02 2.36821813e-02 1.13415781e+02] [-3.38943763e-02 9.99424454e-01 -1.39022390e-03 4.17080042e+01] [-2.37157044e-02 5.86341103e-04 9.99718571e-01 -8.32496041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:41.71, Z:-0.83 [[ 9.99176220e-01 3.35409786e-02 2.28447686e-02 1.13449349e+02] [-3.35188269e-02 9.99437172e-01 -1.35199582e-03 4.17064415e+01] [-2.28772582e-02 5.85152228e-04 9.99738110e-01 -8.31291997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:41.71, Z:-0.83 [[ 9.99166048e-01 3.34367242e-02 2.34348768e-02 1.13481321e+02] [-3.34131508e-02 9.99440649e-01 -1.39687071e-03 4.17070639e+01] [-2.34684753e-02 6.12672710e-04 9.99724390e-01 -8.30688118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.51, Y:41.71, Z:-0.83 [[ 9.99050839e-01 3.57090136e-02 2.49456876e-02 1.13514962e+02] [-3.56827102e-02 9.99362045e-01 -1.49890959e-03 4.17089510e+01] [-2.49832980e-02 6.07357146e-04 9.99687684e-01 -8.29332222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89591999999999 meters Centerline goodness [0,1] 0.9999503475670308 Centerline is valid? [True, True] Translation: X:113.55, Y:41.71, Z:-0.83 [[ 9.99014755e-01 3.65308763e-02 2.51995028e-02 1.13548518e+02] [-3.65039895e-02 9.99332342e-01 -1.52630032e-03 4.17072481e+01] [-2.52384352e-02 6.04914158e-04 9.99681277e-01 -8.28971240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92591999999999 meters Centerline goodness [0,1] 0.9998511904761904 Centerline is valid? [True, True] Translation: X:113.58, Y:41.70, Z:-0.83 [[ 9.98983426e-01 3.76609208e-02 2.47743564e-02 1.13580680e+02] [-3.76350210e-02 9.99290409e-01 -1.51102729e-03 4.17047142e+01] [-2.48136834e-02 5.77107795e-04 9.99691927e-01 -8.29431974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95591999999999 meters Centerline goodness [0,1] 0.9999006655408761 Centerline is valid? [True, True] Translation: X:113.61, Y:41.70, Z:-0.83 [[ 9.98911898e-01 3.89335860e-02 2.56748198e-02 1.13613205e+02] [-3.89060626e-02 9.99241638e-01 -1.57085621e-03 4.17023087e+01] [-2.57165081e-02 5.70240808e-04 9.99669113e-01 -8.30373766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98592 meters Centerline goodness [0,1] 0.999751688518077 Centerline is valid? [True, True] Translation: X:113.65, Y:41.70, Z:-0.83 [[ 9.98886371e-01 4.06257216e-02 2.39910033e-02 1.13645608e+02] [-4.06019392e-02 9.99174308e-01 -1.47778675e-03 4.17009742e+01] [-2.40312303e-02 5.02059792e-04 9.99711082e-01 -8.28922703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01592 meters Centerline goodness [0,1] 0.9997022332506204 Centerline is valid? [True, True] Translation: X:113.68, Y:41.70, Z:-0.83 [[ 9.98857025e-01 4.20614435e-02 2.27041423e-02 1.13677800e+02] [-4.20404468e-02 9.99114927e-01 -1.40152712e-03 4.16996905e+01] [-2.27429977e-02 4.45432920e-04 9.99741245e-01 -8.28330293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:41.70, Z:-0.83 [[ 9.98842979e-01 4.24337803e-02 2.26291241e-02 1.13710948e+02] [-4.24129242e-02 9.99099185e-01 -1.40101805e-03 4.16979428e+01] [-2.26681899e-02 4.39629717e-04 9.99742947e-01 -8.28314181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:41.70, Z:-0.83 [[ 9.98812384e-01 4.39474341e-02 2.10343670e-02 1.13743697e+02] [-4.39296814e-02 9.99033773e-01 -1.30553476e-03 4.16979415e+01] [-2.10714179e-02 3.79951244e-04 9.99777901e-01 -8.27933431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:41.70, Z:-0.83 [[ 9.98738187e-01 4.51752352e-02 2.19369911e-02 1.13776943e+02] [-4.51561325e-02 9.98979008e-01 -1.36562791e-03 4.16964049e+01] [-2.19762861e-02 3.73315072e-04 9.99758423e-01 -8.28894479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13592 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:113.81, Y:41.69, Z:-0.83 [[ 9.98721834e-01 4.53884252e-02 2.22393425e-02 1.13809776e+02] [-4.53687531e-02 9.98969343e-01 -1.38857697e-03 4.16946045e+01] [-2.22794467e-02 3.77830902e-04 9.99751711e-01 -8.27771640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:41.69, Z:-0.83 [[ 9.98725434e-01 4.46273302e-02 2.35777215e-02 1.13841482e+02] [-4.46047887e-02 9.99003613e-01 -1.48136353e-03 4.16933204e+01] [-2.36203382e-02 4.27796148e-04 9.99720909e-01 -8.28392064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19592 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:113.87, Y:41.69, Z:-0.83 [[ 9.98781864e-01 4.40070101e-02 2.23197549e-02 1.13873446e+02] [-4.39865886e-02 9.99031133e-01 -1.40531019e-03 4.16926567e+01] [-2.23599735e-02 4.21828453e-04 9.99749896e-01 -8.27910436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:41.69, Z:-0.83 [[ 9.98791862e-01 4.31777493e-02 2.34627091e-02 1.13905456e+02] [-4.31548863e-02 9.99067298e-01 -1.48014286e-03 4.16916635e+01] [-2.35047347e-02 4.65824093e-04 9.99723617e-01 -8.28238042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.94, Y:41.69, Z:-0.83 [[ 9.98820459e-01 4.22300137e-02 2.39648853e-02 1.13937310e+02] [-4.22058179e-02 9.99107789e-01 -1.51476605e-03 4.16892325e+01] [-2.40074721e-02 5.01521734e-04 9.99711653e-01 -8.29338370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:41.69, Z:-0.83 [[ 9.98867384e-01 4.17151955e-02 2.28864965e-02 1.13970401e+02] [-4.16927452e-02 9.99129416e-01 -1.45743377e-03 4.16870353e+01] [-2.29273691e-02 5.01582185e-04 9.99737008e-01 -8.29863043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:41.68, Z:-0.83 [[ 9.99044340e-01 3.88185236e-02 2.00880507e-02 1.14002539e+02] [-3.88005893e-02 9.99246151e-01 -1.28191851e-03 4.16846521e+01] [-2.01226695e-02 5.01265229e-04 9.99797393e-01 -8.28870447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:41.68, Z:-0.83 [[ 9.99094089e-01 3.75149177e-02 2.00906227e-02 1.14034722e+02] [-3.74966664e-02 9.99295927e-01 -1.28452028e-03 4.16824213e+01] [-2.01246661e-02 5.30025246e-04 9.99797338e-01 -8.30966664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:41.68, Z:-0.83 [[ 9.99109040e-01 3.55105037e-02 2.28063594e-02 1.14066727e+02] [-3.54863991e-02 9.99369092e-01 -1.46089572e-03 4.16761114e+01] [-2.28438478e-02 6.50278548e-04 9.99738834e-01 -8.30432861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:41.67, Z:-0.83 [[ 9.99107439e-01 3.56219001e-02 2.27025494e-02 1.14099326e+02] [-3.55978007e-02 9.99365124e-01 -1.46490696e-03 4.16731331e+01] [-2.27403188e-02 6.55438618e-04 9.99741191e-01 -8.30189564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:114.13, Y:41.67, Z:-0.83 [[ 9.99091246e-01 3.76703164e-02 1.99406371e-02 1.14131310e+02] [-3.76519651e-02 9.99290074e-01 -1.29507104e-03 4.16687422e+01] [-1.99752665e-02 5.43089971e-04 9.99800327e-01 -8.29712875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:41.67, Z:-0.83 [[ 9.99059419e-01 3.87485594e-02 1.94634414e-02 1.14163026e+02] [-3.87312297e-02 9.99248862e-01 -1.26668581e-03 4.16656666e+01] [-1.94979039e-02 5.11651373e-04 9.99809767e-01 -8.30683778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:41.66, Z:-0.83 [[ 9.98967683e-01 4.09591159e-02 1.96448228e-02 1.14194658e+02] [-4.09418419e-02 9.99160710e-01 -1.28086639e-03 4.16621612e+01] [-1.96807983e-02 4.75248897e-04 9.99806201e-01 -8.30914021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.23, Y:41.66, Z:-0.83 [[ 9.98877990e-01 4.29054953e-02 2.00469254e-02 1.14226927e+02] [-4.28878492e-02 9.99079035e-01 -1.30953676e-03 4.16595366e+01] [-2.00846492e-02 4.48297934e-04 9.99798183e-01 -8.30134006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:41.66, Z:-0.83 [[ 9.98836750e-01 4.30858763e-02 2.16507229e-02 1.14259154e+02] [-4.30652782e-02 9.99071256e-01 -1.41695314e-03 4.16567795e+01] [-2.16916656e-02 4.82910469e-04 9.99764592e-01 -8.29611061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:114.29, Y:41.65, Z:-0.83 [[ 9.98893168e-01 4.24692628e-02 2.02188214e-02 1.14291677e+02] [-4.24511233e-02 9.99097665e-01 -1.32570624e-03 4.16547630e+01] [-2.02568791e-02 4.65927225e-04 9.99794700e-01 -8.29327762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61591999999999 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:114.32, Y:41.65, Z:-0.83 [[ 9.98885383e-01 4.26520852e-02 2.02185820e-02 1.14324164e+02] [-4.26339094e-02 9.99089877e-01 -1.32935328e-03 4.16526928e+01] [-2.02568803e-02 4.65874372e-04 9.99794700e-01 -8.29355854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:41.65, Z:-0.83 [[ 9.98891499e-01 4.27586365e-02 1.96843280e-02 1.14357651e+02] [-4.27413015e-02 9.99085326e-01 -1.30070671e-03 4.16503146e+01] [-1.97219398e-02 4.57931077e-04 9.99805399e-01 -8.29451845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.39, Y:41.65, Z:-0.83 [[ 9.98829173e-01 4.31645620e-02 2.18426883e-02 1.14389506e+02] [-4.31432499e-02 9.99067850e-01 -1.44622484e-03 4.16501569e+01] [-2.18847533e-02 5.02167002e-04 9.99760374e-01 -8.30911348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70591999999999 meters Centerline goodness [0,1] 0.9999007247096198 Centerline is valid? [True, True] Translation: X:114.42, Y:41.65, Z:-0.83 [[ 9.98805347e-01 4.28745195e-02 2.34446937e-02 1.14421967e+02] [-4.28498194e-02 9.99080314e-01 -1.55513499e-03 4.16495352e+01] [-2.34898076e-02 5.48676249e-04 9.99723926e-01 -8.30880461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:41.65, Z:-0.83 [[ 9.98704300e-01 4.48149910e-02 2.41109576e-02 1.14454471e+02] [-4.47893613e-02 9.98995168e-01 -1.60225186e-03 4.16485661e+01] [-2.41585351e-02 5.20261428e-04 9.99708005e-01 -8.29605097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:41.65, Z:-0.83 [[ 9.98677837e-01 4.57976222e-02 2.33485520e-02 1.14486393e+02] [-4.57737897e-02 9.98950621e-01 -1.55443682e-03 4.16469354e+01] [-2.33952401e-02 4.83629891e-04 9.99726177e-01 -8.29443636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:41.65, Z:-0.83 [[ 9.98703504e-01 4.45654161e-02 2.46015331e-02 1.14518441e+02] [-4.45385085e-02 9.99006321e-01 -1.64086682e-03 4.16475623e+01] [-2.46502130e-02 5.43023848e-04 9.99695990e-01 -8.30571193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:41.65, Z:-0.83 [[ 9.98788021e-01 4.30759563e-02 2.38107544e-02 1.14550733e+02] [-4.30500929e-02 9.99071637e-01 -1.59798264e-03 4.16475976e+01] [-2.38574840e-02 5.70990730e-04 9.99715207e-01 -8.30185291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:114.58, Y:41.65, Z:-0.83 [[ 9.98963255e-01 3.77958235e-02 2.53750010e-02 1.14582694e+02] [-3.77644897e-02 9.99285199e-01 -1.71308078e-03 4.16479111e+01] [-2.54216102e-02 7.53030786e-04 9.99676535e-01 -8.31746214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:41.65, Z:-0.83 [[ 9.99065409e-01 3.53276067e-02 2.49051869e-02 1.14614585e+02] [-3.52963985e-02 9.99375456e-01 -1.69170280e-03 4.16457421e+01] [-2.49493963e-02 8.11058349e-04 9.99688386e-01 -8.31507927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:41.64, Z:-0.83 [[ 9.99330050e-01 3.01823251e-02 2.06997005e-02 1.14646768e+02] [-3.01594912e-02 9.99544098e-01 -1.41446600e-03 4.16432456e+01] [-2.07329554e-02 7.89225943e-04 9.99784738e-01 -8.30639286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94592 meters Centerline goodness [0,1] 0.9998509761065024 Centerline is valid? [True, True] Translation: X:114.68, Y:41.64, Z:-0.83 [[ 9.99427529e-01 2.74162436e-02 1.98233117e-02 1.14678614e+02] [-2.73947084e-02 9.99623773e-01 -1.35714978e-03 4.16421819e+01] [-1.98530616e-02 8.13319004e-04 9.99802578e-01 -8.31381106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97591999999999 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:114.71, Y:41.64, Z:-0.83 [[ 9.99489288e-01 2.60305570e-02 1.85357369e-02 1.14710769e+02] [-2.60114511e-02 9.99660837e-01 -1.27114703e-03 4.16391790e+01] [-1.85625389e-02 7.88356429e-04 9.99827390e-01 -8.31811237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00591999999999 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:114.74, Y:41.63, Z:-0.83 [[ 9.99401530e-01 2.58173691e-02 2.30227062e-02 1.14742772e+02] [-2.57877722e-02 9.99666189e-01 -1.58156840e-03 4.16318743e+01] [-2.30558529e-02 9.86917575e-04 9.99733691e-01 -8.32300549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03591999999999 meters Centerline goodness [0,1] 0.9999502091216889 Centerline is valid? [True, True] Translation: X:114.77, Y:41.62, Z:-0.83 [[ 9.99269708e-01 3.01031376e-02 2.35340478e-02 1.14773359e+02] [-3.00733635e-02 9.99546384e-01 -1.61812859e-03 4.16232389e+01] [-2.35720832e-02 9.09198910e-04 9.99721726e-01 -8.30876010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06591999999999 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:114.80, Y:41.62, Z:-0.83 [[ 9.99150890e-01 3.42127497e-02 2.29562110e-02 1.14804449e+02] [-3.41854717e-02 9.99414257e-01 -1.57976177e-03 4.16188231e+01] [-2.29968125e-02 7.93651475e-04 9.99735223e-01 -8.30813263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:41.61, Z:-0.83 [[ 9.99024403e-01 3.82917177e-02 2.19996915e-02 1.14836508e+02] [-3.82674588e-02 9.99266372e-01 -1.52278005e-03 4.16146859e+01] [-2.20418618e-02 6.79422140e-04 9.99756818e-01 -8.31620656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:41.61, Z:-0.83 [[ 9.98751927e-01 4.38919711e-02 2.38344911e-02 1.14868090e+02] [-4.38650135e-02 9.99036100e-01 -1.65293414e-03 4.16079885e+01] [-2.38840675e-02 6.05370885e-04 9.99714552e-01 -8.33054355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:41.60, Z:-0.83 [[ 9.98659231e-01 4.58070711e-02 2.41133242e-02 1.14899717e+02] [-4.57799659e-02 9.98950143e-01 -1.67520196e-03 4.16047365e+01] [-2.41647448e-02 5.69048738e-04 9.99707828e-01 -8.32499833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18592 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:114.93, Y:41.60, Z:-0.83 [[ 9.98568431e-01 4.78887411e-02 2.38276353e-02 1.14931949e+02] [-4.78627971e-02 9.98852543e-01 -1.65826854e-03 4.16040140e+01] [-2.38797065e-02 5.15437343e-04 9.99714706e-01 -8.31253937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:41.60, Z:-0.83 [[ 9.98587808e-01 4.77054479e-02 2.33790437e-02 1.14965297e+02] [-4.76803220e-02 9.98861315e-01 -1.63129595e-03 4.16025394e+01] [-2.34302441e-02 5.14271916e-04 9.99725342e-01 -8.30668605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.00, Y:41.60, Z:-0.83 [[ 9.98597280e-01 4.83395931e-02 2.16045482e-02 1.14997889e+02] [-4.83182140e-02 9.98830850e-01 -1.51078368e-03 4.15996817e+01] [-2.16523199e-02 4.64771290e-04 9.99765453e-01 -8.30205042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:41.60, Z:-0.83 [[ 9.98710547e-01 4.63412515e-02 2.07299928e-02 1.15029640e+02] [-4.63209723e-02 9.98925544e-01 -1.45761283e-03 4.15981142e+01] [-2.07752670e-02 4.95499886e-04 9.99784048e-01 -8.29496674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.06, Y:41.60, Z:-0.83 [[ 9.98721526e-01 4.53321916e-02 2.23675015e-02 1.15061867e+02] [-4.53082617e-02 9.98971811e-01 -1.57573451e-03 4.15960806e+01] [-2.24159350e-02 5.60287359e-04 9.99748574e-01 -8.29286600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:115.09, Y:41.59, Z:-0.83 [[ 9.98653810e-01 4.52626447e-02 2.53349572e-02 1.15093841e+02] [-4.52318222e-02 9.98974916e-01 -1.78863839e-03 4.15923230e+01] [-2.53899453e-02 6.40284260e-04 9.99677418e-01 -8.29046573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:41.59, Z:-0.83 [[ 9.98689572e-01 4.56281221e-02 2.31778620e-02 1.15126149e+02] [-4.56023570e-02 9.98958326e-01 -1.63924267e-03 4.15894458e+01] [-2.32285138e-02 5.80129418e-04 9.99730013e-01 -8.28105093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39591999999999 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:115.16, Y:41.59, Z:-0.83 [[ 9.98703834e-01 4.62452707e-02 2.12609365e-02 1.15158081e+02] [-4.62236767e-02 9.98929979e-01 -1.50624463e-03 4.15881776e+01] [-2.13078436e-02 5.21533634e-04 9.99772826e-01 -8.27790634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42591999999999 meters Centerline goodness [0,1] 0.9999501545209849 Centerline is valid? [True, True] Translation: X:115.19, Y:41.59, Z:-0.83 [[ 9.98656282e-01 4.71938216e-02 2.14096528e-02 1.15190823e+02] [-4.71720724e-02 9.98885622e-01 -1.52003416e-03 4.15879037e+01] [-2.14575305e-02 5.08053974e-04 9.99769632e-01 -8.28155436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:41.59, Z:-0.83 [[ 9.98669968e-01 4.67880558e-02 2.16604188e-02 1.15223447e+02] [-4.67656404e-02 9.98904701e-01 -1.54051684e-03 4.15860869e+01] [-2.17087720e-02 5.25504543e-04 9.99764199e-01 -8.27879038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:41.58, Z:-0.83 [[ 9.98704915e-01 4.56913516e-02 2.23783900e-02 1.15255541e+02] [-4.56670894e-02 9.98955442e-01 -1.59428997e-03 4.15812547e+01] [-2.24278598e-02 5.70269293e-04 9.99748301e-01 -8.28536367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:41.58, Z:-0.83 [[ 9.98804753e-01 4.40926992e-02 2.10926120e-02 1.15287272e+02] [-4.40707354e-02 9.99027279e-01 -1.50523248e-03 4.15770684e+01] [-2.11384646e-02 5.73866434e-04 9.99776393e-01 -8.28667382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:41.58, Z:-0.83 [[ 9.99035387e-01 3.90862075e-02 2.00140681e-02 1.15319766e+02] [-3.90653806e-02 9.99235632e-01 -1.43067698e-03 4.15764033e+01] [-2.00546897e-02 6.47439741e-04 9.99798675e-01 -8.28058759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:41.58, Z:-0.83 [[ 9.99141154e-01 3.62047393e-02 2.01536981e-02 1.15351831e+02] [-3.61829865e-02 9.99344139e-01 -1.44306933e-03 4.15761110e+01] [-2.01927261e-02 7.12608971e-04 9.99795852e-01 -8.27700984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:41.57, Z:-0.83 [[ 9.99331793e-01 2.94544716e-02 2.16425720e-02 1.15382842e+02] [-2.94277700e-02 9.99565706e-01 -1.55127308e-03 4.15725798e+01] [-2.16788647e-02 9.13343877e-04 9.99764569e-01 -8.27427568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63592 meters Centerline goodness [0,1] 0.9998510205095098 Centerline is valid? [True, True] Translation: X:115.41, Y:41.57, Z:-0.83 [[ 9.99416384e-01 2.70540269e-02 2.08559748e-02 1.15414728e+02] [-2.70285380e-02 9.99633532e-01 -1.50310963e-03 4.15694003e+01] [-2.08889969e-02 9.38525882e-04 9.99781361e-01 -8.27314001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66592 meters Centerline goodness [0,1] 0.9999005667694143 Centerline is valid? [True, True] Translation: X:115.45, Y:41.57, Z:-0.83 [[ 9.99532388e-01 2.30966037e-02 2.00387703e-02 1.15446396e+02] [-2.30721289e-02 9.99732749e-01 -1.45173785e-03 4.15679751e+01] [-2.00669451e-02 9.88721911e-04 9.99798150e-01 -8.27675313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69592 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:115.48, Y:41.57, Z:-0.83 [[ 9.99546241e-01 2.25181265e-02 2.00061626e-02 1.15478514e+02] [-2.24934546e-02 9.99745928e-01 -1.45741604e-03 4.15659356e+01] [-2.00338978e-02 1.00674701e-03 9.99798794e-01 -8.28871123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72591999999999 meters Centerline goodness [0,1] 0.9998507165605095 Centerline is valid? [True, True] Translation: X:115.51, Y:41.56, Z:-0.83 [[ 9.99571147e-01 2.06515463e-02 2.07614175e-02 1.15510175e+02] [-2.06245074e-02 9.99786143e-01 -1.51566094e-03 4.15562312e+01] [-2.07882782e-02 1.08681694e-03 9.99783310e-01 -8.28690814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75591999999999 meters Centerline goodness [0,1] 0.9996521393430403 Centerline is valid? [True, True] Translation: X:115.54, Y:41.55, Z:-0.83 [[ 9.99604445e-01 1.98975689e-02 1.98756206e-02 1.15542096e+02] [-1.98724835e-02 9.99801458e-01 -1.45885282e-03 4.15519238e+01] [-1.99007021e-02 1.06329783e-03 9.99801396e-01 -8.29031908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78591999999999 meters Centerline goodness [0,1] 0.9994031929178893 Centerline is valid? [True, True] Translation: X:115.57, Y:41.55, Z:-0.83 [[ 9.99653993e-01 1.89953502e-02 1.81953278e-02 1.15573768e+02] [-1.89740455e-02 9.99819075e-01 -1.34282071e-03 4.15483333e+01] [-1.82175431e-02 9.97117109e-04 9.99833550e-01 -8.28914582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81591999999999 meters Centerline goodness [0,1] 0.9995523278949463 Centerline is valid? [True, True] Translation: X:115.61, Y:41.54, Z:-0.83 [[ 9.99660550e-01 1.75060853e-02 1.92956194e-02 1.15605227e+02] [-1.74817692e-02 9.99846162e-01 -1.42815809e-03 4.15424193e+01] [-1.93176525e-02 1.09035174e-03 9.99812802e-01 -8.29867417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84591999999999 meters Centerline goodness [0,1] 0.9997507353307742 Centerline is valid? [True, True] Translation: X:115.64, Y:41.54, Z:-0.83 [[ 9.99651523e-01 1.61463368e-02 2.08836885e-02 1.15636609e+02] [-1.61174681e-02 9.99868904e-01 -1.54994590e-03 4.15361965e+01] [-2.09059767e-02 1.21281359e-03 9.99780711e-01 -8.29035790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87592 meters Centerline goodness [0,1] 0.9996025239727729 Centerline is valid? [True, True] Translation: X:115.67, Y:41.53, Z:-0.83 [[ 9.99624476e-01 1.59276816e-02 2.22983168e-02 1.15668175e+02] [-1.58945333e-02 9.99872291e-01 -1.66304104e-03 4.15331067e+01] [-2.23219575e-02 1.30799519e-03 9.99749978e-01 -8.28624644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90592 meters Centerline goodness [0,1] 0.999602602950673 Centerline is valid? [True, True] Translation: X:115.70, Y:41.53, Z:-0.83 [[ 9.99608680e-01 1.79913672e-02 2.14195514e-02 1.15699564e+02] [-1.79612084e-02 9.99837405e-01 -1.59956973e-03 4.15275187e+01] [-2.14448472e-02 1.21422276e-03 9.99769295e-01 -8.28817873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93592 meters Centerline goodness [0,1] 0.9996520182938954 Centerline is valid? [True, True] Translation: X:115.73, Y:41.52, Z:-0.83 [[ 9.99617980e-01 1.94731882e-02 1.96135073e-02 1.15731352e+02] [-1.94480386e-02 9.99809785e-01 -1.47220056e-03 4.15209870e+01] [-1.96384449e-02 1.09019390e-03 9.99806553e-01 -8.28885867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96592 meters Centerline goodness [0,1] 0.9997515034044033 Centerline is valid? [True, True] Translation: X:115.76, Y:41.52, Z:-0.83 [[ 9.99618891e-01 2.05780716e-02 1.84015026e-02 1.15763658e+02] [-2.05560690e-02 9.99787744e-01 -1.38406817e-03 4.15153656e+01] [-1.84260783e-02 1.00527813e-03 9.99829720e-01 -8.28436905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:115.80, Y:41.51, Z:-0.83 [[ 9.99516899e-01 2.35257913e-02 2.03102412e-02 1.15795166e+02] [-2.34994315e-02 9.99722671e-01 -1.53558040e-03 4.15080883e+01] [-2.03407344e-02 1.05755943e-03 9.99792547e-01 -8.27328407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:41.51, Z:-0.83 [[ 9.99479448e-01 2.49385771e-02 2.04670355e-02 1.15827475e+02] [-2.49119346e-02 9.99688439e-01 -1.55569987e-03 4.15051862e+01] [-2.04994558e-02 1.04501660e-03 9.99789318e-01 -8.27210041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05592 meters Centerline goodness [0,1] 0.9998011434253045 Centerline is valid? [True, True] Translation: X:115.86, Y:41.50, Z:-0.83 [[ 9.99372348e-01 2.87983588e-02 2.06292224e-02 1.15858129e+02] [-2.87720813e-02 9.99584766e-01 -1.56953338e-03 4.14971459e+01] [-2.06658565e-02 9.75002597e-04 9.99785963e-01 -8.27101957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08592 meters Centerline goodness [0,1] 0.9999502116006971 Centerline is valid? [True, True] Translation: X:115.89, Y:41.49, Z:-0.83 [[ 9.99286834e-01 3.09793965e-02 2.15893549e-02 1.15890398e+02] [-3.09509382e-02 9.99519541e-01 -1.65114281e-03 4.14918626e+01] [-2.16301335e-02 9.81754486e-04 9.99765559e-01 -8.28335077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11591999999999 meters Centerline goodness [0,1] 0.999751318014523 Centerline is valid? [True, True] Translation: X:115.92, Y:41.49, Z:-0.83 [[ 9.99159174e-01 3.34113827e-02 2.37618130e-02 1.15922220e+02] [-3.33773606e-02 9.99441151e-01 -1.82707934e-03 4.14854567e+01] [-2.38095790e-02 1.03243648e-03 9.99715979e-01 -8.30026125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14591999999999 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:115.95, Y:41.48, Z:-0.83 [[ 9.99115384e-01 3.41186685e-02 2.45838531e-02 1.15954945e+02] [-3.40821815e-02 9.99417224e-01 -1.90178350e-03 4.14805669e+01] [-2.46344126e-02 1.06222981e-03 9.99695962e-01 -8.30874889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17591999999999 meters Centerline goodness [0,1] 0.9998008563178333 Centerline is valid? [True, True] Translation: X:115.99, Y:41.47, Z:-0.83 [[ 9.99171416e-01 3.37719522e-02 2.27142330e-02 1.15987696e+02] [-3.37404719e-02 9.99429065e-01 -1.76785639e-03 4.14726677e+01] [-2.27609686e-02 1.00000264e-03 9.99740435e-01 -8.30625261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20591999999999 meters Centerline goodness [0,1] 0.9997017151379568 Centerline is valid? [True, True] Translation: X:116.02, Y:41.47, Z:-0.83 [[ 9.99158669e-01 3.42056469e-02 2.26258070e-02 1.16020546e+02] [-3.41742798e-02 9.99414318e-01 -1.77166605e-03 4.14679127e+01] [-2.26731564e-02 9.96954838e-04 9.99742434e-01 -8.30301578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23592 meters Centerline goodness [0,1] 0.9994531172317789 Centerline is valid? [True, True] Translation: X:116.05, Y:41.46, Z:-0.83 [[ 9.99175960e-01 3.40967820e-02 2.20184315e-02 1.16053206e+02] [-3.40668220e-02 9.99418052e-01 -1.73444819e-03 4.14611614e+01] [-2.20647571e-02 9.82920949e-04 9.99756060e-01 -8.30566151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26592 meters Centerline goodness [0,1] 0.9994529812521756 Centerline is valid? [True, True] Translation: X:116.09, Y:41.46, Z:-0.83 [[ 9.99107910e-01 3.50511028e-02 2.35543057e-02 1.16086204e+02] [-3.50168170e-02 9.99384980e-01 -1.86661240e-03 4.14558088e+01] [-2.36052461e-02 1.04015040e-03 9.99720816e-01 -8.30882971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29592 meters Centerline goodness [0,1] 0.9994037267080745 Centerline is valid? [True, True] Translation: X:116.12, Y:41.45, Z:-0.83 [[ 9.98995214e-01 3.68941063e-02 2.54438150e-02 1.16119315e+02] [-3.68543858e-02 9.99318588e-01 -2.02843808e-03 4.14494555e+01] [-2.55013147e-02 1.08868376e-03 9.99674196e-01 -8.31064336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32592 meters Centerline goodness [0,1] 0.9996026621635046 Centerline is valid? [True, True] Translation: X:116.15, Y:41.44, Z:-0.83 [[ 9.98854113e-01 3.93892368e-02 2.71836186e-02 1.16151446e+02] [-3.93445091e-02 9.99223330e-01 -2.17850560e-03 4.14415245e+01] [-2.72483155e-02 1.10648315e-03 9.99628083e-01 -8.31765193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35592 meters Centerline goodness [0,1] 0.999900502462564 Centerline is valid? [True, True] Translation: X:116.18, Y:41.44, Z:-0.83 [[ 9.98832575e-01 4.15586455e-02 2.46244839e-02 1.16182307e+02] [-4.15225599e-02 9.99135614e-01 -1.97516445e-03 4.14361116e+01] [-2.46852841e-02 9.50386983e-04 9.99694820e-01 -8.30983874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38592 meters Centerline goodness [0,1] 0.9998008464027881 Centerline is valid? [True, True] Translation: X:116.21, Y:41.43, Z:-0.83 [[ 9.98567384e-01 4.82882599e-02 2.30526346e-02 1.16212096e+02] [-4.82584243e-02 9.98833172e-01 -1.84913252e-03 4.14282660e+01] [-2.31150276e-02 7.33999599e-04 9.99732543e-01 -8.31364989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41592 meters Centerline goodness [0,1] 0.9998505976095617 Centerline is valid? [True, True] Translation: X:116.24, Y:41.42, Z:-0.83 [[ 9.98096302e-01 5.61429592e-02 2.55291970e-02 1.16243430e+02] [-5.61088743e-02 9.98422552e-01 -2.05007211e-03 4.14226338e+01] [-2.56040231e-02 6.13754891e-04 9.99671975e-01 -8.31071755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44592 meters Centerline goodness [0,1] 0.9997511571193948 Centerline is valid? [True, True] Translation: X:116.28, Y:41.42, Z:-0.83 [[ 9.97884702e-01 5.93418173e-02 2.65456325e-02 1.16275674e+02] [-5.93057941e-02 9.98237562e-01 -2.14296533e-03 4.14205958e+01] [-2.66260149e-02 5.64122505e-04 9.99645306e-01 -8.30267576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47591999999999 meters Centerline goodness [0,1] 0.9998508723964806 Centerline is valid? [True, True] Translation: X:116.31, Y:41.42, Z:-0.83 [[ 9.97717230e-01 6.21859938e-02 2.63292949e-02 1.16307400e+02] [-6.21512418e-02 9.98064455e-01 -2.13697984e-03 4.14186287e+01] [-2.64112236e-02 4.95703233e-04 9.99651040e-01 -8.30088195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50591999999999 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:116.34, Y:41.42, Z:-0.83 [[ 9.97653437e-01 6.39165573e-02 2.45416630e-02 1.16339424e+02] [-6.38866238e-02 9.97955154e-01 -2.00263701e-03 4.14170796e+01] [-2.46194807e-02 4.30053704e-04 9.99696802e-01 -8.32335026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53591999999999 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:116.37, Y:41.41, Z:-0.83 [[ 9.97621443e-01 6.44143726e-02 2.45406653e-02 1.16371910e+02] [-6.43842898e-02 9.97923145e-01 -2.01482529e-03 4.14147481e+01] [-2.46194816e-02 4.29999612e-04 9.99696802e-01 -8.32363123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56591999999999 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:116.41, Y:41.42, Z:-0.83 [[ 9.97634123e-01 6.45211065e-02 2.37315004e-02 1.16405275e+02] [-6.44927216e-02 9.97916252e-01 -1.96030600e-03 4.14150402e+01] [-2.38085310e-02 4.25159107e-04 9.99716446e-01 -8.33106527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59591999999999 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:116.44, Y:41.41, Z:-0.83 [[ 9.97697528e-01 6.38277025e-02 2.29274283e-02 1.16438191e+02] [-6.38007607e-02 9.97960837e-01 -1.90541470e-03 4.14138238e+01] [-2.30022938e-02 4.38240171e-04 9.99735316e-01 -8.32573321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62592 meters Centerline goodness [0,1] 0.9998506794086904 Centerline is valid? [True, True] Translation: X:116.47, Y:41.41, Z:-0.83 [[ 9.97696857e-01 6.31176126e-02 2.48424558e-02 1.16470524e+02] [-6.30856742e-02 9.98005972e-01 -2.06804815e-03 4.14110027e+01] [-2.49234495e-02 4.96082071e-04 9.99689240e-01 -8.32985613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65592 meters Centerline goodness [0,1] 0.9998506348020911 Centerline is valid? [True, True] Translation: X:116.50, Y:41.41, Z:-0.83 [[ 9.97802913e-01 6.04781316e-02 2.70507283e-02 1.16502591e+02] [-6.04389783e-02 9.98169328e-01 -2.26342794e-03 4.14064455e+01] [-2.71380952e-02 6.23536608e-04 9.99631500e-01 -8.32999382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68592 meters Centerline goodness [0,1] 0.9998506942716369 Centerline is valid? [True, True] Translation: X:116.53, Y:41.40, Z:-0.83 [[ 9.97852497e-01 5.95986494e-02 2.71734206e-02 1.16534589e+02] [-5.95584919e-02 9.98222201e-01 -2.28550703e-03 4.14039438e+01] [-2.72613249e-02 6.62190945e-04 9.99628122e-01 -8.32158447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:41.40, Z:-0.83 [[ 9.97770568e-01 6.16636908e-02 2.55241679e-02 1.16566856e+02] [-6.16286512e-02 9.98096815e-01 -2.15791735e-03 4.14011026e+01] [-2.56086559e-02 5.80086371e-04 9.99671876e-01 -8.33000936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74592 meters Centerline goodness [0,1] 0.9998504262850875 Centerline is valid? [True, True] Translation: X:116.60, Y:41.40, Z:-0.83 [[ 9.97756618e-01 6.23758168e-02 2.43102732e-02 1.16598657e+02] [-6.23439858e-02 9.98052584e-01 -2.06582066e-03 4.13963445e+01] [-2.43917883e-02 5.45586902e-04 9.99702327e-01 -8.33156891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77592 meters Centerline goodness [0,1] 0.9997018633540372 Centerline is valid? [True, True] Translation: X:116.63, Y:41.39, Z:-0.83 [[ 9.97669521e-01 6.43299109e-02 2.27417948e-02 1.16630239e+02] [-6.43023355e-02 9.97928573e-01 -1.94249862e-03 4.13887514e+01] [-2.28196476e-02 4.75621151e-04 9.99739485e-01 -8.32739805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80592 meters Centerline goodness [0,1] 0.9996518625354355 Centerline is valid? [True, True] Translation: X:116.66, Y:41.38, Z:-0.83 [[ 9.97607028e-01 6.50430267e-02 2.34440214e-02 1.16663197e+02] [-6.50138083e-02 9.97882346e-01 -2.00716511e-03 4.13844948e+01] [-2.35249272e-02 4.78176907e-04 9.99723136e-01 -8.32683008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83592 meters Centerline goodness [0,1] 0.9997515898251192 Centerline is valid? [True, True] Translation: X:116.70, Y:41.38, Z:-0.83 [[ 9.97415626e-01 6.73560713e-02 2.50045692e-02 1.16695639e+02] [-6.73232499e-02 9.97728893e-01 -2.15308468e-03 4.13782719e+01] [-2.50928045e-02 4.64131436e-04 9.99685018e-01 -8.30841402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86591999999999 meters Centerline goodness [0,1] 0.9997514169235359 Centerline is valid? [True, True] Translation: X:116.73, Y:41.37, Z:-0.83 [[ 9.97304860e-01 6.88684337e-02 2.53012717e-02 1.16727975e+02] [-6.88349912e-02 9.97625652e-01 -2.19138319e-03 4.13731931e+01] [-2.53921148e-02 4.43864294e-04 9.99677470e-01 -8.31097045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89591999999999 meters Centerline goodness [0,1] 0.9997514045642122 Centerline is valid? [True, True] Translation: X:116.76, Y:41.37, Z:-0.83 [[ 9.97072192e-01 7.23070734e-02 2.48743129e-02 1.16760027e+02] [-7.22755421e-02 9.97382352e-01 -2.16551908e-03 4.13682815e+01] [-2.49657831e-02 3.61374409e-04 9.99688241e-01 -8.31718879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92591999999999 meters Centerline goodness [0,1] 0.9996521047661647 Centerline is valid? [True, True] Translation: X:116.79, Y:41.36, Z:-0.83 [[ 9.96934168e-01 7.43695426e-02 2.43194437e-02 1.16792039e+02] [-7.43397524e-02 9.97230702e-01 -2.12800553e-03 4.13649770e+01] [-2.44103547e-02 3.13580001e-04 9.99701974e-01 -8.31356459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95591999999999 meters Centerline goodness [0,1] 0.9997005390297464 Centerline is valid? [True, True] Translation: X:116.82, Y:41.36, Z:-0.83 [[ 9.96762567e-01 7.70681360e-02 2.29104389e-02 1.16823892e+02] [-7.70421755e-02 9.97025799e-01 -2.01494661e-03 4.13607319e+01] [-2.29975868e-02 2.43353300e-04 9.99735491e-01 -8.30579599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98592 meters Centerline goodness [0,1] 0.9998011335388287 Centerline is valid? [True, True] Translation: X:116.86, Y:41.35, Z:-0.83 [[ 9.96257392e-01 8.27519644e-02 2.49663920e-02 1.16856746e+02] [-8.27225934e-02 9.96570165e-01 -2.20871628e-03 4.13530356e+01] [-2.50635370e-02 1.35165223e-04 9.99685851e-01 -8.29654012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01592 meters Centerline goodness [0,1] 0.999850916861303 Centerline is valid? [True, True] Translation: X:116.89, Y:41.35, Z:-0.83 [[ 9.96077518e-01 8.50810697e-02 2.43061698e-02 1.16888838e+02] [-8.50536539e-02 9.96374028e-01 -2.16141482e-03 4.13497690e+01] [-2.44019318e-02 8.56081615e-05 9.99702225e-01 -8.28136634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04592 meters Centerline goodness [0,1] 0.9999002941323097 Centerline is valid? [True, True] Translation: X:116.92, Y:41.35, Z:-0.83 [[ 9.95929317e-01 8.68533491e-02 2.41099688e-02 1.16921883e+02] [-8.68265879e-02 9.96221106e-01 -2.15658120e-03 4.13485238e+01] [-2.42061661e-02 5.44161123e-05 9.99706986e-01 -8.26841815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07592 meters Centerline goodness [0,1] 0.9995027349577325 Centerline is valid? [True, True] Translation: X:116.95, Y:41.35, Z:-0.83 [[ 9.95888460e-01 8.74350477e-02 2.36914902e-02 1.16954997e+02] [-8.74090740e-02 9.96170221e-01 -2.13167918e-03 4.13464816e+01] [-2.37871405e-02 5.20634721e-05 9.99717045e-01 -8.27515069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10592 meters Centerline goodness [0,1] 0.9995521051060018 Centerline is valid? [True, True] Translation: X:116.99, Y:41.34, Z:-0.83 [[ 9.95775464e-01 8.88859014e-02 2.30330758e-02 1.16987714e+02] [-8.88614597e-02 9.96041814e-01 -2.08453569e-03 4.13434845e+01] [-2.31271924e-02 2.89767642e-05 9.99732530e-01 -8.27963805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13592 meters Centerline goodness [0,1] 0.9998012027235227 Centerline is valid? [True, True] Translation: X:117.02, Y:41.34, Z:-0.83 [[ 9.95668929e-01 8.96600143e-02 2.45858910e-02 1.17019684e+02] [-8.96321178e-02 9.95972430e-01 -2.23655247e-03 4.13410345e+01] [-2.46873989e-02 2.31803244e-05 9.99695219e-01 -8.29081615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16592 meters Centerline goodness [0,1] 0.9998012916045703 Centerline is valid? [True, True] Translation: X:117.05, Y:41.34, Z:-0.83 [[ 9.95377329e-01 9.24419183e-02 2.60473454e-02 1.17052061e+02] [-9.24112462e-02 9.95718078e-01 -2.38142416e-03 4.13389767e+01] [-2.61559561e-02 -3.66520320e-05 9.99657874e-01 -8.28936765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19592 meters Centerline goodness [0,1] 0.9999005123613391 Centerline is valid? [True, True] Translation: X:117.09, Y:41.34, Z:-0.83 [[ 9.95253543e-01 9.37751456e-02 2.60116597e-02 1.17085081e+02] [-9.37446579e-02 9.95593400e-01 -2.39173995e-03 4.13372379e+01] [-2.61213225e-02 -5.80664759e-05 9.99658778e-01 -8.28104630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22591999999999 meters Centerline goodness [0,1] 0.9996520009942829 Centerline is valid? [True, True] Translation: X:117.12, Y:41.34, Z:-0.83 [[ 9.94872443e-01 9.77233286e-02 2.60570952e-02 1.17118539e+02] [-9.76937266e-02 9.95213610e-01 -2.40971315e-03 4.13368817e+01] [-2.61678609e-02 -1.48257525e-04 9.99657552e-01 -8.28926537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25591999999999 meters Centerline goodness [0,1] 0.9998508946322068 Centerline is valid? [True, True] Translation: X:117.15, Y:41.34, Z:-0.83 [[ 9.94573859e-01 1.00260427e-01 2.77612264e-02 1.17151129e+02] [-1.00227454e-01 9.94961205e-01 -2.58019920e-03 4.13353076e+01] [-2.78800352e-02 -2.16238366e-04 9.99611253e-01 -8.30796144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28591999999999 meters Centerline goodness [0,1] 0.9998008166517279 Centerline is valid? [True, True] Translation: X:117.18, Y:41.33, Z:-0.83 [[ 9.94226078e-01 1.03960633e-01 2.65837031e-02 1.17184534e+02] [-1.03931350e-01 9.94581370e-01 -2.48461171e-03 4.13346420e+01] [-2.66979576e-02 -2.92614395e-04 9.99643503e-01 -8.31635204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31591999999999 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:117.22, Y:41.33, Z:-0.83 [[ 9.93976361e-01 1.06739047e-01 2.48549813e-02 1.17217867e+02] [-1.06713992e-01 9.94287014e-01 -2.33605037e-03 4.13337270e+01] [-2.49623329e-02 -3.30395432e-04 9.99688338e-01 -8.30439187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34591999999999 meters Centerline goodness [0,1] 0.9998011829613798 Centerline is valid? [True, True] Translation: X:117.25, Y:41.33, Z:-0.83 [[ 9.93778419e-01 1.08938691e-01 2.31692846e-02 1.17250717e+02] [-1.08917233e-01 9.94048410e-01 -2.18985602e-03 4.13339607e+01] [-2.32699505e-02 -3.47302712e-04 9.99729158e-01 -8.30494098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:117.28, Y:41.34, Z:-0.83 [[ 9.93681108e-01 1.09331184e-01 2.53879369e-02 1.17283831e+02] [-1.09305450e-01 9.94005303e-01 -2.40331906e-03 4.13393664e+01] [-2.54985016e-02 -3.86907133e-04 9.99674785e-01 -8.29966541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40592 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:117.32, Y:41.34, Z:-0.83 [[ 9.93723746e-01 1.08156907e-01 2.85517034e-02 1.17316176e+02] [-1.08123766e-01 9.94133756e-01 -2.70661571e-03 4.13419995e+01] [-2.86769513e-02 -3.97489385e-04 9.99588653e-01 -8.31059963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43592 meters Centerline goodness [0,1] 0.9999501942424545 Centerline is valid? [True, True] Translation: X:117.35, Y:41.34, Z:-0.83 [[ 9.93704761e-01 1.08168386e-01 2.91624268e-02 1.17348970e+02] [-1.08133375e-01 9.94132510e-01 -2.77961658e-03 4.13413359e+01] [-2.92919832e-02 -3.91313385e-04 9.99570821e-01 -8.31336884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46592 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:117.38, Y:41.34, Z:-0.83 [[ 9.93691150e-01 1.07983040e-01 3.02912787e-02 1.17381696e+02] [-1.07944753e-01 9.94152661e-01 -2.90119854e-03 4.13411999e+01] [-3.04274356e-02 -3.86889293e-04 9.99536904e-01 -8.32362611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:41.34, Z:-0.83 [[ 9.93764679e-01 1.07304168e-01 3.02915636e-02 1.17414937e+02] [-1.07265082e-01 9.94226178e-01 -2.91708426e-03 4.13445842e+01] [-3.04296808e-02 -3.50331746e-04 9.99536849e-01 -8.33342055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:41.34, Z:-0.83 [[ 9.93618151e-01 1.08768941e-01 2.98711725e-02 1.17448345e+02] [-1.08731125e-01 9.94066988e-01 -2.89222498e-03 4.13434247e+01] [-3.00085307e-02 -3.74158954e-04 9.99549573e-01 -8.33319625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:41.34, Z:-0.83 [[ 9.93609954e-01 1.09389279e-01 2.78072631e-02 1.17480342e+02] [-1.09356395e-01 9.93998924e-01 -2.70518991e-03 4.13438443e+01] [-2.79363084e-02 -3.52998406e-04 9.99609643e-01 -8.33049755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:117.51, Y:41.34, Z:-0.83 [[ 9.93478300e-01 1.10767048e-01 2.70467661e-02 1.17513473e+02] [-1.10736295e-01 9.93846326e-01 -2.63680006e-03 4.13429129e+01] [-2.71723997e-02 -3.75455038e-04 9.99630692e-01 -8.32274424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:41.34, Z:-0.83 [[ 9.93148001e-01 1.14229960e-01 2.46690993e-02 1.17546138e+02] [-1.14205363e-01 9.93454244e-01 -2.40828218e-03 4.13441608e+01] [-2.47827194e-02 -4.25562815e-04 9.99692771e-01 -8.31297800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64591999999999 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:117.58, Y:41.34, Z:-0.83 [[ 9.93073378e-01 1.15441410e-01 2.18757156e-02 1.17578797e+02] [-1.15422249e-01 9.93314211e-01 -2.14073939e-03 4.13427213e+01] [-2.19765891e-02 -3.99033005e-04 9.99758406e-01 -8.32248822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:41.35, Z:-0.83 [[ 9.92978124e-01 1.16433258e-01 2.09222672e-02 1.17612008e+02] [-1.16415863e-01 9.93198438e-01 -2.05162152e-03 4.13450258e+01] [-2.10188401e-02 -3.98468515e-04 9.99779000e-01 -8.34028627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:41.35, Z:-0.83 [[ 9.92989392e-01 1.16565920e-01 1.96075004e-02 1.17644874e+02] [-1.16550616e-01 9.93182887e-01 -1.92533857e-03 4.13459165e+01] [-1.96982627e-02 -3.73425470e-04 9.99805901e-01 -8.32557493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:41.35, Z:-0.83 [[ 9.92867581e-01 1.17415178e-01 2.06795259e-02 1.17677328e+02] [-1.17398282e-01 9.93082831e-01 -2.03335819e-03 4.13510801e+01] [-2.07752292e-02 -4.08885398e-04 9.99784088e-01 -8.33021284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:41.35, Z:-0.83 [[ 9.92803202e-01 1.17974982e-01 2.05841192e-02 1.17710250e+02] [-1.17958306e-01 9.93016481e-01 -2.02666601e-03 4.13525169e+01] [-2.06794655e-02 -4.15987327e-04 9.99786070e-01 -8.33604354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:41.35, Z:-0.83 [[ 9.92723728e-01 1.18641536e-01 2.05860719e-02 1.17742473e+02] [-1.18624945e-01 9.92937059e-01 -2.02956527e-03 4.13546957e+01] [-2.06814644e-02 -4.27224031e-04 9.99786024e-01 -8.34028796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:41.36, Z:-0.84 [[ 9.92506363e-01 1.20320004e-01 2.13123660e-02 1.17775124e+02] [-1.20302548e-01 9.92735045e-01 -2.10396417e-03 4.13619680e+01] [-2.14106816e-02 -4.75734109e-04 9.99770652e-01 -8.36133728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:117.81, Y:41.36, Z:-0.84 [[ 9.92528417e-01 1.19840601e-01 2.29253416e-02 1.17807830e+02] [-1.19820204e-01 9.92793021e-01 -2.26622574e-03 4.13643113e+01] [-2.30317050e-02 -4.97625674e-04 9.99734611e-01 -8.37155048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:41.37, Z:-0.83 [[ 9.92921256e-01 1.16642516e-01 2.24031752e-02 1.17840914e+02] [-1.16622159e-01 9.93173879e-01 -2.21755025e-03 4.13740900e+01] [-2.25089091e-02 -4.10853874e-04 9.99746558e-01 -8.34844296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:41.38, Z:-0.83 [[ 9.93094927e-01 1.15091768e-01 2.27233613e-02 1.17874069e+02] [-1.15070334e-01 9.93354792e-01 -2.25291705e-03 4.13771691e+01] [-2.28316520e-02 -3.77424274e-04 9.99739253e-01 -8.34943527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:41.38, Z:-0.84 [[ 9.93738566e-01 1.09507896e-01 2.21739491e-02 1.17906913e+02] [-1.09486031e-01 9.93985897e-01 -2.20136245e-03 4.13830603e+01] [-2.22816593e-02 -2.40158917e-04 9.99751704e-01 -8.36164919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97591999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:41.39, Z:-0.84 [[ 9.94086367e-01 1.06224316e-01 2.25541369e-02 1.17939504e+02] [-1.06200783e-01 9.94342178e-01 -2.24201614e-03 4.13850030e+01] [-2.26646862e-02 -1.66509327e-04 9.99743109e-01 -8.36908452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:41.39, Z:-0.84 [[ 9.94362556e-01 1.03367918e-01 2.36258310e-02 1.17971783e+02] [-1.03341217e-01 9.94643184e-01 -2.35159237e-03 4.13879200e+01] [-2.37423510e-02 -1.03186739e-04 9.99718105e-01 -8.36632379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03592 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:118.00, Y:41.39, Z:-0.84 [[ 9.94850475e-01 9.88106161e-02 2.25608953e-02 1.18004891e+02] [-9.87850303e-02 9.95106257e-01 -2.24848970e-03 4.13948856e+01] [-2.26726627e-02 8.23232894e-06 9.99742942e-01 -8.36526107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:118.04, Y:41.39, Z:-0.84 [[ 9.95082362e-01 9.63257452e-02 2.30747564e-02 1.18036999e+02] [-9.62982440e-02 9.95349861e-01 -2.30264641e-03 4.13939030e+01] [-2.31892597e-02 6.92643055e-05 9.99731091e-01 -8.36840869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09592 meters Centerline goodness [0,1] 0.9999005074121978 Centerline is valid? [True, True] Translation: X:118.07, Y:41.40, Z:-0.84 [[ 9.95536704e-01 9.16121479e-02 2.26690321e-02 1.18069439e+02] [-9.15843179e-02 9.95794749e-01 -2.26502357e-03 4.13964108e+01] [-2.27812068e-02 1.78786261e-04 9.99740459e-01 -8.37553381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:41.40, Z:-0.84 [[ 9.95685215e-01 8.98681440e-02 2.31229022e-02 1.18101724e+02] [-8.98386507e-02 9.95953646e-01 -2.31326507e-03 4.13968880e+01] [-2.32372276e-02 2.25953495e-04 9.99729954e-01 -8.37616739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15592 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:118.13, Y:41.40, Z:-0.84 [[ 9.96020374e-01 8.63892872e-02 2.19158696e-02 1.18134014e+02] [-8.63618911e-02 9.96261414e-01 -2.19522901e-03 4.13965159e+01] [-2.20235795e-02 2.93796873e-04 9.99757408e-01 -8.38542734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18592 meters Centerline goodness [0,1] 0.9997516515174092 Centerline is valid? [True, True] Translation: X:118.17, Y:41.39, Z:-0.84 [[ 9.96110962e-01 8.54986858e-02 2.12820691e-02 1.18166228e+02] [-8.54725918e-02 9.96338236e-01 -2.13438496e-03 4.13931473e+01] [-2.13866263e-02 3.07050655e-04 9.99771233e-01 -8.38165566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21592 meters Centerline goodness [0,1] 0.9993043132578017 Centerline is valid? [True, True] Translation: X:118.20, Y:41.39, Z:-0.84 [[ 9.96343745e-01 8.26214634e-02 2.17448008e-02 1.18198174e+02] [-8.25934926e-02 9.96580930e-01 -2.18283003e-03 4.13939089e+01] [-2.18508024e-02 3.78870007e-04 9.99761171e-01 -8.37368315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24592 meters Centerline goodness [0,1] 0.9991059898678851 Centerline is valid? [True, True] Translation: X:118.23, Y:41.39, Z:-0.84 [[ 9.96490727e-01 8.08727431e-02 2.15831035e-02 1.18230296e+02] [-8.08447198e-02 9.96724348e-01 -2.16922043e-03 4.13929513e+01] [-2.16878355e-02 4.16728094e-04 9.99764704e-01 -8.37877492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27592 meters Centerline goodness [0,1] 0.9993543580829402 Centerline is valid? [True, True] Translation: X:118.26, Y:41.39, Z:-0.84 [[ 9.96574900e-01 7.98335881e-02 2.15653960e-02 1.18261888e+02] [-7.98053104e-02 9.96808108e-01 -2.17008158e-03 4.13892905e+01] [-2.16698070e-02 4.41615712e-04 9.99765085e-01 -8.39031958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30592000000001 meters Centerline goodness [0,1] 0.9990569315530848 Centerline is valid? [True, True] Translation: X:118.29, Y:41.38, Z:-0.84 [[ 9.96664964e-01 7.87209039e-02 2.14934628e-02 1.18293884e+02] [-7.86924994e-02 9.96896585e-01 -2.16546255e-03 4.13828658e+01] [-2.15972268e-02 4.66866344e-04 9.99766644e-01 -8.41635484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33592000000002 meters Centerline goodness [0,1] 0.9987572699706716 Centerline is valid? [True, True] Translation: X:118.33, Y:41.38, Z:-0.84 [[ 9.96757854e-01 7.81509412e-02 1.91366456e-02 1.18325879e+02] [-7.81282758e-02 9.96941446e-01 -1.93031592e-03 4.13799507e+01] [-1.92289712e-02 4.28944429e-04 9.99815014e-01 -8.40964117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36592000000002 meters Centerline goodness [0,1] 0.9991543550713824 Centerline is valid? [True, True] Translation: X:118.36, Y:41.38, Z:-0.84 [[ 9.96660731e-01 7.96607285e-02 1.79319738e-02 1.18358274e+02] [-7.96410321e-02 9.96821963e-01 -1.81098519e-03 4.13780822e+01] [-1.80192498e-02 3.76816922e-04 9.99837569e-01 -8.40574975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39592000000002 meters Centerline goodness [0,1] 0.9993039327797941 Centerline is valid? [True, True] Translation: X:118.39, Y:41.37, Z:-0.84 [[ 9.96573314e-01 8.08217646e-02 1.75918106e-02 1.18389175e+02] [-8.08029694e-02 9.96728509e-01 -1.77774858e-03 4.13740031e+01] [-1.76779399e-02 3.50186262e-04 9.99843672e-01 -8.40830147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42592000000002 meters Centerline goodness [0,1] 0.9992054032578467 Centerline is valid? [True, True] Translation: X:118.42, Y:41.37, Z:-0.84 [[ 9.96461146e-01 8.19139644e-02 1.88490408e-02 1.18420220e+02] [-8.18925599e-02 9.96639341e-01 -1.90595456e-03 4.13701997e+01] [-1.89418199e-02 3.55613468e-04 9.99820524e-01 -8.40128787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45592000000002 meters Centerline goodness [0,1] 0.9992054032578467 Centerline is valid? [True, True] Translation: X:118.45, Y:41.37, Z:-0.84 [[ 9.96456224e-01 8.19738514e-02 1.88489262e-02 1.18450923e+02] [-8.19524361e-02 9.96634417e-01 -1.90708756e-03 4.13671151e+01] [-1.89418199e-02 3.55613855e-04 9.99820524e-01 -8.40155422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48592000000002 meters Centerline goodness [0,1] 0.9995527950310559 Centerline is valid? [True, True] Translation: X:118.48, Y:41.36, Z:-0.84 [[ 9.96179986e-01 8.49579931e-02 2.01884976e-02 1.18481974e+02] [-8.49340127e-02 9.96384482e-01 -2.04385486e-03 4.13648748e+01] [-2.02891476e-02 3.21357187e-04 9.99794102e-01 -8.39803164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51592000000002 meters Centerline goodness [0,1] 0.999553083722316 Centerline is valid? [True, True] Translation: X:118.51, Y:41.36, Z:-0.84 [[ 9.96026334e-01 8.67130723e-02 2.03072880e-02 1.18513906e+02] [-8.66891236e-02 9.96233286e-01 -2.05832265e-03 4.13628063e+01] [-2.04092797e-02 2.89722566e-04 9.99791667e-01 -8.39650807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54592 meters Centerline goodness [0,1] 0.9997018485390579 Centerline is valid? [True, True] Translation: X:118.55, Y:41.36, Z:-0.84 [[ 9.95905443e-01 8.82228925e-02 1.97248290e-02 1.18545267e+02] [-8.82005691e-02 9.96100727e-01 -2.00054637e-03 4.13617674e+01] [-1.98244105e-02 2.52613878e-04 9.99803445e-01 -8.38759324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57592 meters Centerline goodness [0,1] 0.9998000899595182 Centerline is valid? [True, True] Translation: X:118.58, Y:41.36, Z:-0.84 [[ 9.95866703e-01 8.85785050e-02 2.00837823e-02 1.18576540e+02] [-8.85554088e-02 9.96069167e-01 -2.03819761e-03 4.13601771e+01] [-2.01853768e-02 2.51245585e-04 9.99796223e-01 -8.38090839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60592 meters Centerline goodness [0,1] 0.9997018781675445 Centerline is valid? [True, True] Translation: X:118.61, Y:41.36, Z:-0.84 [[ 9.95963723e-01 8.77929525e-02 1.86724478e-02 1.18608320e+02] [-8.77728289e-02 9.96138713e-01 -1.89612302e-03 4.13610261e+01] [-1.87668143e-02 2.49536180e-04 9.99823857e-01 -8.36551666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63592 meters Centerline goodness [0,1] 0.9995024380535377 Centerline is valid? [True, True] Translation: X:118.64, Y:41.36, Z:-0.84 [[ 9.95970961e-01 8.74085535e-02 2.00396802e-02 1.18638607e+02] [-8.73852958e-02 9.96172510e-01 -2.03501796e-03 4.13603849e+01] [-2.01408565e-02 2.75645413e-04 9.99797114e-01 -8.37434434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66592 meters Centerline goodness [0,1] 0.9994539587987094 Centerline is valid? [True, True] Translation: X:118.67, Y:41.36, Z:-0.84 [[ 9.96136663e-01 8.58426534e-02 1.85144988e-02 1.18670524e+02] [-8.58225108e-02 9.96308666e-01 -1.88122155e-03 4.13601181e+01] [-1.86076446e-02 2.84992989e-04 9.99826822e-01 -8.36646085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69592 meters Centerline goodness [0,1] 0.9996029382568989 Centerline is valid? [True, True] Translation: X:118.70, Y:41.36, Z:-0.84 [[ 9.96347284e-01 8.22476803e-02 2.29653632e-02 1.18700874e+02] [-8.22157466e-02 9.96611825e-01 -2.33285338e-03 4.13607276e+01] [-2.30794243e-02 4.36217644e-04 9.99733539e-01 -8.37582139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72592 meters Centerline goodness [0,1] 0.9996527261001141 Centerline is valid? [True, True] Translation: X:118.73, Y:41.36, Z:-0.84 [[ 9.96677209e-01 7.81473699e-02 2.29679998e-02 1.18733459e+02] [-7.81142781e-02 9.96941675e-01 -2.33582115e-03 4.13633140e+01] [-2.30802945e-02 5.33930982e-04 9.99733472e-01 -8.37621030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75592 meters Centerline goodness [0,1] 0.9996522948539638 Centerline is valid? [True, True] Translation: X:118.77, Y:41.36, Z:-0.84 [[ 9.96827589e-01 7.58593161e-02 2.40857366e-02 1.18765658e+02] [-7.58221867e-02 9.97118339e-01 -2.45239547e-03 4.13637367e+01] [-2.42023667e-02 6.18382246e-04 9.99706889e-01 -8.37870184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78592 meters Centerline goodness [0,1] 0.9995536378515102 Centerline is valid? [True, True] Translation: X:118.80, Y:41.36, Z:-0.84 [[ 9.96996649e-01 7.35705382e-02 2.41879682e-02 1.18798156e+02] [-7.35323489e-02 9.97289784e-01 -2.46572009e-03 4.13636951e+01] [-2.43038180e-02 6.79716554e-04 9.99704388e-01 -8.38807313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81592 meters Centerline goodness [0,1] 0.999401257359545 Centerline is valid? [True, True] Translation: X:118.83, Y:41.36, Z:-0.84 [[ 9.97380745e-01 6.82293696e-02 2.40083758e-02 1.18830409e+02] [-6.81901301e-02 9.97669335e-01 -2.45026783e-03 4.13633064e+01] [-2.41196006e-02 8.06715683e-04 9.99708755e-01 -8.39467226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84592 meters Centerline goodness [0,1] 0.9991563275434243 Centerline is valid? [True, True] Translation: X:118.86, Y:41.36, Z:-0.84 [[ 9.97699839e-01 6.37392311e-02 2.30725267e-02 1.18862292e+02] [-6.37016936e-02 9.97966196e-01 -2.35902217e-03 4.13620712e+01] [-2.31759640e-02 8.83837015e-04 9.99731011e-01 -8.40396447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87592 meters Centerline goodness [0,1] 0.9991068327296184 Centerline is valid? [True, True] Translation: X:118.89, Y:41.36, Z:-0.84 [[ 9.97873206e-01 6.09532175e-02 2.31034813e-02 1.18894030e+02] [-6.09147849e-02 9.98140170e-01 -2.36428468e-03 4.13598395e+01] [-2.32046236e-02 9.51912731e-04 9.99730283e-01 -8.40201777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90592 meters Centerline goodness [0,1] 0.9991551955473836 Centerline is valid? [True, True] Translation: X:118.93, Y:41.36, Z:-0.84 [[ 9.97993826e-01 5.89188993e-02 2.31707923e-02 1.18925701e+02] [-5.88795932e-02 9.98262265e-01 -2.37554787e-03 4.13579781e+01] [-2.32704922e-02 1.00649529e-03 9.99728699e-01 -8.41279271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93592 meters Centerline goodness [0,1] 0.9987089085311351 Centerline is valid? [True, True] Translation: X:118.96, Y:41.36, Z:-0.84 [[ 9.98359661e-01 5.30899679e-02 2.14346248e-02 1.18956458e+02] [-5.30549758e-02 9.98589173e-01 -2.19829083e-03 4.13565458e+01] [-2.15210914e-02 1.05747139e-03 9.99767835e-01 -8.41253116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96592 meters Centerline goodness [0,1] 0.9992037424106699 Centerline is valid? [True, True] Translation: X:118.99, Y:41.35, Z:-0.84 [[ 9.98439748e-01 5.15903871e-02 2.13658978e-02 1.18988333e+02] [-5.15552258e-02 9.98667736e-01 -2.19360913e-03 4.13525465e+01] [-2.14506020e-02 1.08866286e-03 9.99769317e-01 -8.41184898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99592 meters Centerline goodness [0,1] 0.9987057593708 Centerline is valid? [True, True] Translation: X:119.02, Y:41.35, Z:-0.84 [[ 9.98529706e-01 4.94929365e-02 2.21105424e-02 1.19019748e+02] [-4.94547119e-02 9.98773782e-01 -2.27260033e-03 4.13459584e+01] [-2.21959077e-02 1.17578844e-03 9.99752949e-01 -8.40535158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02592 meters Centerline goodness [0,1] 0.9993545504195422 Centerline is valid? [True, True] Translation: X:119.05, Y:41.34, Z:-0.84 [[ 9.98596535e-01 4.80709881e-02 2.22292886e-02 1.19051079e+02] [-4.80319574e-02 9.98843182e-01 -2.28673280e-03 4.13414168e+01] [-2.23134989e-02 1.21580721e-03 9.99750284e-01 -8.40710036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05592000000001 meters Centerline goodness [0,1] 0.9993045551636779 Centerline is valid? [True, True] Translation: X:119.08, Y:41.34, Z:-0.84 [[ 9.98622734e-01 4.67228904e-02 2.38664196e-02 1.19082858e+02] [-4.66774501e-02 9.98906990e-01 -2.45780684e-03 4.13364627e+01] [-2.39551692e-02 1.34039818e-03 9.99712135e-01 -8.40586079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08592000000002 meters Centerline goodness [0,1] 0.9988085782366958 Centerline is valid? [True, True] Translation: X:119.11, Y:41.33, Z:-0.84 [[ 9.98730997e-01 4.50050248e-02 2.26040697e-02 1.19114649e+02] [-4.49637691e-02 9.98985900e-01 -2.33034409e-03 4.13295428e+01] [-2.26860241e-02 1.31102271e-03 9.99741779e-01 -8.38589076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11592000000002 meters Centerline goodness [0,1] 0.9995030068088068 Centerline is valid? [True, True] Translation: X:119.15, Y:41.32, Z:-0.84 [[ 9.98670293e-01 4.59354056e-02 2.34005249e-02 1.19146227e+02] [-4.58913687e-02 9.98943515e-01 -2.41571321e-03 4.13180156e+01] [-2.34867694e-02 1.33861891e-03 9.99723252e-01 -8.39572034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14592000000002 meters Centerline goodness [0,1] 0.9995024628090949 Centerline is valid? [True, True] Translation: X:119.18, Y:41.31, Z:-0.84 [[ 9.98594576e-01 4.78808604e-02 2.27221382e-02 1.19178273e+02] [-4.78397827e-02 9.98852262e-01 -2.34829142e-03 4.13116076e+01] [-2.28084973e-02 1.25796893e-03 9.99739061e-01 -8.38631813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17592000000002 meters Centerline goodness [0,1] 0.999452382137701 Centerline is valid? [True, True] Translation: X:119.21, Y:41.31, Z:-0.84 [[ 9.98539109e-01 4.95693389e-02 2.15064562e-02 1.19209771e+02] [-4.95328776e-02 9.98770015e-01 -2.22509231e-03 4.13062062e+01] [-2.15903000e-02 1.15656503e-03 9.99766233e-01 -8.38327974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20592000000002 meters Centerline goodness [0,1] 0.9998010840917002 Centerline is valid? [True, True] Translation: X:119.24, Y:41.30, Z:-0.84 [[ 9.98279172e-01 5.46672956e-02 2.12174922e-02 1.19239918e+02] [-5.46329291e-02 9.98504090e-01 -2.19644710e-03 4.12970299e+01] [-2.13058266e-02 1.03349365e-03 9.99772471e-01 -8.38742119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23592000000002 meters Centerline goodness [0,1] 0.999751848726984 Centerline is valid? [True, True] Translation: X:119.27, Y:41.29, Z:-0.84 [[ 9.98119249e-01 5.75315325e-02 2.11680906e-02 1.19271873e+02] [-5.74979175e-02 9.98343216e-01 -2.19372381e-03 4.12903980e+01] [-2.12592279e-02 9.72476835e-04 9.99773524e-01 -8.38894028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:41.28, Z:-0.84 [[ 9.97936820e-01 6.05558304e-02 2.13329482e-02 1.19303608e+02] [-6.05223140e-02 9.98164389e-01 -2.21384878e-03 4.12806556e+01] [-2.14278506e-02 9.18161820e-04 9.99769976e-01 -8.36737473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29592 meters Centerline goodness [0,1] 0.9996524674808858 Centerline is valid? [True, True] Translation: X:119.34, Y:41.28, Z:-0.84 [[ 9.97815186e-01 6.20814771e-02 2.25996487e-02 1.19335373e+02] [-6.20441914e-02 9.98070641e-01 -2.34796912e-03 4.12756086e+01] [-2.27018113e-02 9.40662318e-04 9.99741838e-01 -8.37528888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32592 meters Centerline goodness [0,1] 0.9998508056494927 Centerline is valid? [True, True] Translation: X:119.37, Y:41.27, Z:-0.84 [[ 9.97709179e-01 6.28311705e-02 2.50726386e-02 1.19367273e+02] [-6.27854389e-02 9.98023641e-01 -2.60781579e-03 4.12686082e+01] [-2.51869382e-02 1.02764513e-03 9.99682231e-01 -8.40613901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35592 meters Centerline goodness [0,1] 0.9999502932697087 Centerline is valid? [True, True] Translation: X:119.40, Y:41.26, Z:-0.84 [[ 9.97646413e-01 6.34476069e-02 2.60006860e-02 1.19399584e+02] [-6.33985173e-02 9.97984614e-01 -2.70885374e-03 4.12626219e+01] [-2.61201549e-02 1.05407328e-03 9.99658255e-01 -8.41680598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38592 meters Centerline goodness [0,1] 0.9999004033663662 Centerline is valid? [True, True] Translation: X:119.43, Y:41.26, Z:-0.84 [[ 9.97711924e-01 6.28269166e-02 2.49738954e-02 1.19432531e+02] [-6.27813240e-02 9.98023904e-01 -2.60628259e-03 4.12579987e+01] [-2.50882893e-02 1.03242500e-03 9.99684706e-01 -8.41169562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41592 meters Centerline goodness [0,1] 0.9999501768721041 Centerline is valid? [True, True] Translation: X:119.46, Y:41.25, Z:-0.84 [[ 9.97656698e-01 6.36318238e-02 2.51416600e-02 1.19464150e+02] [-6.35857961e-02 9.97972919e-01 -2.62677669e-03 4.12533138e+01] [-2.52578424e-02 1.02196889e-03 9.99680447e-01 -8.39758877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44592 meters Centerline goodness [0,1] 0.9999005815976537 Centerline is valid? [True, True] Translation: X:119.50, Y:41.25, Z:-0.84 [[ 9.97621391e-01 6.41159309e-02 2.53122129e-02 1.19495888e+02] [-6.40693564e-02 9.97941936e-01 -2.64756725e-03 4.12497644e+01] [-2.54298700e-02 1.01953253e-03 9.99676089e-01 -8.40540613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47592 meters Centerline goodness [0,1] 0.999900700064545 Centerline is valid? [True, True] Translation: X:119.53, Y:41.24, Z:-0.84 [[ 9.97496078e-01 6.57831463e-02 2.59644437e-02 1.19527997e+02] [-6.57346247e-02 9.97833437e-01 -2.71882127e-03 4.12435362e+01] [-2.60870427e-02 1.00525059e-03 9.99659170e-01 -8.39705615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:119.56, Y:41.24, Z:-0.84 [[ 9.97451620e-01 6.63267663e-02 2.62873734e-02 1.19560225e+02] [-6.62771369e-02 9.97797448e-01 -2.75571421e-03 4.12390956e+01] [-2.64122517e-02 1.00643975e-03 9.99650629e-01 -8.40734052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53592 meters Centerline goodness [0,1] 0.9998006876276845 Centerline is valid? [True, True] Translation: X:119.59, Y:41.23, Z:-0.84 [[ 9.97466103e-01 6.66333398e-02 2.49273105e-02 1.19592126e+02] [-6.65887371e-02 9.97777078e-01 -2.61604479e-03 4.12332845e+01] [-2.50462148e-02 9.49537877e-04 9.99685843e-01 -8.40060385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56592 meters Centerline goodness [0,1] 0.9999005074121978 Centerline is valid? [True, True] Translation: X:119.62, Y:41.23, Z:-0.84 [[ 9.97479404e-01 6.70494180e-02 2.32209907e-02 1.19623854e+02] [-6.70107624e-02 9.97749270e-01 -2.43971164e-03 4.12292312e+01] [-2.33323078e-02 8.77505817e-04 9.99727380e-01 -8.39882973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59592 meters Centerline goodness [0,1] 0.9998508946322068 Centerline is valid? [True, True] Translation: X:119.66, Y:41.23, Z:-0.84 [[ 9.97394574e-01 6.78604964e-02 2.44748119e-02 1.19656763e+02] [-6.78176910e-02 9.97694405e-01 -2.57572895e-03 4.12251674e+01] [-2.45931731e-02 9.09192848e-04 9.99697129e-01 -8.39011963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62592 meters Centerline goodness [0,1] 0.9998013014753365 Centerline is valid? [True, True] Translation: X:119.69, Y:41.22, Z:-0.84 [[ 9.97277831e-01 6.96292740e-02 2.42629795e-02 1.19689213e+02] [-6.95876581e-02 9.97572565e-01 -2.55635433e-03 4.12224953e+01] [-2.43820798e-02 8.60991578e-04 9.99702342e-01 -8.37012219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65592 meters Centerline goodness [0,1] 0.9997016261375503 Centerline is valid? [True, True] Translation: X:119.72, Y:41.22, Z:-0.84 [[ 9.97123134e-01 7.16054747e-02 2.48618532e-02 1.19720972e+02] [-7.15623183e-02 9.97432683e-01 -2.62239925e-03 4.12184811e+01] [-2.49858031e-02 8.35683104e-04 9.99687457e-01 -8.37065584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68592 meters Centerline goodness [0,1] 0.9997515898251192 Centerline is valid? [True, True] Translation: X:119.75, Y:41.21, Z:-0.84 [[ 9.96993915e-01 7.36727863e-02 2.39886021e-02 1.19753121e+02] [-7.36331377e-02 9.97282179e-01 -2.53314397e-03 4.12142665e+01] [-2.41100292e-02 7.59173083e-04 9.99709023e-01 -8.37173829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71592 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:119.79, Y:41.21, Z:-0.84 [[ 9.96908694e-01 7.51832923e-02 2.28150817e-02 1.19785029e+02] [-7.51477614e-02 9.97169492e-01 -2.41194231e-03 4.12102682e+01] [-2.29318412e-02 6.89983938e-04 9.99736793e-01 -8.37291315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74592 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:119.82, Y:41.21, Z:-0.84 [[ 9.96691085e-01 7.75113156e-02 2.44719664e-02 1.19817154e+02] [-7.74710645e-02 9.96991237e-01 -2.59002703e-03 4.12050346e+01] [-2.45990924e-02 6.85587560e-04 9.99697161e-01 -8.37698550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77592 meters Centerline goodness [0,1] 0.9998510648860647 Centerline is valid? [True, True] Translation: X:119.85, Y:41.20, Z:-0.84 [[ 9.96530548e-01 7.92693830e-02 2.53620099e-02 1.19849254e+02] [-7.92266407e-02 9.96853007e-01 -2.68729264e-03 4.12015720e+01] [-2.54952159e-02 6.68622361e-04 9.99674721e-01 -8.36935356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80592000000001 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:119.88, Y:41.20, Z:-0.84 [[ 9.96523433e-01 8.01973136e-02 2.25707232e-02 1.19881486e+02] [-8.01636391e-02 9.96778841e-01 -2.39426836e-03 4.11998087e+01] [-2.26900332e-02 5.76593223e-04 9.99742382e-01 -8.37610516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83592000000002 meters Centerline goodness [0,1] 0.999751848726984 Centerline is valid? [True, True] Translation: X:119.91, Y:41.20, Z:-0.84 [[ 9.96449900e-01 8.05413251e-02 2.45090199e-02 1.19913458e+02] [-8.05016477e-02 9.96751077e-01 -2.60286808e-03 4.11966950e+01] [-2.46390304e-02 6.20611155e-04 9.99696220e-01 -8.39988964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86592000000002 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:119.94, Y:41.19, Z:-0.84 [[ 9.96551561e-01 8.00655552e-02 2.17828693e-02 1.19944889e+02] [-8.00340443e-02 9.96789440e-01 -2.31595532e-03 4.11917743e+01] [-2.18983624e-02 5.64597758e-04 9.99760043e-01 -8.39398403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89592000000002 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:119.98, Y:41.19, Z:-0.84 [[ 9.96600488e-01 7.89767728e-02 2.34549909e-02 1.19976757e+02] [-7.89398690e-02 9.96876253e-01 -2.49658437e-03 4.11885727e+01] [-2.35788956e-02 6.36563288e-04 9.99721777e-01 -8.38879792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92592000000002 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:120.01, Y:41.19, Z:-0.84 [[ 9.96846737e-01 7.36998163e-02 2.94095275e-02 1.20008087e+02] [-7.36394410e-02 9.97280012e-01 -3.13222425e-03 4.11866959e+01] [-2.95603783e-02 9.56646357e-04 9.99562539e-01 -8.40217441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95592000000002 meters Centerline goodness [0,1] 0.9996525882177776 Centerline is valid? [True, True] Translation: X:120.04, Y:41.18, Z:-0.84 [[ 9.96996036e-01 7.15094698e-02 2.97539990e-02 1.20039943e+02] [-7.14465936e-02 9.97439382e-01 -3.17237192e-03 4.11829463e+01] [-2.99046651e-02 1.03702035e-03 9.99552218e-01 -8.39923115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98592000000002 meters Centerline goodness [0,1] 0.9989555876063063 Centerline is valid? [True, True] Translation: X:120.07, Y:41.18, Z:-0.84 [[ 9.97342674e-01 6.73449184e-02 2.77894366e-02 1.20071517e+02] [-6.72881712e-02 9.97729153e-01 -2.97320823e-03 4.11785894e+01] [-2.79265615e-02 1.09540707e-03 9.99609377e-01 -8.40216619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01592000000002 meters Centerline goodness [0,1] 0.9985076111829668 Centerline is valid? [True, True] Translation: X:120.10, Y:41.17, Z:-0.84 [[ 9.97462825e-01 6.59446941e-02 2.68180988e-02 1.20103769e+02] [-6.58912500e-02 9.97822675e-01 -2.87263963e-03 4.11748736e+01] [-2.69491424e-02 1.09827319e-03 9.99636203e-01 -8.40129129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04592 meters Centerline goodness [0,1] 0.998606479868611 Centerline is valid? [True, True] Translation: X:120.14, Y:41.17, Z:-0.84 [[ 9.97531250e-01 6.52468141e-02 2.59664700e-02 1.20135339e+02] [-6.51963955e-02 9.97868567e-01 -2.78447426e-03 4.11717404e+01] [-2.60928023e-02 1.08467984e-03 9.99658936e-01 -8.40419026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07592 meters Centerline goodness [0,1] 0.9978114896791843 Centerline is valid? [True, True] Translation: X:120.17, Y:41.17, Z:-0.84 [[ 9.97475244e-01 6.58866643e-02 2.64968875e-02 1.20167415e+02] [-6.58342666e-02 9.97826513e-01 -2.84597025e-03 4.11651280e+01] [-2.66268084e-02 1.09438172e-03 9.99644845e-01 -8.39194457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10592 meters Centerline goodness [0,1] 0.9972164231036882 Centerline is valid? [True, True] Translation: X:120.20, Y:41.16, Z:-0.84 [[ 9.97333444e-01 6.71532094e-02 2.85735545e-02 1.20198963e+02] [-6.70926951e-02 9.97742016e-01 -3.07241654e-03 4.11593913e+01] [-2.87153585e-02 1.14714699e-03 9.99586971e-01 -8.39119271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13592 meters Centerline goodness [0,1] 0.9966698146031114 Centerline is valid? [True, True] Translation: X:120.23, Y:41.15, Z:-0.84 [[ 9.97130242e-01 6.95582451e-02 2.98819542e-02 1.20231262e+02] [-6.94929408e-02 9.97577248e-01 -3.21966538e-03 4.11541968e+01] [-3.00335119e-02 1.13384085e-03 9.99548249e-01 -8.39606667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16592 meters Centerline goodness [0,1] 0.9971650253655625 Centerline is valid? [True, True] Translation: X:120.26, Y:41.15, Z:-0.84 [[ 9.97085687e-01 7.06908950e-02 2.86867500e-02 1.20263127e+02] [-7.06310800e-02 9.97497707e-01 -3.09434617e-03 4.11508979e+01] [-2.88337094e-02 1.05915214e-03 9.99583661e-01 -8.39561909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19592 meters Centerline goodness [0,1] 0.9962651262387331 Centerline is valid? [True, True] Translation: X:120.29, Y:41.15, Z:-0.84 [[ 9.96973669e-01 7.24974507e-02 2.80646080e-02 1.20294964e+02] [-7.24408234e-02 9.97368108e-01 -3.03056610e-03 4.11454521e+01] [-2.82104533e-02 9.88371296e-04 9.99601517e-01 -8.42154927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22592 meters Centerline goodness [0,1] 0.9963129048330842 Centerline is valid? [True, True] Translation: X:120.33, Y:41.14, Z:-0.84 [[ 9.96975620e-01 7.30635071e-02 2.64827854e-02 1.20326905e+02] [-7.30132015e-02 9.97326865e-01 -2.86287010e-03 4.11394878e+01] [-2.66211647e-02 9.20618746e-04 9.99645170e-01 -8.41682819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25592 meters Centerline goodness [0,1] 0.9959132818340394 Centerline is valid? [True, True] Translation: X:120.36, Y:41.13, Z:-0.84 [[ 9.96872073e-01 7.47023569e-02 2.57997722e-02 1.20359163e+02] [-7.46550631e-02 9.97205506e-01 -2.79281980e-03 4.11335652e+01] [-2.59363052e-02 8.58000434e-04 9.99663229e-01 -8.42168186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28592 meters Centerline goodness [0,1] 0.9958739311990455 Centerline is valid? [True, True] Translation: X:120.39, Y:41.13, Z:-0.84 [[ 9.96677398e-01 7.68914727e-02 2.68675759e-02 1.20390923e+02] [-7.68408892e-02 9.97039117e-01 -2.91163605e-03 4.11285995e+01] [-2.70119042e-02 8.37433416e-04 9.99634761e-01 -8.41796859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31592 meters Centerline goodness [0,1] 0.9956744394172923 Centerline is valid? [True, True] Translation: X:120.42, Y:41.12, Z:-0.84 [[ 9.96553864e-01 7.81390317e-02 2.78332126e-02 1.20423087e+02] [-7.80851384e-02 9.96942121e-01 -3.01961629e-03 4.11246942e+01] [-2.79840519e-02 8.35850027e-04 9.99608020e-01 -8.42517616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34592 meters Centerline goodness [0,1] 0.9963529176658673 Centerline is valid? [True, True] Translation: X:120.46, Y:41.12, Z:-0.84 [[ 9.96265807e-01 8.12963861e-02 2.90747294e-02 1.20455428e+02] [-8.12388168e-02 9.96689662e-01 -3.15780255e-03 4.11207814e+01] [-2.92352002e-02 7.84014090e-04 9.99572253e-01 -8.42678455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37592 meters Centerline goodness [0,1] 0.9963529176658673 Centerline is valid? [True, True] Translation: X:120.49, Y:41.12, Z:-0.84 [[ 9.96251130e-01 8.14762531e-02 2.90741648e-02 1.20487806e+02] [-8.14186089e-02 9.96674975e-01 -3.16299645e-03 4.11173257e+01] [-2.92352016e-02 7.83960727e-04 9.99572253e-01 -8.42706555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40592 meters Centerline goodness [0,1] 0.9961680103513486 Centerline is valid? [True, True] Translation: X:120.52, Y:41.11, Z:-0.84 [[ 9.96119457e-01 8.32866575e-02 2.84492622e-02 1.20519519e+02] [-8.32321029e-02 9.96525372e-01 -3.09850420e-03 4.11144680e+01] [-2.86084757e-02 7.18588398e-04 9.99590436e-01 -8.42957693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43592 meters Centerline goodness [0,1] 0.9961664841182913 Centerline is valid? [True, True] Translation: X:120.55, Y:41.11, Z:-0.84 [[ 9.95989974e-01 8.52314325e-02 2.71951071e-02 1.20551830e+02] [-8.51821110e-02 9.96360975e-01 -2.96908610e-03 4.11096681e+01] [-2.73492029e-02 6.40643349e-04 9.99625735e-01 -8.43556536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46592 meters Centerline goodness [0,1] 0.9960690650345823 Centerline is valid? [True, True] Translation: X:120.58, Y:41.11, Z:-0.84 [[ 9.95991590e-01 8.54611281e-02 2.64035561e-02 1.20584095e+02] [-8.54146282e-02 9.96341313e-01 -2.88602149e-03 4.11068276e+01] [-2.65535964e-02 6.19203204e-04 9.99647199e-01 -8.43305051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49592 meters Centerline goodness [0,1] 0.9959611069558714 Centerline is valid? [True, True] Translation: X:120.62, Y:41.11, Z:-0.84 [[ 9.96114984e-01 8.40280194e-02 2.63482717e-02 1.20616402e+02] [-8.39811287e-02 9.96463174e-01 -2.88316073e-03 4.11095520e+01] [-2.64973488e-02 6.59202005e-04 9.99648666e-01 -8.41862006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52592 meters Centerline goodness [0,1] 0.9960153409373911 Centerline is valid? [True, True] Translation: X:120.65, Y:41.11, Z:-0.84 [[ 9.96219993e-01 8.25193218e-02 2.71346255e-02 1.20648670e+02] [-8.24689406e-02 9.96589202e-01 -2.97249862e-03 4.11105168e+01] [-2.72873634e-02 7.23498735e-04 9.99627369e-01 -8.41541698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55592000000001 meters Centerline goodness [0,1] 0.9958759813176985 Centerline is valid? [True, True] Translation: X:120.68, Y:41.11, Z:-0.84 [[ 9.96309644e-01 8.14600810e-02 2.70434380e-02 1.20680691e+02] [-8.14095598e-02 9.96676321e-01 -2.96575709e-03 4.11102377e+01] [-2.71951451e-02 7.53218012e-04 9.99629860e-01 -8.41552342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58592000000002 meters Centerline goodness [0,1] 0.994726892846483 Centerline is valid? [True, True] Translation: X:120.71, Y:41.11, Z:-0.84 [[ 9.96592988e-01 7.78299607e-02 2.72931206e-02 1.20713055e+02] [-7.77770523e-02 9.96966274e-01 -2.99639835e-03 4.11102944e+01] [-2.74435303e-02 8.63411116e-04 9.99622983e-01 -8.41779805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61592000000002 meters Centerline goodness [0,1] 0.9948317845251702 Centerline is valid? [True, True] Translation: X:120.75, Y:41.11, Z:-0.84 [[ 9.96681265e-01 7.66254147e-02 2.74772952e-02 1.20745779e+02] [-7.65712411e-02 9.97059539e-01 -3.01991980e-03 4.11092691e+01] [-2.76279019e-02 9.05926886e-04 9.99617866e-01 -8.41985196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64592000000002 meters Centerline goodness [0,1] 0.9940872503229653 Centerline is valid? [True, True] Translation: X:120.78, Y:41.11, Z:-0.84 [[ 9.97177098e-01 7.04631512e-02 2.59379762e-02 1.20777803e+02] [-7.04127362e-02 9.97513863e-01 -2.85304012e-03 4.11114661e+01] [-2.60745251e-02 1.01862239e-03 9.99659483e-01 -8.40734199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67592000000002 meters Centerline goodness [0,1] 0.9931928848255988 Centerline is valid? [True, True] Translation: X:120.81, Y:41.11, Z:-0.84 [[ 9.97481669e-01 6.65385020e-02 2.45549765e-02 1.20810143e+02] [-6.64920639e-02 9.97783291e-01 -2.70375535e-03 4.11106139e+01] [-2.46804491e-02 1.06423533e-03 9.99694825e-01 -8.41387148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70592000000002 meters Centerline goodness [0,1] 0.9925878022087354 Centerline is valid? [True, True] Translation: X:120.84, Y:41.11, Z:-0.84 [[ 9.97967297e-01 5.91502500e-02 2.37175424e-02 1.20840852e+02] [-5.91048256e-02 9.98248364e-01 -2.61229435e-03 4.11082818e+01] [-2.38305157e-02 1.20516312e-03 9.99715287e-01 -8.42936394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73592000000002 meters Centerline goodness [0,1] 0.9923234135885549 Centerline is valid? [True, True] Translation: X:120.87, Y:41.10, Z:-0.84 [[ 9.98128583e-01 5.67442707e-02 2.27907816e-02 1.20872442e+02] [-5.67016580e-02 9.98388006e-01 -2.51214625e-03 4.11049999e+01] [-2.28965929e-02 1.21516987e-03 9.99737100e-01 -8.42097183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76592000000002 meters Centerline goodness [0,1] 0.9914976133651552 Centerline is valid? [True, True] Translation: X:120.90, Y:41.10, Z:-0.84 [[ 9.98377370e-01 5.24948725e-02 2.20661571e-02 1.20902606e+02] [-5.24538773e-02 9.98620384e-01 -2.43294360e-03 4.10988116e+01] [-2.21634314e-02 1.27154033e-03 9.99753552e-01 -8.42815261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79592 meters Centerline goodness [0,1] 0.9920654723289586 Centerline is valid? [True, True] Translation: X:120.93, Y:41.09, Z:-0.84 [[ 9.98428969e-01 5.15555378e-02 2.19458673e-02 1.20934023e+02] [-5.15147220e-02 9.98669299e-01 -2.42150404e-03 4.10947165e+01] [-2.20415059e-02 1.28716453e-03 9.99756228e-01 -8.42758214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82592 meters Centerline goodness [0,1] 0.9919760777473212 Centerline is valid? [True, True] Translation: X:120.97, Y:41.09, Z:-0.84 [[ 9.98449828e-01 5.05722814e-02 2.32461931e-02 1.20965454e+02] [-5.05261579e-02 9.98719438e-01 -2.56759297e-03 4.10881016e+01] [-2.33462740e-02 1.38907194e-03 9.99726474e-01 -8.42901961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85592 meters Centerline goodness [0,1] 0.9918885294849465 Centerline is valid? [True, True] Translation: X:121.00, Y:41.08, Z:-0.84 [[ 9.98360547e-01 5.10871047e-02 2.58132803e-02 1.20996984e+02] [-5.10303239e-02 9.98693026e-01 -2.85407750e-03 4.10832743e+01] [-2.59253495e-02 1.53213832e-03 9.99662708e-01 -8.43878580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88592 meters Centerline goodness [0,1] 0.9925328554360813 Centerline is valid? [True, True] Translation: X:121.03, Y:41.08, Z:-0.84 [[ 9.98368426e-01 5.15566852e-02 2.45437046e-02 1.21028521e+02] [-5.15054114e-02 9.98669019e-01 -2.71710143e-03 4.10768473e+01] [-2.46511222e-02 1.44853467e-03 9.99695065e-01 -8.42028463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91592 meters Centerline goodness [0,1] 0.9930212850805045 Centerline is valid? [True, True] Translation: X:121.06, Y:41.07, Z:-0.84 [[ 9.98337121e-01 5.21785249e-02 2.45029460e-02 1.21060843e+02] [-5.21275391e-02 9.98636744e-01 -2.71538525e-03 4.10721275e+01] [-2.46112270e-02 1.43359161e-03 9.99696070e-01 -8.42257396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94592 meters Centerline goodness [0,1] 0.9929864703541583 Centerline is valid? [True, True] Translation: X:121.09, Y:41.07, Z:-0.84 [[ 9.98185438e-01 5.53481167e-02 2.37153421e-02 1.21092147e+02] [-5.53011788e-02 9.98466253e-01 -2.63100743e-03 4.10651287e+01] [-2.38245901e-02 1.31474693e-03 9.99715290e-01 -8.42028218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97592 meters Centerline goodness [0,1] 0.9930299711241661 Centerline is valid? [True, True] Translation: X:121.12, Y:41.06, Z:-0.84 [[ 9.98129553e-01 5.62696375e-02 2.38981708e-02 1.21123552e+02] [-5.62221712e-02 9.98414755e-01 -2.65400126e-03 4.10587971e+01] [-2.40096261e-02 1.30543004e-03 9.99710875e-01 -8.42004480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00592 meters Centerline goodness [0,1] 0.9936296222565072 Centerline is valid? [True, True] Translation: X:121.16, Y:41.05, Z:-0.84 [[ 9.97962880e-01 5.88150430e-02 2.47159882e-02 1.21155096e+02] [-5.87649795e-02 9.98268064e-01 -2.74764984e-03 4.10530023e+01] [-2.48347848e-02 1.28961801e-03 9.99690737e-01 -8.41203825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03592 meters Centerline goodness [0,1] 0.9928791952992729 Centerline is valid? [True, True] Translation: X:121.19, Y:41.05, Z:-0.84 [[ 9.97901610e-01 6.04518336e-02 2.31937901e-02 1.21186626e+02] [-6.04081269e-02 9.98170424e-01 -2.58108891e-03 4.10487285e+01] [-2.33073868e-02 1.17457936e-03 9.99727656e-01 -8.41711535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06592 meters Centerline goodness [0,1] 0.9937810945273632 Centerline is valid? [True, True] Translation: X:121.22, Y:41.04, Z:-0.84 [[ 9.97824162e-01 6.19619712e-02 2.25312340e-02 1.21218391e+02] [-6.19210518e-02 9.98077895e-01 -2.50994354e-03 4.10437131e+01] [-2.26434477e-02 1.10932460e-03 9.99742989e-01 -8.41849130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09592 meters Centerline goodness [0,1] 0.9938818145642658 Centerline is valid? [True, True] Translation: X:121.25, Y:41.04, Z:-0.84 [[ 9.97601715e-01 6.50318207e-02 2.36998092e-02 1.21249919e+02] [-6.49873443e-02 9.97882588e-01 -2.64286710e-03 4.10368472e+01] [-2.38214974e-02 1.09634109e-03 9.99715627e-01 -8.41691232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12592 meters Centerline goodness [0,1] 0.9940244995518375 Centerline is valid? [True, True] Translation: X:121.28, Y:41.03, Z:-0.84 [[ 9.97514867e-01 6.64913585e-02 2.33021254e-02 1.21282051e+02] [-6.64486961e-02 9.97786452e-01 -2.60123839e-03 4.10324860e+01] [-2.34235049e-02 1.04637812e-03 9.99725084e-01 -8.40886246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15592 meters Centerline goodness [0,1] 0.9936822206745597 Centerline is valid? [True, True] Translation: X:121.31, Y:41.03, Z:-0.84 [[ 9.97308662e-01 6.96028716e-02 2.30406887e-02 1.21313707e+02] [-6.95619277e-02 9.97574312e-01 -2.57473756e-03 4.10257670e+01] [-2.31640083e-02 9.65053349e-04 9.99731213e-01 -8.42368178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18592 meters Centerline goodness [0,1] 0.9936200966954094 Centerline is valid? [True, True] Translation: X:121.35, Y:41.02, Z:-0.84 [[ 9.97266914e-01 7.01486006e-02 2.31921667e-02 1.21345166e+02] [-7.01071999e-02 9.97536089e-01 -2.59440473e-03 4.10200471e+01] [-2.33170171e-02 9.61376132e-04 9.99727659e-01 -8.44694247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21592 meters Centerline goodness [0,1] 0.9931298850002489 Centerline is valid? [True, True] Translation: X:121.38, Y:41.01, Z:-0.85 [[ 9.97306602e-01 6.98867161e-02 2.22573266e-02 1.21378009e+02] [-6.98484339e-02 9.97554499e-01 -2.49373097e-03 4.10133895e+01] [-2.23771749e-02 9.32374950e-04 9.99749165e-01 -8.46183214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24592 meters Centerline goodness [0,1] 0.9926781889724561 Centerline is valid? [True, True] Translation: X:121.41, Y:41.01, Z:-0.85 [[ 9.97282221e-01 7.01940776e-02 2.23821974e-02 1.21410578e+02] [-7.01553524e-02 9.97532916e-01 -2.51169419e-03 4.10087231e+01] [-2.25032847e-02 9.34637017e-04 9.99746332e-01 -8.45570051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27592 meters Centerline goodness [0,1] 0.9935776162501244 Centerline is valid? [True, True] Translation: X:121.44, Y:41.01, Z:-0.85 [[ 9.97239006e-01 7.05975570e-02 2.30293057e-02 1.21443715e+02] [-7.05565720e-02 9.97504421e-01 -2.58841656e-03 4.10051519e+01] [-2.31545701e-02 9.56401093e-04 9.99731440e-01 -8.45034542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30592000000001 meters Centerline goodness [0,1] 0.9933293508562325 Centerline is valid? [True, True] Translation: X:121.48, Y:41.00, Z:-0.84 [[ 9.97087257e-01 7.19976519e-02 2.51662625e-02 1.21476363e+02] [-7.19490375e-02 9.97404286e-01 -2.83308671e-03 4.09997404e+01] [-2.53049137e-02 1.01414629e-03 9.99679265e-01 -8.43825953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33592000000002 meters Centerline goodness [0,1] 0.9934243299790774 Centerline is valid? [True, True] Translation: X:121.51, Y:40.99, Z:-0.85 [[ 9.96925086e-01 7.40806076e-02 2.55428360e-02 1.21507578e+02] [-7.40311306e-02 9.97251776e-01 -2.87854512e-03 4.09923021e+01] [-2.56858830e-02 9.78728814e-04 9.99669584e-01 -8.46218612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36592000000002 meters Centerline goodness [0,1] 0.9938210085708591 Centerline is valid? [True, True] Translation: X:121.54, Y:40.99, Z:-0.85 [[ 9.96835148e-01 7.47089092e-02 2.71710506e-02 1.21539490e+02] [-7.46530665e-02 9.97204856e-01 -3.06526387e-03 4.09870312e+01] [-2.73241061e-02 1.02716052e-03 9.99626099e-01 -8.48435208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39592000000002 meters Centerline goodness [0,1] 0.9944242544929557 Centerline is valid? [True, True] Translation: X:121.57, Y:40.98, Z:-0.85 [[ 9.96800674e-01 7.51112889e-02 2.73259942e-02 1.21571903e+02] [-7.50548255e-02 9.97174629e-01 -3.08757056e-03 4.09825398e+01] [-2.74806995e-02 1.02674470e-03 9.99621807e-01 -8.47255352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42592000000002 meters Centerline goodness [0,1] 0.9946481268443955 Centerline is valid? [True, True] Translation: X:121.60, Y:40.98, Z:-0.85 [[ 9.96910268e-01 7.36618796e-02 2.72735213e-02 1.21604253e+02] [-7.36050012e-02 9.97282702e-01 -3.08492818e-03 4.09808904e+01] [-2.74266526e-02 1.06792901e-03 9.99623248e-01 -8.45593896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45592000000002 meters Centerline goodness [0,1] 0.9945246391239423 Centerline is valid? [True, True] Translation: X:121.64, Y:40.98, Z:-0.85 [[ 9.96956848e-01 7.29649222e-02 2.74438039e-02 1.21636545e+02] [-7.29069777e-02 9.97333904e-01 -3.10744107e-03 4.09783718e+01] [-2.75973703e-02 1.09713985e-03 9.99618518e-01 -8.45426275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48592000000002 meters Centerline goodness [0,1] 0.994869495915521 Centerline is valid? [True, True] Translation: X:121.67, Y:40.98, Z:-0.85 [[ 9.97223159e-01 6.90105896e-02 2.79912326e-02 1.21668567e+02] [-6.89486623e-02 9.97615164e-01 -3.17270189e-03 4.09759900e+01] [-2.81434282e-02 1.23393375e-03 9.99603134e-01 -8.47333769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51592000000002 meters Centerline goodness [0,1] 0.9952639712847101 Centerline is valid? [True, True] Translation: X:121.70, Y:40.97, Z:-0.85 [[ 9.97313658e-01 6.75401086e-02 2.83513957e-02 1.21700389e+02] [-6.74758896e-02 9.97715719e-01 -3.21683384e-03 4.09724155e+01] [-2.85038985e-02 1.29515667e-03 9.99592842e-01 -8.48159961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54592 meters Centerline goodness [0,1] 0.995566845985256 Centerline is valid? [True, True] Translation: X:121.73, Y:40.97, Z:-0.85 [[ 9.97584971e-01 6.25662069e-02 3.01611541e-02 1.21730587e+02] [-6.24912275e-02 9.98039643e-01 -3.42312514e-03 4.09671720e+01] [-3.03161995e-02 1.53005064e-03 9.99539187e-01 -8.48398440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57592 meters Centerline goodness [0,1] 0.9954215188613517 Centerline is valid? [True, True] Translation: X:121.76, Y:40.96, Z:-0.85 [[ 9.97724513e-01 6.05870227e-02 2.95805360e-02 1.21762746e+02] [-6.05136931e-02 9.98161683e-01 -3.36875224e-03 4.09619158e+01] [-2.97302603e-02 1.57105921e-03 9.99556723e-01 -8.48467153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60592 meters Centerline goodness [0,1] 0.994716642575886 Centerline is valid? [True, True] Translation: X:121.79, Y:40.96, Z:-0.85 [[ 9.97870439e-01 5.91016137e-02 2.75968399e-02 1.21794652e+02] [-5.90369208e-02 9.98250818e-01 -3.15384088e-03 4.09575728e+01] [-2.77349651e-02 1.51789214e-03 9.99614159e-01 -8.48065399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63592 meters Centerline goodness [0,1] 0.9939858667869493 Centerline is valid? [True, True] Translation: X:121.83, Y:40.95, Z:-0.85 [[ 9.98181846e-01 5.42106126e-02 2.63479025e-02 1.21825722e+02] [-5.41498993e-02 9.98528273e-01 -3.01287421e-03 4.09538746e+01] [-2.64724554e-02 1.58066007e-03 9.99648293e-01 -8.46395874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66592 meters Centerline goodness [0,1] 0.9939139978050484 Centerline is valid? [True, True] Translation: X:121.86, Y:40.95, Z:-0.85 [[ 9.98253461e-01 5.20693071e-02 2.79072394e-02 1.21857383e+02] [-5.20002718e-02 9.98641962e-01 -3.19428218e-03 4.09462478e+01] [-2.80356644e-02 1.73751921e-03 9.99605413e-01 -8.47317913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69592 meters Centerline goodness [0,1] 0.9941773663780233 Centerline is valid? [True, True] Translation: X:121.89, Y:40.94, Z:-0.85 [[ 9.98261414e-01 5.18150222e-02 2.80954311e-02 1.21888746e+02] [-5.17446449e-02 9.98655136e-01 -3.22670361e-03 4.09389444e+01] [-2.82248382e-02 1.76730561e-03 9.99600038e-01 -8.48457878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72592 meters Centerline goodness [0,1] 0.9940197348749128 Centerline is valid? [True, True] Translation: X:121.92, Y:40.93, Z:-0.85 [[ 9.98268380e-01 5.13278120e-02 2.87349619e-02 1.21919941e+02] [-5.12536678e-02 9.98680177e-01 -3.31138275e-03 4.09307420e+01] [-2.88670029e-02 1.83287650e-03 9.99581581e-01 -8.49155766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75592 meters Centerline goodness [0,1] 0.9938210085708591 Centerline is valid? [True, True] Translation: X:121.95, Y:40.92, Z:-0.85 [[ 9.98297478e-01 5.12873899e-02 2.77803811e-02 1.21952359e+02] [-5.12177323e-02 9.98682340e-01 -3.21369335e-03 4.09202058e+01] [-2.79085979e-02 1.78537385e-03 9.99608885e-01 -8.48225928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78592 meters Centerline goodness [0,1] 0.994208108647893 Centerline is valid? [True, True] Translation: X:121.98, Y:40.91, Z:-0.85 [[ 9.98166973e-01 5.42243036e-02 2.68778534e-02 1.21982720e+02] [-5.41601101e-02 9.98527417e-01 -3.11113692e-03 4.09089994e+01] [-2.70069728e-02 1.64972662e-03 9.99633884e-01 -8.47045057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81592 meters Centerline goodness [0,1] 0.9947541966426858 Centerline is valid? [True, True] Translation: X:122.01, Y:40.90, Z:-0.85 [[ 9.98066619e-01 5.63481506e-02 2.62280561e-02 1.22014300e+02] [-5.62874881e-02 9.98409956e-01 -3.04603508e-03 4.08994796e+01] [-2.63579908e-02 1.56383454e-03 9.99651345e-01 -8.46454528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84592 meters Centerline goodness [0,1] 0.9942176362095608 Centerline is valid? [True, True] Translation: X:122.04, Y:40.89, Z:-0.85 [[ 9.97674639e-01 6.24041279e-02 2.74050894e-02 1.22043598e+02] [-6.23401422e-02 9.98049883e-01 -3.18384982e-03 4.08860721e+01] [-2.75503316e-02 1.46800906e-03 9.99619340e-01 -8.46872529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87592 meters Centerline goodness [0,1] 0.9948684734954165 Centerline is valid? [True, True] Translation: X:122.08, Y:40.88, Z:-0.85 [[ 9.97415671e-01 6.56127731e-02 2.92735946e-02 1.22075648e+02] [-6.55407977e-02 9.97844055e-01 -3.41252532e-03 4.08796670e+01] [-2.94343876e-02 1.48509149e-03 9.99565611e-01 -8.48628010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90592 meters Centerline goodness [0,1] 0.9950114736106954 Centerline is valid? [True, True] Translation: X:122.11, Y:40.87, Z:-0.85 [[ 9.97157732e-01 6.91748970e-02 2.98544918e-02 1.22106997e+02] [-6.91012629e-02 9.97603538e-01 -3.49238370e-03 4.08723168e+01] [-3.00245320e-02 1.41947432e-03 9.99548154e-01 -8.49652324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93592 meters Centerline goodness [0,1] 0.9945695496213631 Centerline is valid? [True, True] Translation: X:122.14, Y:40.86, Z:-0.85 [[ 9.96709950e-01 7.49787002e-02 3.07809866e-02 1.22136727e+02] [-7.49031174e-02 9.97184307e-01 -3.60290128e-03 4.08573741e+01] [-3.09644576e-02 1.28545570e-03 9.99519660e-01 -8.48464994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96592 meters Centerline goodness [0,1] 0.9955626464575958 Centerline is valid? [True, True] Translation: X:122.17, Y:40.85, Z:-0.85 [[ 9.96441408e-01 7.90199747e-02 2.93319592e-02 1.22167116e+02] [-7.89530378e-02 9.96872418e-01 -3.43506063e-03 4.08461481e+01] [-2.95116595e-02 1.10698937e-03 9.99563823e-01 -8.47032919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99592 meters Centerline goodness [0,1] 0.9955599900224494 Centerline is valid? [True, True] Translation: X:122.20, Y:40.84, Z:-0.85 [[ 9.96191289e-01 8.23800072e-02 2.85735941e-02 1.22198519e+02] [-8.23175289e-02 9.96600496e-01 -3.35802477e-03 4.08398621e+01] [-2.87530922e-02 9.93127366e-04 9.99586051e-01 -8.46726746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02592 meters Centerline goodness [0,1] 0.9953599760514893 Centerline is valid? [True, True] Translation: X:122.23, Y:40.83, Z:-0.85 [[ 9.95976762e-01 8.46471733e-02 2.94133689e-02 1.22230506e+02] [-8.45815828e-02 9.96410518e-01 -3.46926468e-03 4.08329510e+01] [-2.96014536e-02 9.67477707e-04 9.99561313e-01 -8.47438837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05592000000001 meters Centerline goodness [0,1] 0.9959022537604317 Centerline is valid? [True, True] Translation: X:122.26, Y:40.82, Z:-0.85 [[ 9.95643452e-01 8.87803618e-02 2.84984877e-02 1.22260545e+02] [-8.87204207e-02 9.96050889e-01 -3.36342283e-03 4.08220232e+01] [-2.86845500e-02 8.20372092e-04 9.99588177e-01 -8.47839868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08592000000002 meters Centerline goodness [0,1] 0.9964602652308306 Centerline is valid? [True, True] Translation: X:122.29, Y:40.82, Z:-0.85 [[ 9.95354829e-01 9.18865810e-02 2.87336082e-02 1.22292027e+02] [-9.18265858e-02 9.95769198e-01 -3.40338143e-03 4.08172141e+01] [-2.89247671e-02 7.49062999e-04 9.99581311e-01 -8.48285187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11592000000002 meters Centerline goodness [0,1] 0.99700852570175 Centerline is valid? [True, True] Translation: X:122.32, Y:40.81, Z:-0.85 [[ 9.94966197e-01 9.66028219e-02 2.66488480e-02 1.22323325e+02] [-9.65528554e-02 9.95322847e-01 -3.15842468e-03 4.08126678e+01] [-2.68293200e-02 5.69503429e-04 9.99639867e-01 -8.49568699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14592000000002 meters Centerline goodness [0,1] 0.997412935323383 Centerline is valid? [True, True] Translation: X:122.36, Y:40.81, Z:-0.85 [[ 9.94653371e-01 1.00096011e-01 2.54058934e-02 1.22355441e+02] [-1.00051457e-01 9.94977675e-01 -3.02203292e-03 4.08070777e+01] [-2.55807902e-02 4.63978589e-04 9.99672650e-01 -8.49654532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17592000000002 meters Centerline goodness [0,1] 0.9974142217802089 Centerline is valid? [True, True] Translation: X:122.39, Y:40.80, Z:-0.85 [[ 9.94346578e-01 1.02911150e-01 2.61568070e-02 1.22387626e+02] [-1.02864801e-01 9.94690469e-01 -3.11497202e-03 4.08017966e+01] [-2.63384920e-02 4.06747024e-04 9.99652999e-01 -8.51017022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20592000000002 meters Centerline goodness [0,1] 0.9976053878772762 Centerline is valid? [True, True] Translation: X:122.42, Y:40.80, Z:-0.85 [[ 9.93824558e-01 1.07738746e-01 2.65539069e-02 1.22419832e+02] [-1.07692609e-01 9.94179199e-01 -3.16566107e-03 4.07977452e+01] [-2.67404063e-02 2.86452200e-04 9.99642370e-01 -8.49051461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23592000000002 meters Centerline goodness [0,1] 0.9977100756670649 Centerline is valid? [True, True] Translation: X:122.45, Y:40.80, Z:-0.85 [[ 9.93587752e-01 1.09495765e-01 2.81790024e-02 1.22451685e+02] [-1.09444409e-01 9.93987229e-01 -3.36305233e-03 4.07952577e+01] [-2.83778085e-02 2.57453341e-04 9.99597236e-01 -8.49373940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26592000000002 meters Centerline goodness [0,1] 0.9977100756670649 Centerline is valid? [True, True] Translation: X:122.48, Y:40.79, Z:-0.85 [[ 9.93532028e-01 1.10000672e-01 2.81773293e-02 1.22484058e+02] [-1.09949123e-01 9.93931480e-01 -3.37704017e-03 4.07917191e+01] [-2.83778113e-02 2.57124932e-04 9.99597236e-01 -8.49402053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29592 meters Centerline goodness [0,1] 0.9983569828230022 Centerline is valid? [True, True] Translation: X:122.52, Y:40.79, Z:-0.85 [[ 9.93189647e-01 1.13589678e-01 2.59173714e-02 1.22516573e+02] [-1.13547172e-01 9.93527737e-01 -3.11064621e-03 4.07883240e+01] [-2.61029647e-02 1.46617383e-04 9.99659249e-01 -8.50322501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32592 meters Centerline goodness [0,1] 0.9983564100009961 Centerline is valid? [True, True] Translation: X:122.55, Y:40.78, Z:-0.85 [[ 9.93116335e-01 1.14385746e-01 2.52159972e-02 1.22548813e+02] [-1.14345683e-01 9.93436402e-01 -3.02977750e-03 4.07837244e+01] [-2.53970528e-02 1.25581119e-04 9.99677435e-01 -8.49755651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35592 meters Centerline goodness [0,1] 0.997907949790795 Centerline is valid? [True, True] Translation: X:122.58, Y:40.78, Z:-0.85 [[ 9.93132961e-01 1.14437703e-01 2.43091196e-02 1.22581056e+02] [-1.14400407e-01 9.93430419e-01 -2.92398765e-03 4.07808051e+01] [-2.44840333e-02 1.22935336e-04 9.99700214e-01 -8.48320942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38592 meters Centerline goodness [0,1] 0.9977056212279914 Centerline is valid? [True, True] Translation: X:122.61, Y:40.78, Z:-0.85 [[ 9.92966041e-01 1.15833106e-01 2.45180276e-02 1.22614066e+02] [-1.15795474e-01 9.93268686e-01 -2.95389994e-03 4.07773437e+01] [-2.46951485e-02 9.40456947e-05 9.99695024e-01 -8.48304632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41592 meters Centerline goodness [0,1] 0.997359900373599 Centerline is valid? [True, True] Translation: X:122.65, Y:40.77, Z:-0.85 [[ 9.92890729e-01 1.16681328e-01 2.35258902e-02 1.22645883e+02] [-1.16646844e-01 9.93169403e-01 -2.83751886e-03 4.07732339e+01] [-2.36962798e-02 7.31253298e-05 9.99719201e-01 -8.47738521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44592 meters Centerline goodness [0,1] 0.9980575754557227 Centerline is valid? [True, True] Translation: X:122.68, Y:40.77, Z:-0.85 [[ 9.92509226e-01 1.19542891e-01 2.51978760e-02 1.22677788e+02] [-1.19504167e-01 9.92829037e-01 -3.04251954e-03 4.07691933e+01] [-2.53808945e-02 8.47753057e-06 9.99677853e-01 -8.47584525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47592 meters Centerline goodness [0,1] 0.9980089596814335 Centerline is valid? [True, True] Translation: X:122.71, Y:40.77, Z:-0.85 [[ 9.91922267e-01 1.24238222e-01 2.55945302e-02 1.22710004e+02] [-1.24199744e-01 9.92252414e-01 -3.09379830e-03 4.07667692e+01] [-2.57806024e-02 -1.10026666e-04 9.99667619e-01 -8.47381271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50592 meters Centerline goodness [0,1] 0.9981064381104245 Centerline is valid? [True, True] Translation: X:122.74, Y:40.76, Z:-0.85 [[ 9.91606162e-01 1.27027196e-01 2.41103781e-02 1.22741891e+02] [-1.26993798e-01 9.91899220e-01 -2.91758827e-03 4.07638196e+01] [-2.42856783e-02 -1.68769979e-04 9.99705045e-01 -8.46781282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53592 meters Centerline goodness [0,1] 0.9977578475336323 Centerline is valid? [True, True] Translation: X:122.77, Y:40.76, Z:-0.85 [[ 9.91327323e-01 1.29485638e-01 2.24412054e-02 1.22774030e+02] [-1.29457267e-01 9.91581275e-01 -2.71858256e-03 4.07602808e+01] [-2.26042965e-02 -2.10171939e-04 9.99744468e-01 -8.47450455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56592 meters Centerline goodness [0,1] 0.9980002999550067 Centerline is valid? [True, True] Translation: X:122.81, Y:40.76, Z:-0.85 [[ 9.91116108e-01 1.31466111e-01 2.01375809e-02 1.22805987e+02] [-1.31443620e-01 9.91320640e-01 -2.44219647e-03 4.07590930e+01] [-2.02838656e-02 -2.26456278e-04 9.99794236e-01 -8.48150237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59592 meters Centerline goodness [0,1] 0.9981069097793055 Centerline is valid? [True, True] Translation: X:122.84, Y:40.76, Z:-0.85 [[ 9.91052990e-01 1.31828839e-01 2.08597192e-02 1.22837887e+02] [-1.31804728e-01 9.91272465e-01 -2.53255234e-03 4.07575790e+01] [-2.10115287e-02 -2.39516039e-04 9.99779205e-01 -8.48038713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62592 meters Centerline goodness [0,1] 0.9989537143141847 Centerline is valid? [True, True] Translation: X:122.87, Y:40.76, Z:-0.85 [[ 9.90953869e-01 1.32380951e-01 2.20389101e-02 1.22870693e+02] [-1.32354107e-01 9.91198878e-01 -2.67868159e-03 4.07579812e+01] [-2.21995494e-02 -2.62490392e-04 9.99753525e-01 -8.47817540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65592 meters Centerline goodness [0,1] 0.9994029850746269 Centerline is valid? [True, True] Translation: X:122.90, Y:40.76, Z:-0.85 [[ 9.90931301e-01 1.32454899e-01 2.26021346e-02 1.22903156e+02] [-1.32426617e-01 9.91188997e-01 -2.75013546e-03 4.07574210e+01] [-2.27672561e-02 -2.67928924e-04 9.99740757e-01 -8.47470048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68592 meters Centerline goodness [0,1] 0.9990542558486809 Centerline is valid? [True, True] Translation: X:122.94, Y:40.76, Z:-0.85 [[ 9.90799528e-01 1.33168987e-01 2.41312316e-02 1.22935436e+02] [-1.33136864e-01 9.91093301e-01 -2.94014742e-03 4.07569114e+01] [-2.43078384e-02 -2.99659819e-04 9.99704476e-01 -8.46801070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71592 meters Centerline goodness [0,1] 0.9992538427100432 Centerline is valid? [True, True] Translation: X:122.97, Y:40.76, Z:-0.85 [[ 9.90704172e-01 1.34310975e-01 2.15825274e-02 1.22968384e+02] [-1.34285487e-01 9.90939190e-01 -2.63251873e-03 4.07580399e+01] [-2.17405484e-02 -2.90172918e-04 9.99763604e-01 -8.47108365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74592 meters Centerline goodness [0,1] 0.9991043439319302 Centerline is valid? [True, True] Translation: X:123.00, Y:40.76, Z:-0.85 [[ 9.90652097e-01 1.34655904e-01 2.18222589e-02 1.23001342e+02] [-1.34629836e-01 9.90892375e-01 -2.66606536e-03 4.07568925e+01] [-2.19825114e-02 -2.96783900e-04 9.99758311e-01 -8.48071054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77592 meters Centerline goodness [0,1] 0.9991041656298213 Centerline is valid? [True, True] Translation: X:123.03, Y:40.76, Z:-0.85 [[ 9.90677979e-01 1.34660332e-01 2.05848451e-02 1.23033770e+02] [-1.34637080e-01 9.90891779e-01 -2.51767323e-03 4.07604657e+01] [-2.07363845e-02 -2.77280009e-04 9.99784940e-01 -8.47832053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80592000000001 meters Centerline goodness [0,1] 0.9994528452049344 Centerline is valid? [True, True] Translation: X:123.07, Y:40.76, Z:-0.85 [[ 9.90799695e-01 1.33485548e-01 2.23063377e-02 1.23065908e+02] [-1.33457879e-01 9.91050723e-01 -2.73119783e-03 4.07601715e+01] [-2.24712875e-02 -2.70886544e-04 9.99747452e-01 -8.47977541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83592000000002 meters Centerline goodness [0,1] 0.9993030318116195 Centerline is valid? [True, True] Translation: X:123.10, Y:40.76, Z:-0.85 [[ 9.91086418e-01 1.31544592e-01 2.10649640e-02 1.23098311e+02] [-1.31519420e-01 9.91310232e-01 -2.58199850e-03 4.07587227e+01] [-2.12215623e-02 -2.11468199e-04 9.99774775e-01 -8.46234571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86592000000002 meters Centerline goodness [0,1] 0.9995993990986479 Centerline is valid? [True, True] Translation: X:123.13, Y:40.76, Z:-0.85 [[ 9.91573018e-01 1.27483382e-01 2.30420607e-02 1.23131592e+02] [-1.27452058e-01 9.91840698e-01 -2.82894070e-03 4.07575572e+01] [-2.32146965e-02 -1.31656778e-04 9.99730494e-01 -8.47907369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89592000000002 meters Centerline goodness [0,1] 0.9993040019885657 Centerline is valid? [True, True] Translation: X:123.16, Y:40.76, Z:-0.85 [[ 9.91661791e-01 1.26707616e-01 2.34962107e-02 1.23164372e+02] [-1.26674715e-01 9.91940103e-01 -2.88944494e-03 4.07558094e+01] [-2.36729484e-02 -1.11023650e-04 9.99719750e-01 -8.48924655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92592000000002 meters Centerline goodness [0,1] 0.9992540653438758 Centerline is valid? [True, True] Translation: X:123.20, Y:40.76, Z:-0.85 [[ 9.91883181e-01 1.24812471e-01 2.42817164e-02 1.23196819e+02] [-1.24776684e-01 9.92180348e-01 -2.98932375e-03 4.07575069e+01] [-2.44649467e-02 -6.47321099e-05 9.99700686e-01 -8.50861741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95592000000002 meters Centerline goodness [0,1] 0.9994527635441023 Centerline is valid? [True, True] Translation: X:123.23, Y:40.75, Z:-0.85 [[ 9.91962481e-01 1.24295129e-01 2.36887386e-02 1.23229063e+02] [-1.24260848e-01 9.92245292e-01 -2.91941980e-03 4.07545959e+01] [-2.38679090e-02 -4.76278209e-05 9.99715120e-01 -8.50239563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98592000000002 meters Centerline goodness [0,1] 0.999403578528827 Centerline is valid? [True, True] Translation: X:123.26, Y:40.75, Z:-0.85 [[ 9.91905502e-01 1.24639257e-01 2.42596350e-02 1.23260814e+02] [-1.24603328e-01 9.92202123e-01 -2.99296220e-03 4.07501381e+01] [-2.44435019e-02 -5.40955854e-05 9.99701212e-01 -8.48441034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01592000000002 meters Centerline goodness [0,1] 0.9995018431802332 Centerline is valid? [True, True] Translation: X:123.29, Y:40.75, Z:-0.85 [[ 9.91932117e-01 1.24282326e-01 2.49915860e-02 1.23292458e+02] [-1.24244000e-01 9.92246895e-01 -3.08657475e-03 4.07469833e+01] [-2.51814303e-02 -4.33819779e-05 9.99682897e-01 -8.49188766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04592 meters Centerline goodness [0,1] 0.9995520382260714 Centerline is valid? [True, True] Translation: X:123.32, Y:40.74, Z:-0.85 [[ 9.92032183e-01 1.23865010e-01 2.30131949e-02 1.23324603e+02] [-1.23832330e-01 9.92299077e-01 -2.84526648e-03 4.07441218e+01] [-2.31884010e-02 -2.71816356e-05 9.99731113e-01 -8.49281273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07592 meters Centerline goodness [0,1] 0.9993028582810477 Centerline is valid? [True, True] Translation: X:123.36, Y:40.74, Z:-0.85 [[ 9.92182435e-01 1.22744559e-01 2.25341851e-02 1.23356403e+02] [-1.22712869e-01 9.92438297e-01 -2.78898841e-03 4.07403761e+01] [-2.27061214e-02 1.95080266e-06 9.99742183e-01 -8.52286542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10592 meters Centerline goodness [0,1] 0.9995025865499403 Centerline is valid? [True, True] Translation: X:123.39, Y:40.74, Z:-0.85 [[ 9.92350986e-01 1.21321137e-01 2.28189096e-02 1.23389314e+02] [-1.21288163e-01 9.92613308e-01 -2.82866669e-03 4.07357994e+01] [-2.29935304e-02 3.93665501e-05 9.99735613e-01 -8.52799065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13592 meters Centerline goodness [0,1] 0.9998011434253045 Centerline is valid? [True, True] Translation: X:123.42, Y:40.73, Z:-0.85 [[ 9.92562834e-01 1.19703293e-01 2.21391550e-02 1.23421563e+02] [-1.19671787e-01 9.92809708e-01 -2.74734075e-03 4.07327711e+01] [-2.23088337e-02 7.74760866e-05 9.99751124e-01 -8.51466238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16592 meters Centerline goodness [0,1] 0.9996516893068618 Centerline is valid? [True, True] Translation: X:123.45, Y:40.73, Z:-0.85 [[ 9.92566088e-01 1.19718077e-01 2.19121700e-02 1.23454855e+02] [-1.19687124e-01 9.92807925e-01 -2.72339123e-03 4.07296086e+01] [-2.20806152e-02 8.05411705e-05 9.99756190e-01 -8.52280890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19592 meters Centerline goodness [0,1] 0.9998010445162895 Centerline is valid? [True, True] Translation: X:123.49, Y:40.73, Z:-0.85 [[ 9.92498094e-01 1.20181468e-01 2.24487948e-02 1.23487041e+02] [-1.20149015e-01 9.92751937e-01 -2.79376368e-03 4.07265844e+01] [-2.26218432e-02 7.56045444e-05 9.99744091e-01 -8.52860920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22592 meters Centerline goodness [0,1] 0.9996519144704127 Centerline is valid? [True, True] Translation: X:123.52, Y:40.72, Z:-0.85 [[ 9.92322389e-01 1.21764613e-01 2.16715502e-02 1.23519480e+02] [-1.21734683e-01 9.92559005e-01 -2.69992523e-03 4.07227893e+01] [-2.18390476e-02 4.10169680e-05 9.99761499e-01 -8.51163773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25592 meters Centerline goodness [0,1] 0.999700524082855 Centerline is valid? [True, True] Translation: X:123.55, Y:40.72, Z:-0.85 [[ 9.92185196e-01 1.22522294e-01 2.35971188e-02 1.23551482e+02] [-1.22486949e-01 9.92465761e-01 -2.94289827e-03 4.07193547e+01] [-2.37799032e-02 2.95609994e-05 9.99717218e-01 -8.50901393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28592 meters Centerline goodness [0,1] 0.9997020262216925 Centerline is valid? [True, True] Translation: X:123.58, Y:40.72, Z:-0.85 [[ 9.92153416e-01 1.22671311e-01 2.41526236e-02 1.23583721e+02] [-1.22634249e-01 9.92447353e-01 -3.01535609e-03 4.07177308e+01] [-2.43401050e-02 2.97570003e-05 9.99703735e-01 -8.50877656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31592 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:123.62, Y:40.71, Z:-0.85 [[ 9.92154522e-01 1.22967632e-01 2.25469532e-02 1.23615979e+02] [-1.22935344e-01 9.92410682e-01 -2.81786471e-03 4.07143929e+01] [-2.27223434e-02 2.39397675e-05 9.99741814e-01 -8.50826808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34592 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:123.65, Y:40.71, Z:-0.85 [[ 9.92263358e-01 1.22258937e-01 2.15912051e-02 1.23647793e+02] [-1.22229099e-01 9.92498237e-01 -2.70122840e-03 4.07132518e+01] [-2.17594823e-02 4.12564109e-05 9.99763234e-01 -8.50050234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:40.71, Z:-0.85 [[ 9.92339548e-01 1.21795015e-01 2.06929092e-02 1.23680127e+02] [-1.21767452e-01 9.92555274e-01 -2.59153072e-03 4.07117697e+01] [-2.08544916e-02 5.19555976e-05 9.99782520e-01 -8.49040189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:40.71, Z:-0.85 [[ 9.92262563e-01 1.22242058e-01 2.17229370e-02 1.23712323e+02] [-1.22211727e-01 9.92500316e-01 -2.72337296e-03 4.07105316e+01] [-2.18929326e-02 4.75033807e-05 9.99760320e-01 -8.50098418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:40.71, Z:-0.85 [[ 9.92210324e-01 1.22875103e-01 2.05032132e-02 1.23744289e+02] [-1.22848164e-01 9.92422142e-01 -2.57309593e-03 4.07069937e+01] [-2.06640122e-02 3.42702495e-05 9.99786476e-01 -8.49342569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:40.70, Z:-0.85 [[ 9.92173642e-01 1.23038359e-01 2.12843913e-02 1.23776683e+02] [-1.23009306e-01 9.92401915e-01 -2.67390109e-03 4.07039245e+01] [-2.14516631e-02 3.47959822e-05 9.99769886e-01 -8.50070421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:40.70, Z:-0.85 [[ 9.92108700e-01 1.23519955e-01 2.15208538e-02 1.23809195e+02] [-1.23490305e-01 9.92342088e-01 -2.70639244e-03 4.07041474e+01] [-2.16903424e-02 2.74186885e-05 9.99764736e-01 -8.48867052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:40.70, Z:-0.85 [[ 9.91947996e-01 1.24769590e-01 2.17191975e-02 1.23841363e+02] [-1.24739629e-01 9.92185743e-01 -2.73414970e-03 4.07021433e+01] [-2.18906168e-02 2.88968423e-06 9.99760372e-01 -8.48667722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:40.70, Z:-0.85 [[ 9.91672656e-01 1.26722092e-01 2.29532968e-02 1.23873892e+02] [-1.26689083e-01 9.91938259e-01 -2.89250168e-03 4.07012780e+01] [-2.31347971e-02 -3.95172849e-05 9.99732354e-01 -8.47872652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:40.70, Z:-0.85 [[ 9.91627132e-01 1.27384825e-01 2.11834259e-02 1.23906393e+02] [-1.27356803e-01 9.91853368e-01 -2.67220680e-03 4.06980895e+01] [-2.13512509e-02 -4.80206270e-05 9.99772035e-01 -8.47223636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:40.69, Z:-0.85 [[ 9.91496107e-01 1.28114847e-01 2.28485554e-02 1.23938330e+02] [-1.28082371e-01 9.91759337e-01 -2.88523699e-03 4.06943694e+01] [-2.30299099e-02 -6.57959036e-05 9.99734774e-01 -8.48917961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64592000000002 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:123.97, Y:40.69, Z:-0.85 [[ 9.91337285e-01 1.29330557e-01 2.28909010e-02 1.23970798e+02] [-1.29298217e-01 9.91601532e-01 -2.89354347e-03 4.06931321e+01] [-2.30728761e-02 -9.12751374e-05 9.99733782e-01 -8.48159810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:40.69, Z:-0.85 [[ 9.91127325e-01 1.31078698e-01 2.20227226e-02 1.24003289e+02] [-1.31049132e-01 9.91371958e-01 -2.78665601e-03 4.06930299e+01] [-2.21979808e-02 -1.24127758e-04 9.99753587e-01 -8.46806037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:40.69, Z:-0.85 [[ 9.91103017e-01 1.31386912e-01 2.12670713e-02 1.24035618e+02] [-1.31359352e-01 9.91331158e-01 -2.69381308e-03 4.06905701e+01] [-2.14366422e-02 -1.23782426e-04 9.99770201e-01 -8.46597073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.07, Y:40.69, Z:-0.85 [[ 9.90886976e-01 1.32956655e-01 2.15760990e-02 1.24067856e+02] [-1.32928599e-01 9.91121841e-01 -2.73577006e-03 4.06878356e+01] [-2.17482818e-02 -1.57241689e-04 9.99763466e-01 -8.47994476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.10, Y:40.69, Z:-0.85 [[ 9.90609579e-01 1.34625200e-01 2.38477924e-02 1.24099487e+02] [-1.34591369e-01 9.90896569e-01 -3.02542363e-03 4.06851824e+01] [-2.40379940e-02 -2.12693402e-04 9.99711023e-01 -8.48523083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.13, Y:40.68, Z:-0.85 [[ 9.90479947e-01 1.35628910e-01 2.35430104e-02 1.24131303e+02] [-1.35596150e-01 9.90759681e-01 -2.98976416e-03 4.06826232e+01] [-2.37309639e-02 -2.31040126e-04 9.99718354e-01 -8.47708573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.16, Y:40.68, Z:-0.85 [[ 9.90287563e-01 1.36826000e-01 2.46817477e-02 1.24163546e+02] [-1.36790325e-01 9.90595060e-01 -3.13602172e-03 4.06844857e+01] [-2.48787066e-02 -2.70660981e-04 9.99690440e-01 -8.47480953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.20, Y:40.68, Z:-0.85 [[ 9.90158858e-01 1.38022352e-01 2.31358355e-02 1.24196036e+02] [-1.37991263e-01 9.90429075e-01 -2.94255109e-03 4.06828577e+01] [-2.33205420e-02 -2.78950149e-04 9.99728000e-01 -8.46391689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:40.68, Z:-0.85 [[ 9.89911480e-01 1.39456910e-01 2.50406167e-02 1.24227157e+02] [-1.39420908e-01 9.90228083e-01 -3.18649312e-03 4.06823995e+01] [-2.52403004e-02 -3.36839394e-04 9.99681356e-01 -8.47895282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:40.68, Z:-0.85 [[ 9.89805899e-01 1.40274857e-01 2.46423955e-02 1.24259030e+02] [-1.40240166e-01 9.90112540e-01 -3.13898753e-03 4.06806753e+01] [-2.48390658e-02 -3.48865246e-04 9.99691402e-01 -8.47621485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94592 meters Centerline goodness [0,1] 0.9999502289468445 Centerline is valid? [True, True] Translation: X:124.29, Y:40.68, Z:-0.85 [[ 9.89890799e-01 1.39580624e-01 2.51685553e-02 1.24291365e+02] [-1.39544168e-01 9.90210652e-01 -3.20769251e-03 4.06829201e+01] [-2.53699033e-02 -3.36859806e-04 9.99678075e-01 -8.46184830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:40.68, Z:-0.85 [[ 9.90049262e-01 1.38675537e-01 2.39072168e-02 1.24322861e+02] [-1.38642342e-01 9.90337825e-01 -3.04849337e-03 4.06808778e+01] [-2.40989725e-02 -2.96393910e-04 9.99709534e-01 -8.47038675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:40.68, Z:-0.85 [[ 9.89989568e-01 1.39172135e-01 2.34898357e-02 1.24354235e+02] [-1.39140194e-01 9.90268159e-01 -2.99677040e-03 4.06780546e+01] [-2.36783033e-02 -3.01608867e-04 9.99719584e-01 -8.47119222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:40.68, Z:-0.85 [[ 9.90190758e-01 1.37694319e-01 2.37178613e-02 1.24385190e+02] [-1.37661329e-01 9.90474736e-01 -3.02591644e-03 4.06779874e+01] [-2.39085939e-02 -2.68797800e-04 9.99714113e-01 -8.47021924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:40.68, Z:-0.85 [[ 9.90438562e-01 1.35999421e-01 2.31433117e-02 1.24414844e+02] [-1.35967581e-01 9.90708891e-01 -2.95118266e-03 4.06776067e+01] [-2.33296438e-02 -2.23774999e-04 9.99727802e-01 -8.46460988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:40.68, Z:-0.85 [[ 9.91044178e-01 1.31573790e-01 2.27985928e-02 1.24445613e+02] [-1.31541721e-01 9.91306372e-01 -2.90717064e-03 4.06760363e+01] [-2.29828978e-02 -1.17831587e-04 9.99735851e-01 -8.46770457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:40.67, Z:-0.85 [[ 9.91229321e-01 1.29760903e-01 2.50307997e-02 1.24475845e+02] [-1.29721669e-01 9.91545310e-01 -3.19181131e-03 4.06712473e+01] [-2.52333444e-02 -8.32201559e-05 9.99681585e-01 -8.48182027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:40.67, Z:-0.85 [[ 9.91843194e-01 1.25071986e-01 2.45779590e-02 1.24506716e+02] [-1.25032681e-01 9.92147669e-01 -3.13558547e-03 4.06677012e+01] [-2.47771387e-02 3.69609985e-05 9.99692999e-01 -8.48920798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:40.66, Z:-0.85 [[ 9.91827296e-01 1.25198072e-01 2.45775674e-02 1.24538169e+02] [-1.25158729e-01 9.92131766e-01 -3.13865402e-03 4.06637300e+01] [-2.47771387e-02 3.69056456e-05 9.99692999e-01 -8.48948164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:40.66, Z:-0.85 [[ 9.91816244e-01 1.25287532e-01 2.45677168e-02 1.24570282e+02] [-1.25248170e-01 9.92120473e-01 -3.14056689e-03 4.06602970e+01] [-2.47676087e-02 3.78036810e-05 9.99693235e-01 -8.49679336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.60, Y:40.66, Z:-0.85 [[ 9.92062549e-01 1.23883850e-01 2.15566932e-02 1.24601433e+02] [-1.23853184e-01 9.92296723e-01 -2.75707510e-03 4.06572899e+01] [-2.17321931e-02 6.53258669e-05 9.99763826e-01 -8.48016054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27592 meters Centerline goodness [0,1] 0.999801093983093 Centerline is valid? [True, True] Translation: X:124.63, Y:40.65, Z:-0.85 [[ 9.92225890e-01 1.22447384e-01 2.22356075e-02 1.24631599e+02] [-1.22414393e-01 9.92475001e-01 -2.84396373e-03 4.06517370e+01] [-2.24165205e-02 9.98960362e-05 9.99748713e-01 -8.49219400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30592000000001 meters Centerline goodness [0,1] 0.9995024132955167 Centerline is valid? [True, True] Translation: X:124.66, Y:40.65, Z:-0.85 [[ 9.92334125e-01 1.21871575e-01 2.05013208e-02 1.24661522e+02] [-1.21843408e-01 9.92545872e-01 -2.62214616e-03 4.06474803e+01] [-2.06680665e-02 1.04094316e-04 9.99786387e-01 -8.48797435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33592000000002 meters Centerline goodness [0,1] 0.9995028832769934 Centerline is valid? [True, True] Translation: X:124.69, Y:40.64, Z:-0.85 [[ 9.92571675e-01 1.19779713e-01 2.13141005e-02 1.24691147e+02] [-1.19748814e-01 9.92800482e-01 -2.72480202e-03 4.06433155e+01] [-2.14870253e-02 1.52223056e-04 9.99769116e-01 -8.49751773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36592000000002 meters Centerline goodness [0,1] 0.9999004479840716 Centerline is valid? [True, True] Translation: X:124.72, Y:40.64, Z:-0.85 [[ 9.92757108e-01 1.18157329e-01 2.17294866e-02 1.24721400e+02] [-1.18124826e-01 9.92994869e-01 -2.77784965e-03 4.06386275e+01] [-2.19054920e-02 1.90938174e-04 9.99760028e-01 -8.49582756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:40.63, Z:-0.85 [[ 9.93006508e-01 1.16029563e-01 2.17994402e-02 1.24751891e+02] [-1.15996337e-01 9.93245732e-01 -2.78679237e-03 4.06343254e+01] [-2.19755513e-02 2.38647745e-04 9.99758480e-01 -8.48704126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42592000000002 meters Centerline goodness [0,1] 0.9996025239727729 Centerline is valid? [True, True] Translation: X:124.78, Y:40.63, Z:-0.85 [[ 9.93740904e-01 1.09638001e-01 2.14131688e-02 1.24781913e+02] [-1.09604458e-01 9.93971513e-01 -2.73741228e-03 4.06306387e+01] [-2.15842042e-02 3.73299794e-04 9.99766964e-01 -8.48531424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45592000000002 meters Centerline goodness [0,1] 0.9996028199781551 Centerline is valid? [True, True] Translation: X:124.81, Y:40.63, Z:-0.85 [[ 9.93932559e-01 1.07968952e-01 2.09946209e-02 1.24813434e+02] [-1.07936309e-01 9.94154185e-01 -2.68515088e-03 4.06263523e+01] [-2.11618032e-02 4.02777000e-04 9.99775983e-01 -8.48010666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48592000000002 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:124.84, Y:40.62, Z:-0.85 [[ 9.94331123e-01 1.03950468e-01 2.23588624e-02 1.24844275e+02] [-1.03912397e-01 9.94582339e-01 -2.86100368e-03 4.06186627e+01] [-2.25351323e-02 5.21422010e-04 9.99745916e-01 -8.49779811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51592000000002 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:124.88, Y:40.61, Z:-0.85 [[ 9.94444524e-01 1.02684403e-01 2.31516995e-02 1.24875524e+02] [-1.02643177e-01 9.94713821e-01 -2.96523175e-03 4.06119217e+01] [-2.33337986e-02 5.72394499e-04 9.99727566e-01 -8.50040667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54592 meters Centerline goodness [0,1] 0.9998508501541216 Centerline is valid? [True, True] Translation: X:124.91, Y:40.61, Z:-0.85 [[ 9.94641226e-01 1.00932292e-01 2.23942884e-02 1.24907390e+02] [-1.00893213e-01 9.94893118e-01 -2.87095391e-03 4.06063498e+01] [-2.25696954e-02 5.96137398e-04 9.99745094e-01 -8.49790938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.94, Y:40.60, Z:-0.85 [[ 9.94879589e-01 9.84443935e-02 2.28758665e-02 1.24939217e+02] [-9.84028950e-02 9.95142328e-01 -2.93546115e-03 4.06006667e+01] [-2.30537228e-02 6.69378888e-04 9.99734004e-01 -8.49135322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60592 meters Centerline goodness [0,1] 0.9999502289468445 Centerline is valid? [True, True] Translation: X:124.97, Y:40.59, Z:-0.85 [[ 9.95254184e-01 9.49484723e-02 2.13048550e-02 1.24970516e+02] [-9.49116235e-02 9.95481941e-01 -2.73642553e-03 4.05914649e+01] [-2.14684178e-02 7.01360585e-04 9.99769281e-01 -8.48659114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63592 meters Centerline goodness [0,1] 0.9998505752851522 Centerline is valid? [True, True] Translation: X:125.00, Y:40.58, Z:-0.85 [[ 9.95370579e-01 9.34896561e-02 2.22956121e-02 1.25001794e+02] [-9.34488732e-02 9.95619954e-01 -2.86639336e-03 4.05849313e+01] [-2.24659344e-02 7.69623787e-04 9.99747313e-01 -8.49777650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66592 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:125.03, Y:40.58, Z:-0.85 [[ 9.95480191e-01 9.24375202e-02 2.17828988e-02 1.25033567e+02] [-9.23982831e-02 9.95718183e-01 -2.80308073e-03 4.05782287e+01] [-2.19487383e-02 7.77708887e-04 9.99758795e-01 -8.49819018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69592 meters Centerline goodness [0,1] 0.9999502140794583 Centerline is valid? [True, True] Translation: X:125.06, Y:40.57, Z:-0.85 [[ 9.95628226e-01 9.08052524e-02 2.18824671e-02 1.25064611e+02] [-9.07652047e-02 9.95868332e-01 -2.81849098e-03 4.05689513e+01] [-2.20479898e-02 8.20002563e-04 9.99756577e-01 -8.48776454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72592 meters Centerline goodness [0,1] 0.9997513303824539 Centerline is valid? [True, True] Translation: X:125.10, Y:40.56, Z:-0.85 [[ 9.95664915e-01 9.06603062e-02 2.07866639e-02 1.25096677e+02] [-9.06240861e-02 9.95881566e-01 -2.67982888e-03 4.05624950e+01] [-2.09440095e-02 7.84439176e-04 9.99780342e-01 -8.48166176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75592 meters Centerline goodness [0,1] 0.9999003239471717 Centerline is valid? [True, True] Translation: X:125.13, Y:40.55, Z:-0.85 [[ 9.95658547e-01 9.08015137e-02 2.04729574e-02 1.25128917e+02] [-9.07663338e-02 9.95868710e-01 -2.64300781e-03 4.05522780e+01] [-2.06283668e-02 7.73278035e-04 9.99786914e-01 -8.49317381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78592 meters Centerline goodness [0,1] 0.9999004975124378 Centerline is valid? [True, True] Translation: X:125.16, Y:40.54, Z:-0.85 [[ 9.95507003e-01 9.21614916e-02 2.17270793e-02 1.25160120e+02] [-9.21221336e-02 9.95743757e-01 -2.80759423e-03 4.05449221e+01] [-2.18933557e-02 7.93434814e-04 9.99759997e-01 -8.51990007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:40.54, Z:-0.85 [[ 9.95494516e-01 9.26922104e-02 1.99705248e-02 1.25191876e+02] [-9.26590182e-02 9.95694549e-01 -2.58301330e-03 4.05380792e+01] [-2.01239679e-02 7.20926359e-04 9.99797233e-01 -8.51778777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84592 meters Centerline goodness [0,1] 0.99995004995005 Centerline is valid? [True, True] Translation: X:125.22, Y:40.53, Z:-0.85 [[ 9.95247677e-01 9.52284271e-02 2.03373388e-02 1.25223622e+02] [-9.51944820e-02 9.95455212e-01 -2.63293643e-03 4.05300418e+01] [-2.04956403e-02 6.84421427e-04 9.99789708e-01 -8.52723006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:40.53, Z:-0.85 [[ 9.95085560e-01 9.69436813e-02 2.01655721e-02 1.25256033e+02] [-9.69105972e-02 9.95289659e-01 -2.61374071e-03 4.05257737e+01] [-2.03239711e-02 6.46638003e-04 9.99793238e-01 -8.51614914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:125.29, Y:40.52, Z:-0.85 [[ 9.94902307e-01 9.90675894e-02 1.88417726e-02 1.25288205e+02] [-9.90390331e-02 9.95080545e-01 -2.44501453e-03 4.05190442e+01] [-1.89913031e-02 5.66479657e-04 9.99819488e-01 -8.50558083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93592 meters Centerline goodness [0,1] 0.9999003884849088 Centerline is valid? [True, True] Translation: X:125.32, Y:40.51, Z:-0.85 [[ 9.94817609e-01 9.99713473e-02 1.85379230e-02 1.25320183e+02] [-9.99438186e-02 9.94990168e-01 -2.40788099e-03 4.05127068e+01] [-1.86857702e-02 5.42651597e-04 9.99825258e-01 -8.50624197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96592 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:125.35, Y:40.51, Z:-0.85 [[ 9.94640201e-01 1.01444705e-01 1.99960486e-02 1.25351399e+02] [-1.01412923e-01 9.94841023e-01 -2.59972014e-03 4.05062883e+01] [-2.01566173e-02 5.57928427e-04 9.99796679e-01 -8.52468968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99592 meters Centerline goodness [0,1] 0.9999501793543244 Centerline is valid? [True, True] Translation: X:125.38, Y:40.50, Z:-0.85 [[ 9.94533128e-01 1.02633460e-01 1.92413782e-02 1.25383091e+02] [-1.02604209e-01 9.94719109e-01 -2.50395013e-03 4.05018141e+01] [-1.93967557e-02 5.16014963e-04 9.99811732e-01 -8.52814849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:125.42, Y:40.50, Z:-0.85 [[ 9.94554327e-01 1.02314735e-01 1.98339484e-02 1.25415303e+02] [-1.02283541e-01 9.94751930e-01 -2.58350165e-03 4.04965965e+01] [-1.99941888e-02 5.40746261e-04 9.99799950e-01 -8.51797460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05592000000001 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:125.45, Y:40.49, Z:-0.85 [[ 9.94613347e-01 1.01898216e-01 1.90011639e-02 1.25446747e+02] [-1.01869467e-01 9.94794690e-01 -2.47734671e-03 4.04908944e+01] [-1.91546942e-02 5.28363662e-04 9.99816392e-01 -8.51377318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:40.49, Z:-0.85 [[ 9.94791010e-01 1.00382352e-01 1.77265246e-02 1.25478643e+02] [-1.00357052e-01 9.94948798e-01 -2.31333853e-03 4.04850656e+01] [-1.78692027e-02 5.22306623e-04 9.99840197e-01 -8.51539980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11592000000002 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:125.51, Y:40.48, Z:-0.85 [[ 9.94906738e-01 9.89739263e-02 1.90982830e-02 1.25510112e+02] [-9.89442538e-02 9.95089851e-01 -2.49471272e-03 4.04789274e+01] [-1.92514191e-02 5.92341128e-04 9.99814499e-01 -8.52503435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:40.47, Z:-0.85 [[ 9.95010548e-01 9.81385027e-02 1.79678334e-02 1.25541943e+02] [-9.81120636e-02 9.95172600e-01 -2.34923685e-03 4.04715941e+01] [-1.81116460e-02 5.74654240e-04 9.99835806e-01 -8.51784767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17592000000002 meters Centerline goodness [0,1] 0.9999005964214712 Centerline is valid? [True, True] Translation: X:125.57, Y:40.46, Z:-0.85 [[ 9.95068909e-01 9.66160284e-02 2.24323504e-02 1.25572934e+02] [-9.65743664e-02 9.95321442e-01 -2.93573072e-03 4.04609177e+01] [-2.26110379e-02 7.54864342e-04 9.99744053e-01 -8.53210075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:40.45, Z:-0.85 [[ 9.95079575e-01 9.64700116e-02 2.25870863e-02 1.25604591e+02] [-9.64276725e-02 9.95335597e-01 -2.95873309e-03 4.04547356e+01] [-2.27671601e-02 7.66154707e-04 9.99740501e-01 -8.52727160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:40.45, Z:-0.85 [[ 9.95259973e-01 9.45431225e-02 2.27856107e-02 1.25636177e+02] [-9.44994677e-02 9.95520429e-01 -2.98750806e-03 4.04477407e+01] [-2.29659893e-02 8.20119104e-04 9.99735911e-01 -8.53961822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26592000000002 meters Centerline goodness [0,1] 0.9998999899989999 Centerline is valid? [True, True] Translation: X:125.67, Y:40.44, Z:-0.85 [[ 9.95122030e-01 9.59425795e-02 2.29600935e-02 1.25668035e+02] [-9.58985456e-02 9.95386551e-01 -3.01383437e-03 4.04390798e+01] [-2.31433233e-02 7.97293403e-04 9.99731840e-01 -8.53872894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29592 meters Centerline goodness [0,1] 0.999950206642434 Centerline is valid? [True, True] Translation: X:125.70, Y:40.43, Z:-0.85 [[ 9.95068846e-01 9.68273728e-02 2.15046902e-02 1.25699169e+02] [-9.67888942e-02 9.95300923e-01 -2.82544052e-03 4.04308839e+01] [-2.16772180e-02 7.30092652e-04 9.99764755e-01 -8.54911108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32592 meters Centerline goodness [0,1] 0.9998506571087217 Centerline is valid? [True, True] Translation: X:125.73, Y:40.42, Z:-0.85 [[ 9.94782755e-01 9.99364514e-02 2.04933138e-02 1.25730798e+02] [-9.99021020e-02 9.94993620e-01 -2.69566879e-03 4.04207410e+01] [-2.06601120e-02 6.34279704e-04 9.99786356e-01 -8.54971058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.76, Y:40.41, Z:-0.85 [[ 9.94290858e-01 1.04523271e-01 2.14609991e-02 1.25762744e+02] [-1.04486562e-01 9.94522278e-01 -2.82783252e-03 4.04123208e+01] [-2.16390160e-02 5.69302006e-04 9.99765687e-01 -8.54309630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:125.79, Y:40.41, Z:-0.85 [[ 9.94133583e-01 1.05758614e-01 2.26613157e-02 1.25794905e+02] [-1.05717904e-01 9.94391665e-01 -2.99033506e-03 4.04051196e+01] [-2.28504772e-02 5.77085700e-04 9.99738727e-01 -8.54459841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.83, Y:40.40, Z:-0.85 [[ 9.94028685e-01 1.06657908e-01 2.30448234e-02 1.25826977e+02] [-1.06615982e-01 9.94295614e-01 -3.04387760e-03 4.03990992e+01] [-2.32380204e-02 5.68755173e-04 9.99729799e-01 -8.53908317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.86, Y:40.39, Z:-0.85 [[ 9.93801924e-01 1.08824639e-01 2.26921344e-02 1.25859195e+02] [-1.08784486e-01 9.94060831e-01 -3.00012913e-03 4.03940878e+01] [-2.28838499e-02 5.12981933e-04 9.99737999e-01 -8.53689377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.89, Y:40.39, Z:-0.86 [[ 9.93552360e-01 1.11100712e-01 2.25907224e-02 1.25890556e+02] [-1.11061440e-01 9.93809046e-01 -2.98956398e-03 4.03887639e+01] [-2.27830070e-02 4.61330179e-04 9.99740327e-01 -8.55747127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.92, Y:40.38, Z:-0.86 [[ 9.93211002e-01 1.14269074e-01 2.17826417e-02 1.25922057e+02] [-1.14233263e-01 9.93449765e-01 -2.88537172e-03 4.03795411e+01] [-2.19696691e-02 3.77480693e-04 9.99758566e-01 -8.55634545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.95, Y:40.37, Z:-0.85 [[ 9.92970143e-01 1.16747302e-01 1.95028682e-02 1.25953912e+02] [-1.16719013e-01 9.93161609e-01 -2.58644951e-03 4.03747880e+01] [-1.96714609e-02 2.91911619e-04 9.99806455e-01 -8.53169312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.99, Y:40.37, Z:-0.85 [[ 9.92672890e-01 1.19102688e-01 2.03735932e-02 1.25985642e+02] [-1.19072257e-01 9.92881908e-01 -2.70459647e-03 4.03724850e+01] [-2.05506968e-02 2.58849864e-04 9.99788779e-01 -8.52717966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.02, Y:40.37, Z:-0.85 [[ 9.92176927e-01 1.23247484e-01 1.98746932e-02 1.26018140e+02] [-1.23219305e-01 9.92375951e-01 -2.64093946e-03 4.03712788e+01] [-2.00486567e-02 1.71333318e-04 9.99798991e-01 -8.51816915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.05, Y:40.37, Z:-0.85 [[ 9.91934985e-01 1.25125076e-01 2.02163685e-02 1.26050508e+02] [-1.25096229e-01 9.92140966e-01 -2.69025688e-03 4.03664973e+01] [-2.03941060e-02 1.39568447e-04 9.99792009e-01 -8.52115071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.08, Y:40.36, Z:-0.85 [[ 9.91926158e-01 1.24891893e-01 2.20116415e-02 1.26083136e+02] [-1.24857526e-01 9.92170343e-01 -2.93417229e-03 4.03641563e+01] [-2.22057523e-02 1.62163134e-04 9.99753409e-01 -8.53673419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.12, Y:40.36, Z:-0.85 [[ 9.92019471e-01 1.24495001e-01 1.99590449e-02 1.26115863e+02] [-1.24466598e-01 9.92220222e-01 -2.66387059e-03 4.03622051e+01] [-2.01354065e-02 1.58377079e-04 9.99797250e-01 -8.53599382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71592 meters Centerline goodness [0,1] 0.9999005469915465 Centerline is valid? [True, True] Translation: X:126.15, Y:40.36, Z:-0.85 [[ 9.92585659e-01 1.19752571e-01 2.08094113e-02 1.26147741e+02] [-1.19720610e-01 9.92803732e-01 -2.77948063e-03 4.03611775e+01] [-2.09925111e-02 2.67557207e-04 9.99779597e-01 -8.54341751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.18, Y:40.36, Z:-0.85 [[ 9.92856311e-01 1.17324140e-01 2.17115537e-02 1.26179229e+02] [-1.17288705e-01 9.93093618e-01 -2.90275625e-03 4.03565687e+01] [-2.19021688e-02 3.35499841e-04 9.99760062e-01 -8.53835175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:40.35, Z:-0.85 [[ 9.93133992e-01 1.15162567e-01 2.05537426e-02 1.26210787e+02] [-1.15130294e-01 9.93346591e-01 -2.75057943e-03 4.03519230e+01] [-2.07337539e-02 3.65335496e-04 9.99784966e-01 -8.51839703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80592000000001 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:126.24, Y:40.35, Z:-0.85 [[ 9.93672087e-01 1.10503777e-01 2.01171092e-02 1.26243368e+02] [-1.10471853e-01 9.93875600e-01 -2.69472444e-03 4.03515912e+01] [-2.02916812e-02 4.55298115e-04 9.99793999e-01 -8.53261221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83592000000002 meters Centerline goodness [0,1] 0.9999004132848678 Centerline is valid? [True, True] Translation: X:126.28, Y:40.35, Z:-0.85 [[ 9.93818860e-01 1.09693821e-01 1.70686352e-02 1.26275378e+02] [-1.09670684e-01 9.93965343e-01 -2.28849247e-03 4.03490283e+01] [-1.72166653e-02 4.02418074e-04 9.99851701e-01 -8.53212428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86592000000002 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:126.31, Y:40.34, Z:-0.85 [[ 9.93904108e-01 1.08915662e-01 1.70880747e-02 1.26307544e+02] [-1.08892321e-01 9.94050906e-01 -2.29325452e-03 4.03445058e+01] [-1.72361875e-02 4.18514976e-04 9.99851358e-01 -8.53684732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89592000000002 meters Centerline goodness [0,1] 0.9999004876107075 Centerline is valid? [True, True] Translation: X:126.34, Y:40.34, Z:-0.85 [[ 9.93883096e-01 1.08595110e-01 2.00871612e-02 1.26339327e+02] [-1.08562739e-01 9.94085937e-01 -2.69827133e-03 4.03391061e+01] [-2.02613835e-02 5.01049019e-04 9.99794592e-01 -8.53480154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92592000000002 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:126.37, Y:40.33, Z:-0.85 [[ 9.93884165e-01 1.08385412e-01 2.11392566e-02 1.26371243e+02] [-1.08349457e-01 9.94108805e-01 -2.84223851e-03 4.03346837e+01] [-2.13227783e-02 5.34428888e-04 9.99772501e-01 -8.52220380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95592000000002 meters Centerline goodness [0,1] 0.9997509836147218 Centerline is valid? [True, True] Translation: X:126.40, Y:40.33, Z:-0.85 [[ 9.93910951e-01 1.07844328e-01 2.25969467e-02 1.26402805e+02] [-1.07803054e-01 9.94167621e-01 -3.04038117e-03 4.03319342e+01] [-2.27930406e-02 5.85848279e-04 9.99740033e-01 -8.52461660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98592000000002 meters Centerline goodness [0,1] 0.999800905878254 Centerline is valid? [True, True] Translation: X:126.43, Y:40.33, Z:-0.85 [[ 9.93972659e-01 1.07249949e-01 2.27112687e-02 1.26434502e+02] [-1.07208036e-01 9.94231906e-01 -3.05857655e-03 4.03280863e+01] [-2.29083002e-02 6.05310943e-04 9.99737387e-01 -8.54543578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01592000000002 meters Centerline goodness [0,1] 0.9994523548740416 Centerline is valid? [True, True] Translation: X:126.47, Y:40.32, Z:-0.85 [[ 9.94132580e-01 1.06000891e-01 2.15458595e-02 1.26466042e+02] [-1.05962819e-01 9.94365851e-01 -2.90429489e-03 4.03241630e+01] [-2.17323248e-02 6.04194158e-04 9.99763643e-01 -8.54281553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04592 meters Centerline goodness [0,1] 0.9994523548740416 Centerline is valid? [True, True] Translation: X:126.50, Y:40.32, Z:-0.85 [[ 9.94113173e-01 1.06182847e-01 2.15453347e-02 1.26498303e+02] [-1.06144733e-01 9.94346438e-01 -2.90818510e-03 4.03198725e+01] [-2.17323262e-02 6.04141312e-04 9.99763643e-01 -8.54309645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07592 meters Centerline goodness [0,1] 0.9996517239663665 Centerline is valid? [True, True] Translation: X:126.53, Y:40.32, Z:-0.85 [[ 9.94048232e-01 1.06834029e-01 2.13214300e-02 1.26529827e+02] [-1.06796795e-01 9.94276695e-01 -2.88065181e-03 4.03161507e+01] [-2.15071526e-02 5.86446446e-04 9.99768522e-01 -8.54501986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10592 meters Centerline goodness [0,1] 0.9997512932749701 Centerline is valid? [True, True] Translation: X:126.56, Y:40.31, Z:-0.85 [[ 9.93815024e-01 1.08340564e-01 2.43725278e-02 1.26562351e+02] [-1.08292287e-01 9.94113634e-01 -3.29591536e-03 4.03140740e+01] [-2.45861435e-02 6.36173423e-04 9.99697513e-01 -8.54388024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13592 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:126.59, Y:40.31, Z:-0.86 [[ 9.93600486e-01 1.10084950e-01 2.52859141e-02 1.26593817e+02] [-1.10033470e-01 9.93921990e-01 -3.42259462e-03 4.03090857e+01] [-2.55090022e-02 6.18394816e-04 9.99674401e-01 -8.55229434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16592 meters Centerline goodness [0,1] 0.9999502190362406 Centerline is valid? [True, True] Translation: X:126.63, Y:40.31, Z:-0.86 [[ 9.93163542e-01 1.13658589e-01 2.66064833e-02 1.26625738e+02] [-1.13602781e-01 9.93519710e-01 -3.60469727e-03 4.03050230e+01] [-2.68437704e-02 5.57483423e-04 9.99639486e-01 -8.57070035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19592 meters Centerline goodness [0,1] 0.9999004182433778 Centerline is valid? [True, True] Translation: X:126.66, Y:40.30, Z:-0.86 [[ 9.93092649e-01 1.14256188e-01 2.66929594e-02 1.26658495e+02] [-1.14200099e-01 9.93451168e-01 -3.62136216e-03 4.03028391e+01] [-2.69319147e-02 5.48009552e-04 9.99637120e-01 -8.57360435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22592 meters Centerline goodness [0,1] 0.999950144580716 Centerline is valid? [True, True] Translation: X:126.69, Y:40.30, Z:-0.86 [[ 9.92888684e-01 1.16067428e-01 2.64653055e-02 1.26690852e+02] [-1.16012845e-01 9.93241211e-01 -3.59385727e-03 4.03004310e+01] [-2.67035619e-02 4.97984847e-04 9.99643272e-01 -8.58654167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.72, Y:40.30, Z:-0.86 [[ 9.92671652e-01 1.17801300e-01 2.69415152e-02 1.26723099e+02] [-1.17745279e-01 9.93037079e-01 -3.66194333e-03 4.02973031e+01] [-2.71853052e-02 4.62871116e-04 9.99630304e-01 -8.59026020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.76, Y:40.29, Z:-0.86 [[ 9.92568022e-01 1.18631322e-01 2.71169788e-02 1.26755555e+02] [-1.18574737e-01 9.92938270e-01 -3.69095773e-03 4.02922570e+01] [-2.73633492e-02 4.48138000e-04 9.99625453e-01 -8.58172899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.79, Y:40.29, Z:-0.86 [[ 9.92315538e-01 1.20424246e-01 2.84231103e-02 1.26788168e+02] [-1.20362707e-01 9.92722430e-01 -3.87241148e-03 4.02910640e+01] [-2.86825913e-02 4.21571602e-04 9.99588481e-01 -8.58372065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.82, Y:40.29, Z:-0.86 [[ 9.92283375e-01 1.21028508e-01 2.69407424e-02 1.26820590e+02] [-1.20973352e-01 9.92648957e-01 -3.67384604e-03 4.02903053e+01] [-2.71873400e-02 3.86384441e-04 9.99630281e-01 -8.58894211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37592 meters Centerline goodness [0,1] 0.9999502091216889 Centerline is valid? [True, True] Translation: X:126.85, Y:40.29, Z:-0.86 [[ 9.91814338e-01 1.24797077e-01 2.70186529e-02 1.26852634e+02] [-1.24742904e-01 9.92182245e-01 -3.68793303e-03 4.02894245e+01] [-2.72676709e-02 2.87359625e-04 9.99628127e-01 -8.60462314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.88, Y:40.28, Z:-0.86 [[ 9.91531818e-01 1.27250185e-01 2.59238073e-02 1.26884731e+02] [-1.27201065e-01 9.91870629e-01 -3.54183202e-03 4.02844674e+01] [-2.61637618e-02 2.14303235e-04 9.99657647e-01 -8.59899032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.92, Y:40.28, Z:-0.86 [[ 9.91377382e-01 1.28544352e-01 2.54408521e-02 1.26916365e+02] [-1.28497386e-01 9.91703745e-01 -3.47916596e-03 4.02811258e+01] [-2.56770154e-02 1.80083449e-04 9.99670275e-01 -8.59871364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.95, Y:40.28, Z:-0.86 [[ 9.91095328e-01 1.30742993e-01 2.52253893e-02 1.26949225e+02] [-1.30697448e-01 9.91416287e-01 -3.45298684e-03 4.02807188e+01] [-2.54603157e-02 1.25345119e-04 9.99675826e-01 -8.60691905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.98, Y:40.28, Z:-0.86 [[ 9.90983042e-01 1.31621289e-01 2.50688405e-02 1.26981955e+02] [-1.31576506e-01 9.91300068e-01 -3.43483159e-03 4.02791695e+01] [-2.53028402e-02 1.05389434e-04 9.99679826e-01 -8.62134555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52592 meters Centerline goodness [0,1] 0.9999501072693708 Centerline is valid? [True, True] Translation: X:127.01, Y:40.28, Z:-0.86 [[ 9.90794595e-01 1.33167384e-01 2.43417168e-02 1.27013922e+02] [-1.33125550e-01 9.91093559e-01 -3.33834601e-03 4.02787512e+01] [-2.45694775e-02 6.71107380e-05 9.99698123e-01 -8.60583524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.05, Y:40.28, Z:-0.86 [[ 9.90771764e-01 1.33386870e-01 2.40677190e-02 1.27046614e+02] [-1.33345943e-01 9.91064044e-01 -3.30467138e-03 4.02764922e+01] [-2.42934507e-02 6.48424081e-05 9.99704868e-01 -8.58893209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58592000000002 meters Centerline goodness [0,1] 0.999652052887961 Centerline is valid? [True, True] Translation: X:127.08, Y:40.28, Z:-0.86 [[ 9.90699807e-01 1.33397456e-01 2.68143870e-02 1.27079475e+02] [-1.33346561e-01 9.91062618e-01 -3.68533137e-03 4.02770831e+01] [-2.70663504e-02 7.54507807e-05 9.99633636e-01 -8.59857320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61592000000002 meters Centerline goodness [0,1] 0.9997011505703043 Centerline is valid? [True, True] Translation: X:127.11, Y:40.28, Z:-0.86 [[ 9.90788675e-01 1.32492475e-01 2.79918824e-02 1.27111244e+02] [-1.32436572e-01 9.91184005e-01 -3.84992699e-03 4.02753292e+01] [-2.82551924e-02 1.07315122e-04 9.99600737e-01 -8.59846434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64592000000002 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:127.14, Y:40.28, Z:-0.86 [[ 9.90936609e-01 1.31991245e-01 2.49589346e-02 1.27143862e+02] [-1.31946563e-01 9.91250876e-01 -3.43595499e-03 4.02752037e+01] [-2.51940817e-02 1.11567950e-04 9.99682573e-01 -8.60651085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67592000000002 meters Centerline goodness [0,1] 0.999900353744208 Centerline is valid? [True, True] Translation: X:127.18, Y:40.27, Z:-0.86 [[ 9.90923030e-01 1.31948595e-01 2.57121944e-02 1.27176576e+02] [-1.31901074e-01 9.91256553e-01 -3.54296850e-03 4.02736014e+01] [-2.59548709e-02 1.19343031e-04 9.99663108e-01 -8.62036275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70592000000002 meters Centerline goodness [0,1] 0.9997017892644136 Centerline is valid? [True, True] Translation: X:127.21, Y:40.27, Z:-0.86 [[ 9.90887672e-01 1.32176154e-01 2.59053053e-02 1.27208792e+02] [-1.32127907e-01 9.91226236e-01 -3.57292266e-03 4.02718950e+01] [-2.61502734e-02 1.17551247e-04 9.99658016e-01 -8.61378700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73592000000002 meters Centerline goodness [0,1] 0.9997018040852841 Centerline is valid? [True, True] Translation: X:127.24, Y:40.27, Z:-0.86 [[ 9.91062709e-01 1.31021264e-01 2.50626158e-02 1.27241535e+02] [-1.30975654e-01 9.91379547e-01 -3.45990105e-03 4.02737206e+01] [-2.52998853e-02 1.46386404e-04 9.99679896e-01 -8.61244489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76592000000002 meters Centerline goodness [0,1] 0.9999005964214712 Centerline is valid? [True, True] Translation: X:127.27, Y:40.27, Z:-0.86 [[ 9.91124456e-01 1.30096124e-01 2.73370055e-02 1.27273858e+02] [-1.30041412e-01 9.91501368e-01 -3.77737845e-03 4.02717780e+01] [-2.75961006e-02 1.88909388e-04 9.99619137e-01 -8.62493180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:40.27, Z:-0.86 [[ 9.91205759e-01 1.29290260e-01 2.81987762e-02 1.27306711e+02] [-1.29231615e-01 9.91606767e-01 -3.90003457e-03 4.02729847e+01] [-2.84663338e-02 2.21563340e-04 9.99594727e-01 -8.63682733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82592 meters Centerline goodness [0,1] 0.999850902042642 Centerline is valid? [True, True] Translation: X:127.34, Y:40.27, Z:-0.86 [[ 9.91376490e-01 1.28200239e-01 2.71542520e-02 1.27338904e+02] [-1.28145355e-01 9.91748273e-01 -3.75900752e-03 4.02719765e+01] [-2.74120882e-02 2.46900420e-04 9.99624188e-01 -8.64156906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85592 meters Centerline goodness [0,1] 0.9996025239727729 Centerline is valid? [True, True] Translation: X:127.37, Y:40.27, Z:-0.86 [[ 9.91510446e-01 1.27691474e-01 2.45341027e-02 1.27371535e+02] [-1.27646440e-01 9.91813909e-01 -3.39942240e-03 4.02741865e+01] [-2.47673415e-02 2.38871957e-04 9.99693214e-01 -8.62609433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88592 meters Centerline goodness [0,1] 0.9996520701824146 Centerline is valid? [True, True] Translation: X:127.40, Y:40.27, Z:-0.86 [[ 9.91501682e-01 1.27916358e-01 2.37027266e-02 1.27403305e+02] [-1.27874317e-01 9.91784933e-01 -3.28722794e-03 4.02722921e+01] [-2.39284973e-02 2.28322057e-04 9.99713646e-01 -8.61420593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91592 meters Centerline goodness [0,1] 0.9997017151379568 Centerline is valid? [True, True] Translation: X:127.43, Y:40.27, Z:-0.86 [[ 9.91435704e-01 1.28176820e-01 2.50189355e-02 1.27434711e+02] [-1.28130021e-01 9.91751303e-01 -3.47140452e-03 4.02698888e+01] [-2.52575155e-02 2.35997656e-04 9.99680950e-01 -8.61582985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94592 meters Centerline goodness [0,1] 0.9997019522130048 Centerline is valid? [True, True] Translation: X:127.47, Y:40.27, Z:-0.86 [[ 9.91317659e-01 1.29034592e-01 2.52858061e-02 1.27466585e+02] [-1.28987027e-01 9.91640069e-01 -3.51003214e-03 4.02704768e+01] [-2.55273340e-02 2.18015892e-04 9.99674101e-01 -8.61737701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97592 meters Centerline goodness [0,1] 0.9992536942136425 Centerline is valid? [True, True] Translation: X:127.50, Y:40.27, Z:-0.86 [[ 9.91438793e-01 1.28449940e-01 2.34463633e-02 1.27498398e+02] [-1.28408847e-01 9.91715970e-01 -3.25617166e-03 4.02721929e+01] [-2.36703880e-02 2.17574429e-04 9.99719793e-01 -8.61475211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00592 meters Centerline goodness [0,1] 0.999751552795031 Centerline is valid? [True, True] Translation: X:127.53, Y:40.27, Z:-0.86 [[ 9.91649278e-01 1.27010648e-01 2.23608070e-02 1.27529498e+02] [-1.26972874e-01 9.91901324e-01 -3.10681285e-03 4.02701719e+01] [-2.25743124e-02 2.41652786e-04 9.99745139e-01 -8.60999070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03592 meters Centerline goodness [0,1] 0.9994528996319506 Centerline is valid? [True, True] Translation: X:127.56, Y:40.27, Z:-0.86 [[ 9.91804384e-01 1.26078723e-01 2.06934623e-02 1.27560150e+02] [-1.26046170e-01 9.92020210e-01 -2.87520144e-03 4.02681650e+01] [-2.08908345e-02 2.43305733e-04 9.99781733e-01 -8.60143116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06592 meters Centerline goodness [0,1] 0.9992033856111526 Centerline is valid? [True, True] Translation: X:127.59, Y:40.27, Z:-0.86 [[ 9.92099829e-01 1.23327946e-01 2.29814667e-02 1.27590643e+02] [-1.23287088e-01 9.92365914e-01 -3.19171485e-03 4.02697199e+01] [-2.31996519e-02 3.33181637e-04 9.99730796e-01 -8.59378658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09592 meters Centerline goodness [0,1] 0.9992533227139231 Centerline is valid? [True, True] Translation: X:127.62, Y:40.27, Z:-0.86 [[ 9.92172440e-01 1.23051323e-01 2.12655021e-02 1.27620966e+02] [-1.23016278e-01 9.92400259e-01 -2.95334842e-03 4.02682042e+01] [-2.14673032e-02 3.14227993e-04 9.99769502e-01 -8.59303933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12592 meters Centerline goodness [0,1] 0.998957557706627 Centerline is valid? [True, True] Translation: X:127.65, Y:40.27, Z:-0.86 [[ 9.92509925e-01 1.20504617e-01 2.00670238e-02 1.27650904e+02] [-1.20472915e-01 9.92712706e-01 -2.78572034e-03 4.02688673e+01] [-2.02564816e-02 3.47322238e-04 9.99794756e-01 -8.58399498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15592 meters Centerline goodness [0,1] 0.998858730710068 Centerline is valid? [True, True] Translation: X:127.68, Y:40.27, Z:-0.86 [[ 9.92726606e-01 1.18557639e-01 2.09277643e-02 1.27679437e+02] [-1.18522912e-01 9.92947093e-01 -2.89638894e-03 4.02670216e+01] [-2.11235517e-02 3.94902813e-04 9.99776795e-01 -8.58926926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18592 meters Centerline goodness [0,1] 0.9992059947397152 Centerline is valid? [True, True] Translation: X:127.71, Y:40.27, Z:-0.86 [[ 9.92925409e-01 1.16947965e-01 2.05500550e-02 1.27708772e+02] [-1.16914168e-01 9.93137955e-01 -2.84254266e-03 4.02660457e+01] [-2.07414692e-02 4.19840247e-04 9.99784784e-01 -8.57975646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21592 meters Centerline goodness [0,1] 0.998957143566569 Centerline is valid? [True, True] Translation: X:127.74, Y:40.27, Z:-0.86 [[ 9.93388089e-01 1.12618514e-01 2.22973984e-02 1.27738251e+02] [-1.12577842e-01 9.93638150e-01 -3.07501791e-03 4.02698439e+01] [-2.25018497e-02 5.44493180e-04 9.99746653e-01 -8.58102998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24592 meters Centerline goodness [0,1] 0.9995033523714925 Centerline is valid? [True, True] Translation: X:127.77, Y:40.27, Z:-0.86 [[ 9.93541694e-01 1.11000814e-01 2.35312687e-02 1.27769088e+02] [-1.10955071e-01 9.93820126e-01 -3.24479431e-03 4.02682053e+01] [-2.37460233e-02 6.12924851e-04 9.99717836e-01 -8.59738755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27592 meters Centerline goodness [0,1] 0.9992528392109982 Centerline is valid? [True, True] Translation: X:127.80, Y:40.27, Z:-0.86 [[ 9.94020000e-01 1.06889492e-01 2.23355268e-02 1.27799855e+02] [-1.06847243e-01 9.94270678e-01 -3.07991001e-03 4.02664359e+01] [-2.25367694e-02 6.75002686e-04 9.99745787e-01 -8.59755377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30592000000001 meters Centerline goodness [0,1] 0.9993534911478019 Centerline is valid? [True, True] Translation: X:127.83, Y:40.26, Z:-0.86 [[ 9.94233104e-01 1.05281403e-01 2.04049152e-02 1.27830360e+02] [-1.05245805e-01 9.94442258e-01 -2.81369243e-03 4.02634513e+01] [-2.05877395e-02 6.49934432e-04 9.99787839e-01 -8.57886249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33592000000002 meters Centerline goodness [0,1] 0.9990070499453877 Centerline is valid? [True, True] Translation: X:127.86, Y:40.26, Z:-0.86 [[ 9.94360036e-01 1.03963807e-01 2.09677505e-02 1.27860336e+02] [-1.03925950e-01 9.94580839e-01 -2.89008895e-03 4.02621433e+01] [-2.11545875e-02 6.94695569e-04 9.99775975e-01 -8.58013295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36592000000002 meters Centerline goodness [0,1] 0.9991541026023785 Centerline is valid? [True, True] Translation: X:127.89, Y:40.26, Z:-0.86 [[ 9.94600825e-01 1.01775653e-01 2.02710278e-02 1.27889873e+02] [-1.01739841e-01 9.94807119e-01 -2.79286163e-03 4.02601061e+01] [-2.04500081e-02 7.15411341e-04 9.99790621e-01 -8.57901215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39592000000002 meters Centerline goodness [0,1] 0.9997019522130048 Centerline is valid? [True, True] Translation: X:127.92, Y:40.26, Z:-0.86 [[ 9.94737787e-01 1.00660617e-01 1.90833610e-02 1.27919663e+02] [-1.00628696e-01 9.94920579e-01 -2.62810019e-03 4.02561828e+01] [-1.92509748e-02 6.93936842e-04 9.99814442e-01 -8.58141718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42592000000002 meters Centerline goodness [0,1] 0.9992549545522277 Centerline is valid? [True, True] Translation: X:127.95, Y:40.25, Z:-0.86 [[ 9.94890837e-01 9.89982272e-02 1.97881975e-02 1.27948461e+02] [-9.89637340e-02 9.95087331e-01 -2.71724894e-03 4.02522503e+01] [-1.99599874e-02 7.45052157e-04 9.99800502e-01 -8.59994825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45592000000002 meters Centerline goodness [0,1] 0.9992519822470454 Centerline is valid? [True, True] Translation: X:127.98, Y:40.25, Z:-0.86 [[ 9.95016477e-01 9.75316004e-02 2.07315649e-02 1.27977641e+02] [-9.74934539e-02 9.95232099e-01 -2.84524745e-03 4.02485198e+01] [-2.09102204e-02 8.09876227e-04 9.99781029e-01 -8.59825006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48592000000002 meters Centerline goodness [0,1] 0.999002244948865 Centerline is valid? [True, True] Translation: X:128.01, Y:40.24, Z:-0.86 [[ 9.95166673e-01 9.62524613e-02 1.94616890e-02 1.28007742e+02] [-9.62186021e-02 9.95356643e-01 -2.67091954e-03 4.02447629e+01] [-1.96284040e-02 7.85433602e-04 9.99807036e-01 -8.58980307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51592000000002 meters Centerline goodness [0,1] 0.9989541832669323 Centerline is valid? [True, True] Translation: X:128.04, Y:40.24, Z:-0.86 [[ 9.95417750e-01 9.36350352e-02 1.93902713e-02 1.28036860e+02] [-9.36009495e-02 9.95606241e-01 -2.66003758e-03 4.02404692e+01] [-1.95541479e-02 8.32900818e-04 9.99808452e-01 -8.57010130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54592 meters Centerline goodness [0,1] 0.9988086965154374 Centerline is valid? [True, True] Translation: X:128.07, Y:40.24, Z:-0.86 [[ 9.95444706e-01 9.28386497e-02 2.16984497e-02 1.28066562e+02] [-9.27958032e-02 9.95680715e-01 -2.97542079e-03 4.02361200e+01] [-2.18809619e-02 9.48341806e-04 9.99760133e-01 -8.57096576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57592 meters Centerline goodness [0,1] 0.9989562105472439 Centerline is valid? [True, True] Translation: X:128.10, Y:40.23, Z:-0.86 [[ 9.95534062e-01 9.20822122e-02 2.08038079e-02 1.28097206e+02] [-9.20426385e-02 9.95750977e-01 -2.85385277e-03 4.02311367e+01] [-2.09782011e-02 9.26270270e-04 9.99779504e-01 -8.57980304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60592 meters Centerline goodness [0,1] 0.9990057665539869 Centerline is valid? [True, True] Translation: X:128.13, Y:40.23, Z:-0.86 [[ 9.95687691e-01 9.09206148e-02 1.84245374e-02 1.28127988e+02] [-9.08893582e-02 9.95857787e-01 -2.52853232e-03 4.02264581e+01] [-1.85781148e-02 8.43034124e-04 9.99827057e-01 -8.57149940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63592 meters Centerline goodness [0,1] 0.9979642502482622 Centerline is valid? [True, True] Translation: X:128.16, Y:40.22, Z:-0.86 [[ 9.95680868e-01 9.08431996e-02 1.91604407e-02 1.28156719e+02] [-9.08094010e-02 9.95864822e-01 -2.62851944e-03 4.02198886e+01] [-1.93199920e-02 8.77218372e-04 9.99812967e-01 -8.57658790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66592 meters Centerline goodness [0,1] 0.9984615384615385 Centerline is valid? [True, True] Translation: X:128.19, Y:40.21, Z:-0.86 [[ 9.95620536e-01 9.13807899e-02 1.97306890e-02 1.28186305e+02] [-9.13450556e-02 9.95815623e-01 -2.70669788e-03 4.02141172e+01] [-1.98954686e-02 8.92543109e-04 9.99801667e-01 -8.58261099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69592 meters Centerline goodness [0,1] 0.9988066232410124 Centerline is valid? [True, True] Translation: X:128.22, Y:40.21, Z:-0.86 [[ 9.95193713e-01 9.60591668e-02 1.90292124e-02 1.28216597e+02] [-9.60267716e-02 9.95375327e-01 -2.61099732e-03 4.02075446e+01] [-1.91920188e-02 7.71134277e-04 9.99815519e-01 -8.55927636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72592 meters Centerline goodness [0,1] 0.9991564112743152 Centerline is valid? [True, True] Translation: X:128.25, Y:40.20, Z:-0.86 [[ 9.94957516e-01 9.85068580e-02 1.88663917e-02 1.28245740e+02] [-9.84754739e-02 9.95136114e-01 -2.58761811e-03 4.02028288e+01] [-1.90295258e-02 7.16693224e-04 9.99818665e-01 -8.55610413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75592 meters Centerline goodness [0,1] 0.9987089085311351 Centerline is valid? [True, True] Translation: X:128.27, Y:40.20, Z:-0.86 [[ 9.94729120e-01 1.00885530e-01 1.83326897e-02 1.28274819e+02] [-1.00856371e-01 9.94897829e-01 -2.51057442e-03 4.01995691e+01] [-1.84924338e-02 6.48372942e-04 9.99828790e-01 -8.55622563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78592 meters Centerline goodness [0,1] 0.9998503889886295 Centerline is valid? [True, True] Translation: X:128.30, Y:40.20, Z:-0.86 [[ 9.94154306e-01 1.06417210e-01 1.82371652e-02 1.28303052e+02] [-1.06389412e-01 9.94321422e-01 -2.49050609e-03 4.01955736e+01] [-1.83986368e-02 5.35706069e-04 9.99830587e-01 -8.56747674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81592 meters Centerline goodness [0,1] 0.9998013014753365 Centerline is valid? [True, True] Translation: X:128.33, Y:40.19, Z:-0.86 [[ 9.93599525e-01 1.11366126e-01 1.89095046e-02 1.28331921e+02] [-1.11337286e-01 9.93779342e-01 -2.57443133e-03 4.01936567e+01] [-1.90785795e-02 4.52620831e-04 9.99817885e-01 -8.56751149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.36, Y:40.19, Z:-0.86 [[ 9.93459869e-01 1.12206566e-01 2.11465003e-02 1.28360475e+02] [-1.12170882e-01 9.93684788e-01 -2.86989550e-03 4.01914913e+01] [-2.13349768e-02 4.79104417e-04 9.99772269e-01 -8.58299589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.39, Y:40.19, Z:-0.86 [[ 9.93394434e-01 1.12848503e-01 2.08017839e-02 1.28389161e+02] [-1.12814300e-01 9.93612104e-01 -2.81422858e-03 4.01883788e+01] [-2.09864858e-02 4.48900315e-04 9.99779659e-01 -8.57466272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.42, Y:40.19, Z:-0.86 [[ 9.93462337e-01 1.12144299e-01 2.13597907e-02 1.28418418e+02] [-1.12108270e-01 9.93691822e-01 -2.88059740e-03 4.01884547e+01] [-2.15480919e-02 4.67155858e-04 9.99767704e-01 -8.57126711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.45, Y:40.19, Z:-0.86 [[ 9.93600057e-01 1.11204748e-01 1.98098747e-02 1.28447270e+02] [-1.11173740e-01 9.93797418e-01 -2.66318149e-03 4.01873357e+01] [-1.99831608e-02 4.43799431e-04 9.99800218e-01 -8.56554603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96592 meters Centerline goodness [0,1] 0.9998512273741631 Centerline is valid? [True, True] Translation: X:128.48, Y:40.19, Z:-0.86 [[ 9.93885682e-01 1.08439992e-01 2.07850547e-02 1.28476720e+02] [-1.08405436e-01 9.94102863e-01 -2.78544203e-03 4.01877194e+01] [-2.09645357e-02 5.15198040e-04 9.99780087e-01 -8.59633360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99592 meters Centerline goodness [0,1] 0.9998512273741631 Centerline is valid? [True, True] Translation: X:128.50, Y:40.18, Z:-0.86 [[ 9.93936805e-01 1.07970160e-01 2.07863624e-02 1.28503820e+02] [-1.07935706e-01 9.94154002e-01 -2.77566622e-03 4.01837549e+01] [-2.09645345e-02 5.15246122e-04 9.99780087e-01 -8.59657093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:40.18, Z:-0.86 [[ 9.94032527e-01 1.06887595e-01 2.17801982e-02 1.28531823e+02] [-1.06849621e-01 9.94270954e-01 -2.90318670e-03 4.01798922e+01] [-2.19657331e-02 5.58656087e-04 9.99758568e-01 -8.59848674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.56, Y:40.18, Z:-0.86 [[ 9.93952769e-01 1.06464344e-01 2.68930703e-02 1.28561025e+02] [-1.06406360e-01 9.94316275e-01 -3.58211884e-03 4.01790901e+01] [-2.71215854e-02 6.98863215e-04 9.99631898e-01 -8.60009723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08592000000002 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:128.59, Y:40.18, Z:-0.86 [[ 9.93959797e-01 1.06457127e-01 2.66608691e-02 1.28592581e+02] [-1.06400098e-01 9.94317051e-01 -3.55264122e-03 4.01777236e+01] [-2.68875607e-02 6.94463457e-04 9.99638223e-01 -8.59427573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11592000000002 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:128.62, Y:40.17, Z:-0.86 [[ 9.94022103e-01 1.06660922e-01 2.33132094e-02 1.28623551e+02] [-1.06617341e-01 9.94295270e-01 -3.10793914e-03 4.01739629e+01] [-2.35117095e-02 6.03767791e-04 9.99723379e-01 -8.60283463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.65, Y:40.17, Z:-0.86 [[ 9.94040598e-01 1.06781867e-01 2.19299277e-02 1.28653029e+02] [-1.06743362e-01 9.94282311e-01 -2.92231706e-03 4.01685286e+01] [-2.21165897e-02 5.64027591e-04 9.99755239e-01 -8.60350247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.68, Y:40.16, Z:-0.86 [[ 9.94073307e-01 1.06359476e-01 2.24927302e-02 1.28681160e+02] [-1.06319069e-01 9.94327575e-01 -2.98813010e-03 4.01639608e+01] [-2.26829578e-02 5.79014230e-04 9.99742541e-01 -8.61082825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.71, Y:40.16, Z:-0.86 [[ 9.93911866e-01 1.08032656e-01 2.16367153e-02 1.28710812e+02] [-1.07995698e-01 9.94147211e-01 -2.87281928e-03 4.01598772e+01] [-2.18204385e-02 5.18657004e-04 9.99761771e-01 -8.58906658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.74, Y:40.16, Z:-0.86 [[ 9.93982777e-01 1.07168932e-01 2.26508078e-02 1.28738962e+02] [-1.07128414e-01 9.94240672e-01 -2.99822858e-03 4.01557913e+01] [-2.28416713e-02 5.53642452e-04 9.99738942e-01 -8.58567201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.77, Y:40.15, Z:-0.86 [[ 9.93858183e-01 1.08045992e-01 2.39160136e-02 1.28767919e+02] [-1.08001116e-01 9.94145738e-01 -3.16393694e-03 4.01505096e+01] [-2.41178537e-02 5.61548439e-04 9.99708965e-01 -8.59918525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:128.80, Y:40.15, Z:-0.86 [[ 9.93760212e-01 1.08983056e-01 2.37346754e-02 1.28797248e+02] [-1.08939160e-01 9.94043464e-01 -3.13850505e-03 4.01456299e+01] [-2.39353428e-02 5.33285826e-04 9.99713366e-01 -8.59947753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32592 meters Centerline goodness [0,1] 0.9999504263335316 Centerline is valid? [True, True] Translation: X:128.83, Y:40.14, Z:-0.86 [[ 9.93537117e-01 1.10461801e-01 2.61187147e-02 1.28825723e+02] [-1.10409195e-01 9.93880220e-01 -3.45215915e-03 4.01383175e+01] [-2.63402056e-02 5.46101998e-04 9.99652887e-01 -8.61569108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35592 meters Centerline goodness [0,1] 0.9999008772364574 Centerline is valid? [True, True] Translation: X:128.86, Y:40.13, Z:-0.86 [[ 9.93482859e-01 1.11073518e-01 2.55828740e-02 1.28856568e+02] [-1.11023214e-01 9.93812056e-01 -3.38277376e-03 4.01328225e+01] [-2.58003052e-02 5.20434860e-04 9.99666981e-01 -8.59906645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:128.89, Y:40.13, Z:-0.86 [[ 9.93433702e-01 1.11519531e-01 2.55514085e-02 1.28886855e+02] [-1.11469497e-01 9.93762112e-01 -3.37866460e-03 4.01285349e+01] [-2.57688088e-02 5.08276638e-04 9.99667800e-01 -8.59266724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:128.92, Y:40.13, Z:-0.86 [[ 9.93297307e-01 1.12700602e-01 2.56716558e-02 1.28917587e+02] [-1.12650490e-01 9.93628876e-01 -3.39456491e-03 4.01255559e+01] [-2.58906680e-02 4.79887591e-04 9.99664665e-01 -8.56476746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.95, Y:40.12, Z:-0.86 [[ 9.93153736e-01 1.14014062e-01 2.54253740e-02 1.28948040e+02] [-1.13965338e-01 9.93479038e-01 -3.36199905e-03 4.01209149e+01] [-2.56428912e-02 4.41370589e-04 9.99671070e-01 -8.57225920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.98, Y:40.12, Z:-0.86 [[ 9.92794978e-01 1.17507483e-01 2.34546941e-02 1.28978182e+02] [-1.17466994e-01 9.93071944e-01 -3.10141590e-03 4.01159679e+01] [-2.36566382e-02 3.23917724e-04 9.99720090e-01 -8.57227908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.01, Y:40.11, Z:-0.86 [[ 9.92806379e-01 1.17435682e-01 2.33313934e-02 1.29006791e+02] [-1.17395827e-01 9.93080441e-01 -3.07538282e-03 4.01128163e+01] [-2.35311101e-02 3.14251475e-04 9.99723056e-01 -8.57718057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.04, Y:40.11, Z:-0.86 [[ 9.92467229e-01 1.19938621e-01 2.49705264e-02 1.29035127e+02] [-1.19894035e-01 9.92781274e-01 -3.28052680e-03 4.01099636e+01] [-2.51837329e-02 2.61998169e-04 9.99682805e-01 -8.58089129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.06, Y:40.11, Z:-0.86 [[ 9.92463167e-01 1.20041489e-01 2.46354011e-02 1.29063500e+02] [-1.19998389e-01 9.92768846e-01 -3.22579195e-03 4.01068615e+01] [-2.48444876e-02 2.45271234e-04 9.99691298e-01 -8.56582274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.09, Y:40.10, Z:-0.86 [[ 9.92420711e-01 1.20292994e-01 2.51142948e-02 1.29091848e+02] [-1.20248559e-01 9.92738405e-01 -3.27758981e-03 4.01040203e+01] [-2.53261961e-02 2.32790257e-04 9.99679213e-01 -8.56668640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.12, Y:40.11, Z:-0.86 [[ 9.92302928e-01 1.21274558e-01 2.50475518e-02 1.29121053e+02] [-1.21230946e-01 9.92618982e-01 -3.25800928e-03 4.01059174e+01] [-2.52577890e-02 1.96393745e-04 9.99680952e-01 -8.57449987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.15, Y:40.10, Z:-0.86 [[ 9.92311448e-01 1.21464762e-01 2.37550396e-02 1.29149775e+02] [-1.21425836e-01 9.92595729e-01 -3.07962928e-03 4.01043741e+01] [-2.39532173e-02 1.71475848e-04 9.99713066e-01 -8.57381803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.18, Y:40.10, Z:-0.86 [[ 9.92318403e-01 1.21484257e-01 2.33615683e-02 1.29177652e+02] [-1.21446889e-01 9.92593346e-01 -3.01703086e-03 4.01039363e+01] [-2.35550590e-02 1.56665455e-04 9.99722529e-01 -8.57644813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.21, Y:40.10, Z:-0.86 [[ 9.92470386e-01 1.20350206e-01 2.27675366e-02 1.29205618e+02] [-1.20314677e-01 9.92731484e-01 -2.92893474e-03 4.01021744e+01] [-2.29545483e-02 1.67612184e-04 9.99736496e-01 -8.56322786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.23, Y:40.11, Z:-0.86 [[ 9.92732526e-01 1.17914889e-01 2.40460172e-02 1.29234712e+02] [-1.17874801e-01 9.93023679e-01 -3.08277417e-03 4.01055822e+01] [-2.42417695e-02 2.25950707e-04 9.99706100e-01 -8.56065521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.26, Y:40.10, Z:-0.86 [[ 9.93053060e-01 1.15148265e-01 2.42177170e-02 1.29263685e+02] [-1.15107035e-01 9.93348275e-01 -3.09430608e-03 4.01047940e+01] [-2.44129314e-02 2.85180522e-04 9.99701919e-01 -8.57178026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.29, Y:40.10, Z:-0.86 [[ 9.93384114e-01 1.12454622e-01 2.32800465e-02 1.29291181e+02] [-1.12416052e-01 9.93656808e-01 -2.96307399e-03 4.01028342e+01] [-2.34655881e-02 3.26419720e-04 9.99724592e-01 -8.56976178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.32, Y:40.10, Z:-0.86 [[ 9.93649681e-01 1.09822014e-01 2.44834098e-02 1.29319437e+02] [-1.09778819e-01 9.93951189e-01 -3.10549883e-03 4.00997786e+01] [-2.46763664e-02 3.98018106e-04 9.99695413e-01 -8.59100593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86592000000002 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:129.35, Y:40.10, Z:-0.86 [[ 9.94252989e-01 1.04256573e-01 2.43220242e-02 1.29348015e+02] [-1.04212534e-01 9.94550297e-01 -3.07468023e-03 4.00974628e+01] [-2.45100320e-02 5.22350237e-04 9.99699448e-01 -8.58911686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89592000000002 meters Centerline goodness [0,1] 0.9999008723235527 Centerline is valid? [True, True] Translation: X:129.38, Y:40.09, Z:-0.86 [[ 9.94441689e-01 1.02262906e-01 2.50604242e-02 1.29376295e+02] [-1.02215785e-01 9.94757238e-01 -3.15750258e-03 4.00937611e+01] [-2.52519338e-02 5.78381275e-04 9.99680952e-01 -8.58862401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92592000000002 meters Centerline goodness [0,1] 0.9995039928574971 Centerline is valid? [True, True] Translation: X:129.41, Y:40.09, Z:-0.86 [[ 9.94736833e-01 9.89778152e-02 2.64957656e-02 1.29405765e+02] [-9.89240268e-02 9.95089396e-01 -3.33642623e-03 4.00898150e+01] [-2.66958875e-02 6.97798233e-04 9.99643358e-01 -8.60128080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95592000000002 meters Centerline goodness [0,1] 0.9993556381660471 Centerline is valid? [True, True] Translation: X:129.44, Y:40.08, Z:-0.86 [[ 9.94772653e-01 9.83480291e-02 2.74778823e-02 1.29436181e+02] [-9.82899178e-02 9.95151805e-01 -3.46083303e-03 4.00846376e+01] [-2.76850303e-02 7.41943261e-04 9.99616421e-01 -8.61374413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98592000000002 meters Centerline goodness [0,1] 0.998858900575511 Centerline is valid? [True, True] Translation: X:129.47, Y:40.08, Z:-0.86 [[ 9.94762266e-01 9.84091635e-02 2.76346085e-02 1.29467427e+02] [-9.83503661e-02 9.95145758e-01 -3.48217947e-03 4.00789432e+01] [-2.78431417e-02 7.46066885e-04 9.99612026e-01 -8.60299694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01592 meters Centerline goodness [0,1] 0.9982113578774781 Centerline is valid? [True, True] Translation: X:129.50, Y:40.07, Z:-0.86 [[ 9.94826115e-01 9.81793692e-02 2.61115490e-02 1.29499215e+02] [-9.81267165e-02 9.95168479e-01 -3.29330879e-03 4.00742745e+01] [-2.63087254e-02 7.14029023e-04 9.99653611e-01 -8.60314594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04592 meters Centerline goodness [0,1] 0.9980133108175226 Centerline is valid? [True, True] Translation: X:129.53, Y:40.07, Z:-0.86 [[ 9.94930260e-01 9.68602449e-02 2.70531072e-02 1.29530108e+02] [-9.68031931e-02 9.95297688e-01 -3.41372042e-03 4.00694923e+01] [-2.72565489e-02 7.77586579e-04 9.99628169e-01 -8.61418512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07592 meters Centerline goodness [0,1] 0.9974676001787577 Centerline is valid? [True, True] Translation: X:129.56, Y:40.06, Z:-0.86 [[ 9.95118005e-01 9.47357310e-02 2.76640135e-02 1.29560476e+02] [-9.46752290e-02 9.95502089e-01 -3.49165251e-03 4.00635049e+01] [-2.78703675e-02 8.55509471e-04 9.99611180e-01 -8.62341435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10592 meters Centerline goodness [0,1] 0.9976684194860601 Centerline is valid? [True, True] Translation: X:129.59, Y:40.06, Z:-0.86 [[ 9.95129355e-01 9.41695363e-02 2.91490076e-02 1.29592084e+02] [-9.41020213e-02 9.95555749e-01 -3.68244005e-03 4.00598137e+01] [-2.93662358e-02 9.21523655e-04 9.99568294e-01 -8.62301037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13592 meters Centerline goodness [0,1] 0.9973167701863354 Centerline is valid? [True, True] Translation: X:129.62, Y:40.05, Z:-0.86 [[ 9.95080909e-01 9.49880799e-02 2.81291543e-02 1.29623727e+02] [-9.49254178e-02 9.95478030e-01 -3.55771855e-03 4.00547961e+01] [-2.83398959e-02 8.70046089e-04 9.99597966e-01 -8.61765220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16592 meters Centerline goodness [0,1] 0.9973692048049241 Centerline is valid? [True, True] Translation: X:129.66, Y:40.05, Z:-0.86 [[ 9.95097887e-01 9.41517189e-02 3.02596907e-02 1.29655305e+02] [-9.40787042e-02 9.95557393e-01 -3.83083839e-03 4.00504894e+01] [-3.04859388e-02 9.65266694e-04 9.99534730e-01 -8.63076327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19592 meters Centerline goodness [0,1] 0.9974184580251204 Centerline is valid? [True, True] Translation: X:129.69, Y:40.05, Z:-0.86 [[ 9.95296008e-01 9.20855679e-02 3.01015741e-02 1.29686898e+02] [-9.20122885e-02 9.95750569e-01 -3.81352829e-03 4.00478031e+01] [-3.03248305e-02 1.02587476e-03 9.99539570e-01 -8.63713722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22592 meters Centerline goodness [0,1] 0.9963244424576566 Centerline is valid? [True, True] Translation: X:129.72, Y:40.05, Z:-0.86 [[ 9.95491834e-01 9.06243776e-02 2.79862606e-02 1.29719422e+02] [-9.05603703e-02 9.95884645e-01 -3.54877811e-03 4.00453613e+01] [-2.81926930e-02 9.98333510e-04 9.99602009e-01 -8.63440032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25592 meters Centerline goodness [0,1] 0.9968222442899702 Centerline is valid? [True, True] Translation: X:129.75, Y:40.04, Z:-0.86 [[ 9.95662292e-01 8.84666026e-02 2.88142515e-02 1.29751643e+02] [-8.83977505e-02 9.96078543e-01 -3.65713841e-03 4.00413599e+01] [-2.90247923e-02 1.09415979e-03 9.99578093e-01 -8.64691814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28592 meters Centerline goodness [0,1] 0.9967124925283921 Centerline is valid? [True, True] Translation: X:129.78, Y:40.04, Z:-0.86 [[ 9.95786851e-01 8.69689353e-02 2.90680684e-02 1.29783634e+02] [-8.68981282e-02 9.96210359e-01 -3.69274116e-03 4.00357760e+01] [-2.92790646e-02 1.15122236e-03 9.99570613e-01 -8.64528058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31592 meters Centerline goodness [0,1] 0.9957772368224949 Centerline is valid? [True, True] Translation: X:129.82, Y:40.03, Z:-0.86 [[ 9.95876554e-01 8.55453812e-02 3.01973139e-02 1.29815887e+02] [-8.54682033e-02 9.96333500e-01 -3.83972271e-03 4.00314382e+01] [-3.04150660e-02 1.24297966e-03 9.99536582e-01 -8.64963677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34592 meters Centerline goodness [0,1] 0.9956774482039052 Centerline is valid? [True, True] Translation: X:129.85, Y:40.03, Z:-0.86 [[ 9.96175702e-01 8.24236912e-02 2.89880376e-02 1.29847617e+02] [-8.23511796e-02 9.96596547e-01 -3.68848582e-03 4.00296728e+01] [-2.91933968e-02 1.28718086e-03 9.99572953e-01 -8.63657961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37592 meters Centerline goodness [0,1] 0.9949243630573248 Centerline is valid? [True, True] Translation: X:129.88, Y:40.02, Z:-0.86 [[ 9.96330111e-01 8.10904381e-02 2.73980043e-02 1.29878952e+02] [-8.10250758e-02 9.96705956e-01 -3.48930123e-03 4.00240422e+01] [-2.75907030e-02 1.25657051e-03 9.99618514e-01 -8.64274393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40592 meters Centerline goodness [0,1] 0.9950295740344948 Centerline is valid? [True, True] Translation: X:129.91, Y:40.02, Z:-0.86 [[ 9.96502395e-01 7.98869557e-02 2.45163520e-02 1.29910125e+02] [-7.98341900e-02 9.96803258e-01 -3.12510755e-03 4.00170129e+01] [-2.46876349e-02 1.15693405e-03 9.99694544e-01 -8.62819512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43592 meters Centerline goodness [0,1] 0.9945398590290877 Centerline is valid? [True, True] Translation: X:129.94, Y:40.01, Z:-0.86 [[ 9.96549125e-01 7.87113292e-02 2.63508592e-02 1.29941489e+02] [-7.86498782e-02 9.96896631e-01 -3.36199960e-03 4.00103935e+01] [-2.65337102e-02 1.27790590e-03 9.99647102e-01 -8.63643665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46592 meters Centerline goodness [0,1] 0.9947709163346613 Centerline is valid? [True, True] Translation: X:129.97, Y:40.00, Z:-0.86 [[ 9.96691859e-01 7.71710207e-02 2.54945367e-02 1.29972863e+02] [-7.71129218e-02 9.97017050e-01 -3.25567633e-03 4.00049013e+01] [-2.56697316e-02 1.27894789e-03 9.99669660e-01 -8.62148427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49592 meters Centerline goodness [0,1] 0.9946819085487077 Centerline is valid? [True, True] Translation: X:130.00, Y:40.00, Z:-0.86 [[ 9.96756658e-01 7.56836109e-02 2.73524310e-02 1.30004179e+02] [-7.56160879e-02 9.97130876e-01 -3.49607562e-03 3.99966600e+01] [-2.75385492e-02 1.41645283e-03 9.99619739e-01 -8.63011170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52592 meters Centerline goodness [0,1] 0.993238540320175 Centerline is valid? [True, True] Translation: X:130.04, Y:39.98, Z:-0.86 [[ 9.96921107e-01 7.44962964e-02 2.44664631e-02 1.30035689e+02] [-7.44418158e-02 9.97220442e-01 -3.13131620e-03 3.99847801e+01] [-2.46317286e-02 1.30034728e-03 9.99695747e-01 -8.62577853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55592000000001 meters Centerline goodness [0,1] 0.9935487072601856 Centerline is valid? [True, True] Translation: X:130.07, Y:39.98, Z:-0.86 [[ 9.96886748e-01 7.44240326e-02 2.60360152e-02 1.30067231e+02] [-7.43622319e-02 9.97225719e-01 -3.33522090e-03 3.99775777e+01] [-2.62120045e-02 1.38874132e-03 9.99655442e-01 -8.63735471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58592000000002 meters Centerline goodness [0,1] 0.9934475055845123 Centerline is valid? [True, True] Translation: X:130.10, Y:39.97, Z:-0.86 [[ 9.96847387e-01 7.49723409e-02 2.59698866e-02 1.30099062e+02] [-7.49109622e-02 9.97184667e-01 -3.32969930e-03 3.99713149e+01] [-2.61464081e-02 1.37377285e-03 9.99657180e-01 -8.62429137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61592000000002 meters Centerline goodness [0,1] 0.9932809078240096 Centerline is valid? [True, True] Translation: X:130.13, Y:39.96, Z:-0.86 [[ 9.96765942e-01 7.56593628e-02 2.70798456e-02 1.30131384e+02] [-7.55927506e-02 9.97132714e-01 -3.47662564e-03 3.99645077e+01] [-2.72652392e-02 1.41834202e-03 9.99627228e-01 -8.61339292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64592000000002 meters Centerline goodness [0,1] 0.9926228691057721 Centerline is valid? [True, True] Translation: X:130.16, Y:39.96, Z:-0.86 [[ 9.96639796e-01 7.73504800e-02 2.69447693e-02 1.30163368e+02] [-7.72850423e-02 9.97003024e-01 -3.46314461e-03 3.99574204e+01] [-2.71318924e-02 1.36908009e-03 9.99630925e-01 -8.61798394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67592000000002 meters Centerline goodness [0,1] 0.9926445007703395 Centerline is valid? [True, True] Translation: X:130.19, Y:39.95, Z:-0.86 [[ 9.96490335e-01 7.95666399e-02 2.60031086e-02 1.30194827e+02] [-7.95063715e-02 9.96828745e-01 -3.34509909e-03 3.99484969e+01] [-2.61868044e-02 1.26594610e-03 9.99656265e-01 -8.62785636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70592000000002 meters Centerline goodness [0,1] 0.9927482243083495 Centerline is valid? [True, True] Translation: X:130.23, Y:39.94, Z:-0.86 [[ 9.96416529e-01 8.07438068e-02 2.51900330e-02 1.30226947e+02] [-8.06875512e-02 9.96734167e-01 -3.24339562e-03 3.99435487e+01] [-2.53696506e-02 1.19925093e-03 9.99677419e-01 -8.62229889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73592000000002 meters Centerline goodness [0,1] 0.9925321119187493 Centerline is valid? [True, True] Translation: X:130.26, Y:39.94, Z:-0.86 [[ 9.96290030e-01 8.26925326e-02 2.38352719e-02 1.30259086e+02] [-8.26426258e-02 9.96574510e-01 -3.07300599e-03 3.99381317e+01] [-2.40077390e-02 1.09179578e-03 9.99711177e-01 -8.61593863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76592 meters Centerline goodness [0,1] 0.9929469030944221 Centerline is valid? [True, True] Translation: X:130.29, Y:39.93, Z:-0.86 [[ 9.96126733e-01 8.51594710e-02 2.18951165e-02 1.30290261e+02] [-8.51179011e-02 9.96366881e-01 -2.82527605e-03 3.99304809e+01] [-2.20561679e-02 9.50666642e-04 9.99756281e-01 -8.60661005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79592 meters Centerline goodness [0,1] 0.9925903824158337 Centerline is valid? [True, True] Translation: X:130.32, Y:39.92, Z:-0.86 [[ 9.96081192e-01 8.61024050e-02 2.02147108e-02 1.30321741e+02] [-8.60671180e-02 9.96285920e-01 -2.61078707e-03 3.99243150e+01] [-2.03644268e-02 8.60733998e-04 9.99792253e-01 -8.60564016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82592 meters Centerline goodness [0,1] 0.9915389209635675 Centerline is valid? [True, True] Translation: X:130.35, Y:39.92, Z:-0.86 [[ 9.96240432e-01 8.47014071e-02 1.81843983e-02 1.30353109e+02] [-8.46726003e-02 9.96406057e-01 -2.34966039e-03 3.99207929e+01] [-1.83180641e-02 8.01106398e-04 9.99831889e-01 -8.59415755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85592 meters Centerline goodness [0,1] 0.9915389209635675 Centerline is valid? [True, True] Translation: X:130.38, Y:39.92, Z:-0.86 [[ 9.96235578e-01 8.47585174e-02 1.81842636e-02 1.30383739e+02] [-8.47297011e-02 9.96401200e-01 -2.35070237e-03 3.99168541e+01] [-1.83180641e-02 8.01106117e-04 9.99831889e-01 -8.59442411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88592 meters Centerline goodness [0,1] 0.9921451652995277 Centerline is valid? [True, True] Translation: X:130.41, Y:39.91, Z:-0.86 [[ 9.96181408e-01 8.49043807e-02 2.03432828e-02 1.30414710e+02] [-8.48683202e-02 9.96388702e-01 -2.63099367e-03 3.99133662e+01] [-2.04932001e-02 8.94446731e-04 9.99789592e-01 -8.60624015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91592 meters Centerline goodness [0,1] 0.9915026833631485 Centerline is valid? [True, True] Translation: X:130.45, Y:39.91, Z:-0.86 [[ 9.96217224e-01 8.41495203e-02 2.16818098e-02 1.30445804e+02] [-8.41082966e-02 9.96452663e-01 -2.80787714e-03 3.99063895e+01] [-2.18411786e-02 9.73635479e-04 9.99760979e-01 -8.59767932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94592 meters Centerline goodness [0,1] 0.9919904482364061 Centerline is valid? [True, True] Translation: X:130.48, Y:39.90, Z:-0.86 [[ 9.96278221e-01 8.29732386e-02 2.33483931e-02 1.30477371e+02] [-8.29250445e-02 9.96551192e-01 -3.02650111e-03 3.99015570e+01] [-2.35189876e-02 1.07907061e-03 9.99722808e-01 -8.60194071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97592 meters Centerline goodness [0,1] 0.9914427860696517 Centerline is valid? [True, True] Translation: X:130.51, Y:39.90, Z:-0.86 [[ 9.96561687e-01 8.00344746e-02 2.14309809e-02 1.30508968e+02] [-7.99931407e-02 9.96791536e-01 -2.78044819e-03 3.98966816e+01] [-2.15847520e-02 1.05655667e-03 9.99766464e-01 -8.60747775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00592 meters Centerline goodness [0,1] 0.9908101932343152 Centerline is valid? [True, True] Translation: X:130.54, Y:39.89, Z:-0.86 [[ 9.96661422e-01 7.91320838e-02 2.01028370e-02 1.30540552e+02] [-7.90954852e-02 9.96863626e-01 -2.61044573e-03 3.98904519e+01] [-2.02463570e-02 1.01168690e-03 9.99794510e-01 -8.61642586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03592 meters Centerline goodness [0,1] 0.9905500845518751 Centerline is valid? [True, True] Translation: X:130.57, Y:39.88, Z:-0.86 [[ 9.96816404e-01 7.76885421e-02 1.79317120e-02 1.30572048e+02] [-7.76591527e-02 9.96977244e-01 -2.33057954e-03 3.98848033e+01] [-1.80585682e-02 9.30598355e-04 9.99836498e-01 -8.60764041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06592 meters Centerline goodness [0,1] 0.9900527205809211 Centerline is valid? [True, True] Translation: X:130.60, Y:39.88, Z:-0.86 [[ 9.96873565e-01 7.68803940e-02 1.82345918e-02 1.30602596e+02] [-7.68498482e-02 9.97039858e-01 -2.37104312e-03 3.98783088e+01] [-1.83629016e-02 9.62304599e-04 9.99830925e-01 -8.58639297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09592 meters Centerline goodness [0,1] 0.9900373599003736 Centerline is valid? [True, True] Translation: X:130.63, Y:39.87, Z:-0.86 [[ 9.96825366e-01 7.73764218e-02 1.87637547e-02 1.30634303e+02] [-7.73441250e-02 9.97001466e-01 -2.44195466e-03 3.98731310e+01] [-1.88964406e-02 9.82936163e-04 9.99820963e-01 -8.57594962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12592 meters Centerline goodness [0,1] 0.9905529037390612 Centerline is valid? [True, True] Translation: X:130.67, Y:39.87, Z:-0.86 [[ 9.96640669e-01 7.90206323e-02 2.15201539e-02 1.30665767e+02] [-7.89784760e-02 9.96872380e-01 -2.80317133e-03 3.98662554e+01] [-2.16743555e-02 1.09412558e-03 9.99764485e-01 -8.60139370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15592 meters Centerline goodness [0,1] 0.9911153025264308 Centerline is valid? [True, True] Translation: X:130.70, Y:39.86, Z:-0.86 [[ 9.96587377e-01 8.02340160e-02 1.93933559e-02 1.30697230e+02] [-8.01999673e-02 9.96775588e-01 -2.52836011e-03 3.98599171e+01] [-1.95336842e-02 9.64385262e-04 9.99808734e-01 -8.59346220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18592 meters Centerline goodness [0,1] 0.990891443930118 Centerline is valid? [True, True] Translation: X:130.73, Y:39.85, Z:-0.86 [[ 9.96361487e-01 8.28445806e-02 2.00140461e-02 1.30727996e+02] [-8.28088180e-02 9.96562033e-01 -2.61049378e-03 3.98530907e+01] [-2.01615037e-02 9.43655968e-04 9.99796291e-01 -8.59395957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21592 meters Centerline goodness [0,1] 0.9918521462639109 Centerline is valid? [True, True] Translation: X:130.76, Y:39.85, Z:-0.86 [[ 9.96172901e-01 8.45909375e-02 2.19983079e-02 1.30759864e+02] [-8.45480995e-02 9.96415261e-01 -2.87183821e-03 3.98482223e+01] [-2.21623811e-02 1.00093228e-03 9.99753883e-01 -8.58431704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24592 meters Centerline goodness [0,1] 0.9928968805881184 Centerline is valid? [True, True] Translation: X:130.79, Y:39.84, Z:-0.86 [[ 9.96015254e-01 8.67177004e-02 2.08243659e-02 1.30791502e+02] [-8.66797258e-02 9.96232514e-01 -2.72102340e-03 3.98420602e+01] [-2.09818713e-02 9.05130479e-04 9.99779447e-01 -8.57342724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27592 meters Centerline goodness [0,1] 0.9928929973659361 Centerline is valid? [True, True] Translation: X:130.82, Y:39.84, Z:-0.86 [[ 9.95952423e-01 8.76725221e-02 1.98065579e-02 1.30823227e+02] [-8.76383114e-02 9.96148993e-01 -2.59035458e-03 3.98366744e+01] [-1.99573857e-02 8.44056628e-04 9.99800475e-01 -8.57434397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30592000000001 meters Centerline goodness [0,1] 0.9931837404846012 Centerline is valid? [True, True] Translation: X:130.85, Y:39.83, Z:-0.86 [[ 9.95888374e-01 8.84650009e-02 1.95010282e-02 1.30854653e+02] [-8.84319440e-02 9.96078950e-01 -2.55269921e-03 3.98320695e+01] [-1.96503882e-02 8.17689630e-04 9.99806578e-01 -8.57982663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33592000000002 meters Centerline goodness [0,1] 0.9936872452530072 Centerline is valid? [True, True] Translation: X:130.89, Y:39.83, Z:-0.86 [[ 9.95577958e-01 9.16941180e-02 2.04136543e-02 1.30886169e+02] [-9.16585602e-02 9.95786907e-01 -2.67272076e-03 3.98282699e+01] [-2.05727225e-02 7.89815715e-04 9.99788047e-01 -8.57018570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36592000000002 meters Centerline goodness [0,1] 0.9939405979934439 Centerline is valid? [True, True] Translation: X:130.92, Y:39.82, Z:-0.86 [[ 9.95441989e-01 9.32138888e-02 2.01598031e-02 1.30917204e+02] [-9.31794971e-02 9.95645825e-01 -2.64066081e-03 3.98247656e+01] [-2.03181701e-02 7.50144335e-04 9.99793283e-01 -8.57161567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39592000000002 meters Centerline goodness [0,1] 0.9961689636300314 Centerline is valid? [True, True] Translation: X:130.95, Y:39.82, Z:-0.86 [[ 9.95126730e-01 9.61545687e-02 2.18423927e-02 1.30947812e+02] [-9.61148741e-02 9.95366133e-01 -2.86236178e-03 3.98194688e+01] [-2.20164071e-02 7.49033892e-04 9.99757329e-01 -8.58137186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42592000000002 meters Centerline goodness [0,1] 0.9959309249702263 Centerline is valid? [True, True] Translation: X:130.98, Y:39.82, Z:-0.86 [[ 9.95091392e-01 9.62965124e-02 2.28057622e-02 1.30979705e+02] [-9.62532132e-02 9.95352385e-01 -2.99132241e-03 3.98161291e+01] [-2.29878238e-02 7.81511285e-04 9.99735440e-01 -8.58442165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45592000000002 meters Centerline goodness [0,1] 0.996670145619005 Centerline is valid? [True, True] Translation: X:131.01, Y:39.81, Z:-0.86 [[ 9.95124686e-01 9.63826647e-02 2.09103172e-02 1.31012093e+02] [-9.63462311e-02 9.95344095e-01 -2.74520723e-03 3.98137490e+01] [-2.10775512e-02 7.17193226e-04 9.99777587e-01 -8.57144594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48592000000002 meters Centerline goodness [0,1] 0.9973634464232415 Centerline is valid? [True, True] Translation: X:131.04, Y:39.81, Z:-0.86 [[ 9.95115766e-01 9.66529348e-02 2.00704281e-02 1.31042914e+02] [-9.66193996e-02 9.95317910e-01 -2.63617650e-03 3.98112056e+01] [-2.02312507e-02 6.84108091e-04 9.99795093e-01 -8.58540282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51592 meters Centerline goodness [0,1] 0.9972604104403268 Centerline is valid? [True, True] Translation: X:131.07, Y:39.81, Z:-0.86 [[ 9.95082071e-01 9.68655702e-02 2.07058581e-02 1.31074191e+02] [-9.68298855e-02 9.95297225e-01 -2.72146054e-03 3.98063376e+01] [-2.08720990e-02 7.03130718e-04 9.99781907e-01 -8.58644829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54592 meters Centerline goodness [0,1] 0.9978072361208014 Centerline is valid? [True, True] Translation: X:131.11, Y:39.80, Z:-0.86 [[ 9.94914971e-01 9.80877086e-02 2.28692133e-02 1.31105674e+02] [-9.80444661e-02 9.95177491e-01 -3.00721413e-03 3.98018019e+01] [-2.30538971e-02 7.49722545e-04 9.99733942e-01 -8.59272756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57592 meters Centerline goodness [0,1] 0.9983630952380952 Centerline is valid? [True, True] Translation: X:131.14, Y:39.80, Z:-0.86 [[ 9.94875680e-01 9.85477518e-02 2.25991573e-02 1.31137557e+02] [-9.85055828e-02 9.95132053e-01 -2.97435648e-03 3.97985191e+01] [-2.27822619e-02 7.32971768e-04 9.99740182e-01 -8.59336067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60592 meters Centerline goodness [0,1] 0.9986559139784946 Centerline is valid? [True, True] Translation: X:131.17, Y:39.80, Z:-0.86 [[ 9.94821478e-01 9.90921482e-02 2.26047267e-02 1.31169939e+02] [-9.90500370e-02 9.95077998e-01 -2.97779757e-03 3.97953333e+01] [-2.27885425e-02 7.23377972e-04 9.99740046e-01 -8.58481350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63592 meters Centerline goodness [0,1] 0.9991546914623838 Centerline is valid? [True, True] Translation: X:131.20, Y:39.79, Z:-0.86 [[ 9.94808435e-01 9.88968689e-02 2.39914006e-02 1.31201792e+02] [-9.88493049e-02 9.95097386e-01 -3.16335820e-03 3.97937222e+01] [-2.41866263e-02 7.75402147e-04 9.99707160e-01 -8.59384065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66592 meters Centerline goodness [0,1] 0.9994037859591594 Centerline is valid? [True, True] Translation: X:131.23, Y:39.79, Z:-0.86 [[ 9.94859690e-01 9.83276244e-02 2.42048797e-02 1.31234215e+02] [-9.82789712e-02 9.95153777e-01 -3.19439880e-03 3.97897962e+01] [-2.44016751e-02 7.99147926e-04 9.99701915e-01 -8.59487626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69592 meters Centerline goodness [0,1] 0.999054961452375 Centerline is valid? [True, True] Translation: X:131.27, Y:39.79, Z:-0.86 [[ 9.95127040e-01 9.60731443e-02 2.21838822e-02 1.31265786e+02] [-9.60316594e-02 9.95373967e-01 -2.93031648e-03 3.97853708e+01] [-2.23627835e-02 7.85682146e-04 9.99749613e-01 -8.58420328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72592 meters Centerline goodness [0,1] 0.9996523121243729 Centerline is valid? [True, True] Translation: X:131.30, Y:39.78, Z:-0.86 [[ 9.95228841e-01 9.51811808e-02 2.14498623e-02 1.31297628e+02] [-9.51421338e-02 9.95459659e-01 -2.83592225e-03 3.97810346e+01] [-2.16223990e-02 7.81605947e-04 9.99765903e-01 -8.58429813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75592 meters Centerline goodness [0,1] 0.9997512437810945 Centerline is valid? [True, True] Translation: X:131.33, Y:39.78, Z:-0.86 [[ 9.95440343e-01 9.28486472e-02 2.18552589e-02 1.31328453e+02] [-9.28075192e-02 9.95679872e-01 -2.89086050e-03 3.97762796e+01] [-2.20292539e-02 8.49346805e-04 9.99756966e-01 -8.58568998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78592 meters Centerline goodness [0,1] 0.9996519490851233 Centerline is valid? [True, True] Translation: X:131.36, Y:39.77, Z:-0.86 [[ 9.95509740e-01 9.17400122e-02 2.33265410e-02 1.31360523e+02] [-9.16927917e-02 9.95782554e-01 -3.08817237e-03 3.97713147e+01] [-2.35114716e-02 9.35430010e-04 9.99723130e-01 -8.58673580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81592 meters Centerline goodness [0,1] 0.9997007182761373 Centerline is valid? [True, True] Translation: X:131.39, Y:39.77, Z:-0.86 [[ 9.95546701e-01 9.12720182e-02 2.35835671e-02 1.31391936e+02] [-9.12235537e-02 9.95825536e-01 -3.12499251e-03 3.97657716e+01] [-2.37703427e-02 9.59699182e-04 9.99716985e-01 -8.59385900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84592 meters Centerline goodness [0,1] 0.9996524502259073 Centerline is valid? [True, True] Translation: X:131.42, Y:39.76, Z:-0.86 [[ 9.95593123e-01 9.09759425e-02 2.27532792e-02 1.31423675e+02] [-9.09306922e-02 9.95852651e-01 -3.01766374e-03 3.97585467e+01] [-2.29334482e-02 9.35393842e-04 9.99736556e-01 -8.60429551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87592 meters Centerline goodness [0,1] 0.9997514539941343 Centerline is valid? [True, True] Translation: X:131.46, Y:39.75, Z:-0.86 [[ 9.95542286e-01 9.15298252e-02 2.27562751e-02 1.31455864e+02] [-9.14846317e-02 9.95801905e-01 -3.02135885e-03 3.97525032e+01] [-2.29372866e-02 9.26041045e-04 9.99736477e-01 -8.60073959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90592 meters Centerline goodness [0,1] 0.9998508872210349 Centerline is valid? [True, True] Translation: X:131.49, Y:39.75, Z:-0.86 [[ 9.95347785e-01 9.36327321e-02 2.27089950e-02 1.31487515e+02] [-9.35882109e-02 9.95606418e-01 -3.01777477e-03 3.97455448e+01] [-2.28917837e-02 8.78441220e-04 9.99737563e-01 -8.58194172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93592 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:131.52, Y:39.74, Z:-0.86 [[ 9.95293791e-01 9.43908458e-02 2.19234565e-02 1.31519302e+02] [-9.43494784e-02 9.95534868e-01 -2.91597157e-03 3.97410927e+01] [-2.21008064e-02 8.33781708e-04 9.99755400e-01 -8.57999709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96592 meters Centerline goodness [0,1] 0.999950137122912 Centerline is valid? [True, True] Translation: X:131.55, Y:39.74, Z:-0.86 [[ 9.95181907e-01 9.55962400e-02 2.17791236e-02 1.31550775e+02] [-9.55556337e-02 9.95419867e-01 -2.89996534e-03 3.97353916e+01] [-2.19565981e-02 8.04875081e-04 9.99758601e-01 -8.57768232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99592 meters Centerline goodness [0,1] 0.9999003487792726 Centerline is valid? [True, True] Translation: X:131.58, Y:39.73, Z:-0.86 [[ 9.94993857e-01 9.72685344e-02 2.29359455e-02 1.31582298e+02] [-9.72238781e-02 9.95257843e-01 -3.05678928e-03 3.97289304e+01] [-2.31245090e-02 8.11564988e-04 9.99732263e-01 -8.58857540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.61, Y:39.72, Z:-0.86 [[ 9.94934703e-01 9.81123450e-02 2.18839041e-02 1.31614288e+02] [-9.80718380e-02 9.95175056e-01 -2.91920094e-03 3.97241059e+01] [-2.20647252e-02 7.58219615e-04 9.99756257e-01 -8.59604237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:39.72, Z:-0.86 [[ 9.94923659e-01 9.84172501e-02 2.09989905e-02 1.31646582e+02] [-9.83799681e-02 9.95144975e-01 -2.80366176e-03 3.97201349e+01] [-2.11729685e-02 7.23549408e-04 9.99775566e-01 -8.59060657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.68, Y:39.72, Z:-0.86 [[ 9.94825946e-01 9.89462979e-02 2.30427446e-02 1.31678737e+02] [-9.89014817e-02 9.95092465e-01 -3.07929739e-03 3.97171159e+01] [-2.32343467e-02 7.84403355e-04 9.99729738e-01 -8.58819960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11592000000002 meters Centerline goodness [0,1] 0.999701833722606 Centerline is valid? [True, True] Translation: X:131.71, Y:39.72, Z:-0.86 [[ 9.94748995e-01 9.98892117e-02 2.22841291e-02 1.31711239e+02] [-9.98474744e-02 9.94998290e-01 -2.98059735e-03 3.97164518e+01] [-2.24703999e-02 7.39932207e-04 9.99747235e-01 -8.57189387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14592000000002 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:131.74, Y:39.71, Z:-0.86 [[ 9.94741893e-01 1.00205038e-01 2.11545870e-02 1.31742989e+02] [-1.00167443e-01 9.94966564e-01 -2.83204894e-03 3.97134646e+01] [-2.13318924e-02 6.98156837e-04 9.99772206e-01 -8.55877216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17592000000002 meters Centerline goodness [0,1] 0.9998010840917002 Centerline is valid? [True, True] Translation: X:131.77, Y:39.71, Z:-0.86 [[ 9.94614509e-01 1.01343899e-01 2.17115846e-02 1.31774427e+02] [-1.01304539e-01 9.94851212e-01 -2.90796949e-03 3.97100331e+01] [-2.18945012e-02 6.92826581e-04 9.99760047e-01 -8.58084216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.81, Y:39.71, Z:-0.86 [[ 9.94608136e-01 1.01437082e-01 2.15679012e-02 1.31806188e+02] [-1.01398208e-01 9.94841718e-01 -2.89127745e-03 3.97068670e+01] [-2.17499307e-02 6.88741542e-04 9.99763205e-01 -8.58403291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23592000000002 meters Centerline goodness [0,1] 0.9999003835234348 Centerline is valid? [True, True] Translation: X:131.84, Y:39.70, Z:-0.86 [[ 9.94620512e-01 1.00933504e-01 2.32908637e-02 1.31837634e+02] [-1.00887997e-01 9.94892886e-01 -3.12370172e-03 3.97044402e+01] [-2.34872007e-02 7.57129229e-04 9.99723851e-01 -8.58882969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26592 meters Centerline goodness [0,1] 0.9997519718239992 Centerline is valid? [True, True] Translation: X:131.87, Y:39.70, Z:-0.86 [[ 9.94915947e-01 9.79076040e-02 2.35872942e-02 1.31870183e+02] [-9.78600159e-02 9.95195153e-01 -3.16621865e-03 3.97042499e+01] [-2.37839577e-02 8.41868444e-04 9.99716767e-01 -8.57355453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29592 meters Centerline goodness [0,1] 0.9997512685304945 Centerline is valid? [True, True] Translation: X:131.90, Y:39.70, Z:-0.86 [[ 9.94947275e-01 9.70824764e-02 2.55912550e-02 1.31902319e+02] [-9.70261049e-02 9.95275898e-01 -3.43829052e-03 3.96999511e+01] [-2.58041571e-02 9.37897985e-04 9.99666577e-01 -8.58655531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32592 meters Centerline goodness [0,1] 0.9993001749562609 Centerline is valid? [True, True] Translation: X:131.93, Y:39.69, Z:-0.86 [[ 9.95327314e-01 9.44509888e-02 2.00636329e-02 1.31934302e+02] [-9.44157608e-02 9.95529198e-01 -2.69799789e-03 3.96944470e+01] [-2.02287610e-02 7.91067820e-04 9.99795065e-01 -8.56089608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35592 meters Centerline goodness [0,1] 0.9995525727069351 Centerline is valid? [True, True] Translation: X:131.97, Y:39.69, Z:-0.86 [[ 9.95329971e-01 9.38056801e-02 2.27759389e-02 1.31965274e+02] [-9.37600804e-02 9.95590106e-01 -3.06414878e-03 3.96902972e+01] [-2.29629339e-02 9.14365253e-04 9.99735899e-01 -8.57915240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38592 meters Centerline goodness [0,1] 0.9994037859591594 Centerline is valid? [True, True] Translation: X:132.00, Y:39.69, Z:-0.86 [[ 9.95596345e-01 9.15004138e-02 2.03860736e-02 1.31997347e+02] [-9.14633518e-02 9.95804660e-01 -2.74499433e-03 3.96873215e+01] [-2.05517152e-02 8.68327695e-04 9.99788414e-01 -8.56890765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41592 meters Centerline goodness [0,1] 0.9993043132578017 Centerline is valid? [True, True] Translation: X:132.03, Y:39.68, Z:-0.86 [[ 9.95896147e-01 8.86686224e-02 1.81311609e-02 1.32029369e+02] [-8.86387995e-02 9.96060838e-01 -2.44349749e-03 3.96809666e+01] [-1.82764009e-02 8.26345399e-04 9.99832631e-01 -8.55909964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44592 meters Centerline goodness [0,1] 0.9996514291405239 Centerline is valid? [True, True] Translation: X:132.06, Y:39.67, Z:-0.86 [[ 9.95956907e-01 8.76639291e-02 1.96182455e-02 1.32059404e+02] [-8.76288052e-02 9.96149687e-01 -2.64456847e-03 3.96731730e+01] [-1.97745424e-02 9.14752820e-04 9.99804046e-01 -8.56715345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47592 meters Centerline goodness [0,1] 0.998609041231992 Centerline is valid? [True, True] Translation: X:132.09, Y:39.66, Z:-0.86 [[ 9.96315920e-01 8.37496428e-02 1.84549300e-02 1.32090786e+02] [-8.37178526e-02 9.96486388e-01 -2.48983205e-03 3.96645699e+01] [-1.85986091e-02 9.35652196e-04 9.99826593e-01 -8.56411494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50592 meters Centerline goodness [0,1] 0.9988076311605724 Centerline is valid? [True, True] Translation: X:132.12, Y:39.66, Z:-0.86 [[ 9.96515315e-01 8.12487786e-02 1.88643346e-02 1.32121781e+02] [-8.12150935e-02 9.96693346e-01 -2.54620697e-03 3.96573234e+01] [-1.90088330e-02 1.00526554e-03 9.99818810e-01 -8.56757881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53592 meters Centerline goodness [0,1] 0.9984591679506933 Centerline is valid? [True, True] Translation: X:132.15, Y:39.65, Z:-0.86 [[ 9.96694705e-01 7.89667361e-02 1.90766780e-02 1.32153211e+02] [-7.89318301e-02 9.96876685e-01 -2.57702085e-03 3.96499756e+01] [-1.92205944e-02 1.06274594e-03 9.99814702e-01 -8.57606183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56592 meters Centerline goodness [0,1] 0.9977089351529037 Centerline is valid? [True, True] Translation: X:132.18, Y:39.64, Z:-0.85 [[ 9.97136941e-01 7.36767748e-02 1.70192110e-02 1.32182699e+02] [-7.36482154e-02 9.97281631e-01 -2.29962998e-03 3.96397357e+01] [-1.71423758e-02 1.03961149e-03 9.99852518e-01 -8.54415682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59592 meters Centerline goodness [0,1] 0.9973092829737406 Centerline is valid? [True, True] Translation: X:132.21, Y:39.63, Z:-0.85 [[ 9.97262369e-01 7.21901086e-02 1.60111189e-02 1.32213817e+02] [-7.21646206e-02 9.97390386e-01 -2.16473038e-03 3.96330132e+01] [-1.61256082e-02 1.00336782e-03 9.99869470e-01 -8.53413149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62592 meters Centerline goodness [0,1] 0.9964175539854712 Centerline is valid? [True, True] Translation: X:132.24, Y:39.62, Z:-0.85 [[ 9.97273982e-01 7.21869384e-02 1.52856065e-02 1.32244706e+02] [-7.21636816e-02 9.97390658e-01 -2.06834212e-03 3.96216303e+01] [-1.53950284e-02 9.59638143e-04 9.99881029e-01 -8.53809295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65592 meters Centerline goodness [0,1] 0.9978610157687907 Centerline is valid? [True, True] Translation: X:132.28, Y:39.61, Z:-0.85 [[ 9.97222905e-01 7.28767115e-02 1.53448241e-02 1.32275954e+02] [-7.28533286e-02 9.97340501e-01 -2.07809272e-03 3.96122492e+01] [-1.54554591e-02 9.54400142e-04 9.99880102e-01 -8.54828092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68592 meters Centerline goodness [0,1] 0.9972632731253421 Centerline is valid? [True, True] Translation: X:132.31, Y:39.60, Z:-0.86 [[ 9.97077568e-01 7.44829333e-02 1.69887013e-02 1.32306297e+02] [-7.44544705e-02 9.97221755e-01 -2.30265593e-03 3.95983470e+01] [-1.71130111e-02 1.03104181e-03 9.99853030e-01 -8.55596846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71592 meters Centerline goodness [0,1] 0.9976150253403557 Centerline is valid? [True, True] Translation: X:132.34, Y:39.59, Z:-0.85 [[ 9.97006094e-01 7.53848830e-02 1.72036946e-02 1.32337516e+02] [-7.53557951e-02 9.97153979e-01 -2.33374688e-03 3.95893267e+01] [-1.73306618e-02 1.03036177e-03 9.99849282e-01 -8.54684884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74592 meters Centerline goodness [0,1] 0.9980099502487563 Centerline is valid? [True, True] Translation: X:132.37, Y:39.58, Z:-0.85 [[ 9.96885427e-01 7.72594948e-02 1.58245329e-02 1.32368473e+02] [-7.72350839e-02 9.97010594e-01 -2.14889311e-03 3.95798773e+01] [-1.59432493e-02 9.19991103e-04 9.99872475e-01 -8.54371510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77592 meters Centerline goodness [0,1] 0.9985541928407617 Centerline is valid? [True, True] Translation: X:132.40, Y:39.57, Z:-0.85 [[ 9.96636323e-01 8.04619384e-02 1.55536667e-02 1.32398812e+02] [-8.04387175e-02 9.96757315e-01 -2.11383964e-03 3.95663721e+01] [-1.56733147e-02 8.55612362e-04 9.99876800e-01 -8.53960128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80592000000001 meters Centerline goodness [0,1] 0.9985541928407617 Centerline is valid? [True, True] Translation: X:132.43, Y:39.56, Z:-0.85 [[ 9.96627085e-01 8.05763312e-02 1.55534248e-02 1.32430265e+02] [-8.05530966e-02 9.96748074e-01 -2.11561838e-03 3.95621328e+01] [-1.56733150e-02 8.55606044e-04 9.99876800e-01 -8.53987520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83592000000002 meters Centerline goodness [0,1] 0.9987539251358222 Centerline is valid? [True, True] Translation: X:132.46, Y:39.55, Z:-0.85 [[ 9.96498623e-01 8.18410562e-02 1.71036735e-02 1.32462085e+02] [-8.18131013e-02 9.96644968e-01 -2.32897452e-03 3.95538289e+01] [-1.72368959e-02 9.21515326e-04 9.99851009e-01 -8.54505015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86592000000002 meters Centerline goodness [0,1] 0.9983088783884606 Centerline is valid? [True, True] Translation: X:132.49, Y:39.54, Z:-0.85 [[ 9.96367031e-01 8.33937152e-02 1.72692983e-02 1.32492999e+02] [-8.33654129e-02 9.96516266e-01 -2.35358641e-03 3.95433788e+01] [-1.74054109e-02 9.05373721e-04 9.99848104e-01 -8.54307292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89592000000002 meters Centerline goodness [0,1] 0.998706017020853 Centerline is valid? [True, True] Translation: X:132.52, Y:39.54, Z:-0.85 [[ 9.96267365e-01 8.44906963e-02 1.76821770e-02 1.32524129e+02] [-8.44611596e-02 9.96423853e-01 -2.41193538e-03 3.95359379e+01] [-1.78227291e-02 9.09475331e-04 9.99840749e-01 -8.53991707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92592000000002 meters Centerline goodness [0,1] 0.9983089624987566 Centerline is valid? [True, True] Translation: X:132.56, Y:39.53, Z:-0.85 [[ 9.96219412e-01 8.51143792e-02 1.73903847e-02 1.32556053e+02] [-8.50858602e-02 9.96370793e-01 -2.37464110e-03 3.95278901e+01] [-1.75293875e-02 8.85987721e-04 9.99845956e-01 -8.53178190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95592000000002 meters Centerline goodness [0,1] 0.9990041824337781 Centerline is valid? [True, True] Translation: X:132.59, Y:39.52, Z:-0.85 [[ 9.96155770e-01 8.54898206e-02 1.91094801e-02 1.32586962e+02] [-8.54554085e-02 9.96338573e-01 -2.61166711e-03 3.95192625e+01] [-1.92627831e-02 9.68618831e-04 9.99813986e-01 -8.53533349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98592000000002 meters Centerline goodness [0,1] 0.9987561570227375 Centerline is valid? [True, True] Translation: X:132.62, Y:39.51, Z:-0.85 [[ 9.96232801e-01 8.46434753e-02 1.88597112e-02 1.32618118e+02] [-8.46097638e-02 9.96410825e-01 -2.57973681e-03 3.95075229e+01] [-1.90103783e-02 9.74302719e-04 9.99818812e-01 -8.53716063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01592 meters Centerline goodness [0,1] 0.9984588615461099 Centerline is valid? [True, True] Translation: X:132.65, Y:39.50, Z:-0.85 [[ 9.96271800e-01 8.39444006e-02 1.98957047e-02 1.32649467e+02] [-8.39066971e-02 9.96469893e-01 -2.72378725e-03 3.94989518e+01] [-2.00541174e-02 1.04424956e-03 9.99798351e-01 -8.54091745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04592 meters Centerline goodness [0,1] 0.9992039008856602 Centerline is valid? [True, True] Translation: X:132.68, Y:39.49, Z:-0.85 [[ 9.96259312e-01 8.39043879e-02 2.06745247e-02 1.32681173e+02] [-8.38636151e-02 9.96473215e-01 -2.83284522e-03 3.94912141e+01] [-2.08392983e-02 1.08840804e-03 9.99782246e-01 -8.54033446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07592 meters Centerline goodness [0,1] 0.9988558352402745 Centerline is valid? [True, True] Translation: X:132.71, Y:39.48, Z:-0.85 [[ 9.96133983e-01 8.47364545e-02 2.31694210e-02 1.32712682e+02] [-8.46854057e-02 9.96402673e-01 -3.17743129e-03 3.94808146e+01] [-2.33553173e-02 1.20303547e-03 9.99726504e-01 -8.53426657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10592 meters Centerline goodness [0,1] 0.9985076111829668 Centerline is valid? [True, True] Translation: X:132.74, Y:39.47, Z:-0.85 [[ 9.96077057e-01 8.54182633e-02 2.31131107e-02 1.32744605e+02] [-8.53675820e-02 9.96344474e-01 -3.17243241e-03 3.94734974e+01] [-2.32996038e-02 1.18687677e-03 9.99727823e-01 -8.53518108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13592 meters Centerline goodness [0,1] 0.999402955370914 Centerline is valid? [True, True] Translation: X:132.77, Y:39.46, Z:-0.85 [[ 9.95868502e-01 8.80755502e-02 2.21048251e-02 1.32774720e+02] [-8.80298175e-02 9.96113215e-01 -3.03539555e-03 3.94617603e+01] [-2.22862525e-02 1.07697110e-03 9.99751051e-01 -8.54398651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16592 meters Centerline goodness [0,1] 0.9993039673859003 Centerline is valid? [True, True] Translation: X:132.81, Y:39.45, Z:-0.85 [[ 9.95627357e-01 9.06923758e-02 2.23843250e-02 1.32806235e+02] [-9.06460797e-02 9.95878418e-01 -3.07639499e-03 3.94545944e+01] [-2.25710718e-02 1.03389171e-03 9.99744706e-01 -8.54950246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19592 meters Centerline goodness [0,1] 0.9996516373046681 Centerline is valid? [True, True] Translation: X:132.84, Y:39.45, Z:-0.86 [[ 9.95377341e-01 9.32218173e-02 2.31006849e-02 1.32838223e+02] [-9.31731100e-02 9.95644851e-01 -3.17826003e-03 3.94479664e+01] [-2.32963612e-02 1.01120536e-03 9.99728092e-01 -8.55002033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22592 meters Centerline goodness [0,1] 0.9998501947468291 Centerline is valid? [True, True] Translation: X:132.87, Y:39.44, Z:-0.86 [[ 9.94802077e-01 9.90462705e-02 2.36360864e-02 1.32868516e+02] [-9.89968827e-02 9.95082425e-01 -3.25344080e-03 3.94394947e+01] [-2.38420954e-02 8.96630789e-04 9.99715335e-01 -8.55621012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25592 meters Centerline goodness [0,1] 0.9997510951812028 Centerline is valid? [True, True] Translation: X:132.90, Y:39.43, Z:-0.86 [[ 9.94310710e-01 1.03457537e-01 2.53525301e-02 1.32900532e+02] [-1.03402047e-01 9.94633506e-01 -3.49351594e-03 3.94335327e+01] [-2.55779065e-02 8.52136796e-04 9.99672469e-01 -8.55962305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28592 meters Centerline goodness [0,1] 0.9998504635629548 Centerline is valid? [True, True] Translation: X:132.93, Y:39.43, Z:-0.86 [[ 9.94107204e-01 1.05747593e-01 2.38393091e-02 1.32932270e+02] [-1.05699117e-01 9.94392722e-01 -3.28799093e-03 3.94296938e+01] [-2.40533326e-02 7.48821552e-04 9.99710396e-01 -8.55521309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31592 meters Centerline goodness [0,1] 0.9999003934458888 Centerline is valid? [True, True] Translation: X:132.96, Y:39.43, Z:-0.86 [[ 9.93859247e-01 1.07452166e-01 2.64164667e-02 1.32963974e+02] [-1.07393152e-01 9.94209944e-01 -3.64675569e-03 3.94255619e+01] [-2.66553657e-02 7.87414229e-04 9.99644372e-01 -8.55714110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.00, Y:39.42, Z:-0.85 [[ 9.93195897e-01 1.13283894e-01 2.69938756e-02 1.32995439e+02] [-1.13224107e-01 9.93562443e-01 -3.73803137e-03 3.94196949e+01] [-2.72435598e-02 6.56239965e-04 9.99628610e-01 -8.54722492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37592 meters Centerline goodness [0,1] 0.9998506794086904 Centerline is valid? [True, True] Translation: X:133.03, Y:39.42, Z:-0.86 [[ 9.92959939e-01 1.15212010e-01 2.75091167e-02 1.33027358e+02] [-1.15150553e-01 9.93340732e-01 -3.81314399e-03 3.94166274e+01] [-2.77652461e-02 6.18609229e-04 9.99614280e-01 -8.55643330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.06, Y:39.42, Z:-0.86 [[ 9.92460306e-01 1.19178957e-01 2.86167447e-02 1.33059469e+02] [-1.19113992e-01 9.92872647e-01 -3.97032524e-03 3.94160543e+01] [-2.88859622e-02 5.31735518e-04 9.99582572e-01 -8.57383907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:133.09, Y:39.41, Z:-0.86 [[ 9.92245348e-01 1.20648679e-01 2.98842151e-02 1.33091160e+02] [-1.20578381e-01 9.92695135e-01 -4.14999650e-03 3.94124222e+01] [-3.01666065e-02 5.14424442e-04 9.99544752e-01 -8.58574079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46592 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:133.12, Y:39.41, Z:-0.86 [[ 9.91971457e-01 1.22607134e-01 3.09857789e-02 1.33123976e+02] [-1.22532027e-01 9.92455164e-01 -4.31844109e-03 3.94084701e+01] [-3.12814680e-02 4.87020005e-04 9.99510496e-01 -8.58170424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.16, Y:39.41, Z:-0.86 [[ 9.91540516e-01 1.26137962e-01 3.06042515e-02 1.33156545e+02] [-1.26065948e-01 9.92012634e-01 -4.27903899e-03 3.94067629e+01] [-3.08995534e-02 3.84686534e-04 9.99522421e-01 -8.56525655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.19, Y:39.40, Z:-0.86 [[ 9.91227592e-01 1.28429792e-01 3.12033514e-02 1.33189626e+02] [-1.28355560e-01 9.91718547e-01 -4.37880038e-03 3.94042045e+01] [-3.15073108e-02 3.35264097e-04 9.99503465e-01 -8.57136610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.22, Y:39.40, Z:-0.86 [[ 9.90844822e-01 1.31659545e-01 2.98714239e-02 1.33222345e+02] [-1.31592575e-01 9.91294965e-01 -4.20544649e-03 3.94028501e+01] [-3.01650792e-02 2.36087298e-04 9.99544903e-01 -8.57539279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.25, Y:39.40, Z:-0.86 [[ 9.90651100e-01 1.33163584e-01 2.96286757e-02 1.33254370e+02] [-1.33098247e-01 9.91094053e-01 -4.17539058e-03 3.93993318e+01] [-2.99208143e-02 1.92830475e-04 9.99552254e-01 -8.58839197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:39.40, Z:-0.86 [[ 9.90407106e-01 1.34667165e-01 3.09599728e-02 1.33286310e+02] [-1.34596431e-01 9.90890877e-01 -4.36704878e-03 3.93957422e+01] [-3.12660527e-02 1.58054308e-04 9.99511085e-01 -8.58942914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.32, Y:39.40, Z:-0.86 [[ 9.90252950e-01 1.35877403e-01 3.06010766e-02 1.33319179e+02] [-1.35808753e-01 9.90725651e-01 -4.32045812e-03 3.93951245e+01] [-3.09043241e-02 1.22452358e-04 9.99522340e-01 -8.57523974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:39.39, Z:-0.86 [[ 9.90104712e-01 1.37036904e-01 3.02249192e-02 1.33350914e+02] [-1.36970320e-01 9.90565939e-01 -4.27231027e-03 3.93928298e+01] [-3.05252396e-02 9.01176852e-05 9.99533992e-01 -8.55630466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.38, Y:39.39, Z:-0.86 [[ 9.90126308e-01 1.37456645e-01 2.74875422e-02 1.33383553e+02] [-1.37401637e-01 9.90507781e-01 -3.88908947e-03 3.93922351e+01] [-2.77612056e-02 7.38565118e-05 9.99614581e-01 -8.56698367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.42, Y:39.39, Z:-0.86 [[ 9.90159665e-01 1.37004581e-01 2.85233837e-02 1.33415583e+02] [-1.36945052e-01 9.90570409e-01 -4.03938521e-03 3.93898807e+01] [-2.88078341e-02 9.35000398e-05 9.99584964e-01 -8.57162984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:39.39, Z:-0.86 [[ 9.90519467e-01 1.34595096e-01 2.74835649e-02 1.33447722e+02] [-1.34538801e-01 9.90900668e-01 -3.89573775e-03 3.93887526e+01] [-2.77578300e-02 1.61198208e-04 9.99614664e-01 -8.56191777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:39.39, Z:-0.86 [[ 9.90746259e-01 1.32807985e-01 2.79980363e-02 1.33480090e+02] [-1.32748746e-01 9.91141761e-01 -3.97231684e-03 3.93852930e+01] [-2.82775784e-02 2.18853842e-04 9.99600085e-01 -8.56130026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.51, Y:39.38, Z:-0.86 [[ 9.91455990e-01 1.27982540e-01 2.52089316e-02 1.33512068e+02] [-1.27932874e-01 9.91776368e-01 -3.57985617e-03 3.93809391e+01] [-2.54597817e-02 3.24218771e-04 9.99675795e-01 -8.56485906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.54, Y:39.38, Z:-0.86 [[ 9.91544408e-01 1.26786761e-01 2.76550978e-02 1.33544214e+02] [-1.26726422e-01 9.91929918e-01 -3.93081763e-03 3.93767884e+01] [-2.79302946e-02 3.92948652e-04 9.99609796e-01 -8.57448335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88592 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:133.58, Y:39.37, Z:-0.86 [[ 9.91727920e-01 1.25185707e-01 2.83596800e-02 1.33575713e+02] [-1.25121494e-01 9.92133224e-01 -4.03459139e-03 3.93724128e+01] [-2.86416539e-02 4.52811398e-04 9.99589641e-01 -8.56947910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:133.61, Y:39.37, Z:-0.86 [[ 9.91803058e-01 1.24819596e-01 2.73269530e-02 1.33607738e+02] [-1.24759742e-01 9.92179352e-01 -3.89114327e-03 3.93662511e+01] [-2.75989294e-02 4.49944199e-04 9.99618976e-01 -8.58128813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.64, Y:39.36, Z:-0.86 [[ 9.91740058e-01 1.25553501e-01 2.62292976e-02 1.33639315e+02] [-1.25498526e-01 9.92086763e-01 -3.73819608e-03 3.93603400e+01] [-2.64910826e-02 4.15580597e-04 9.99648963e-01 -8.58644956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.67, Y:39.36, Z:-0.86 [[ 9.91471118e-01 1.27183389e-01 2.84500988e-02 1.33670831e+02] [-1.27119276e-01 9.91879136e-01 -4.05831459e-03 3.93559060e+01] [-2.87352096e-02 4.07145727e-04 9.99586976e-01 -8.59882581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00592 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:133.70, Y:39.35, Z:-0.86 [[ 9.91353727e-01 1.28107387e-01 2.83951794e-02 1.33703110e+02] [-1.28043796e-01 9.91760228e-01 -4.05408981e-03 3.93518381e+01] [-2.86805685e-02 3.83210472e-04 9.99588554e-01 -8.58674840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.74, Y:39.35, Z:-0.86 [[ 9.91162760e-01 1.29423965e-01 2.90829918e-02 1.33735546e+02] [-1.29357659e-01 9.91589284e-01 -4.15784343e-03 3.93461885e+01] [-2.93765076e-02 3.58991837e-04 9.99568353e-01 -8.58637261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.77, Y:39.34, Z:-0.86 [[ 9.90925891e-01 1.31512499e-01 2.77550116e-02 1.33767078e+02] [-1.31452829e-01 9.91314471e-01 -3.97159363e-03 3.93379050e+01] [-2.80362588e-02 2.87080171e-04 9.99606866e-01 -8.59242403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09592 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:133.80, Y:39.33, Z:-0.86 [[ 9.90854033e-01 1.32381894e-01 2.61403897e-02 1.33798908e+02] [-1.32329180e-01 9.91198755e-01 -3.74391472e-03 3.93335317e+01] [-2.64059482e-02 2.50536681e-04 9.99651271e-01 -8.59066993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.83, Y:39.33, Z:-0.86 [[ 9.90703244e-01 1.33507072e-01 2.61331797e-02 1.33830637e+02] [-1.33454689e-01 9.91047835e-01 -3.74625558e-03 3.93313098e+01] [-2.63993828e-02 2.23832197e-04 9.99651451e-01 -8.60451105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.86, Y:39.33, Z:-0.86 [[ 9.90699064e-01 1.33445326e-01 2.66028166e-02 1.33862002e+02] [-1.33390928e-01 9.91056149e-01 -3.81702112e-03 3.93266622e+01] [-2.68742486e-02 2.32944854e-04 9.99638795e-01 -8.61447913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18592 meters Centerline goodness [0,1] 0.9999500948198423 Centerline is valid? [True, True] Translation: X:133.89, Y:39.32, Z:-0.86 [[ 9.90612983e-01 1.34009956e-01 2.69675557e-02 1.33894835e+02] [-1.33954122e-01 9.90979960e-01 -3.87456934e-03 3.93214853e+01] [-2.72435382e-02 2.25783427e-04 9.99628800e-01 -8.60676921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:39.32, Z:-0.86 [[ 9.90494798e-01 1.34977429e-01 2.64792110e-02 1.33926697e+02] [-1.34923853e-01 9.90848653e-01 -3.80789224e-03 3.93164723e+01] [-2.67508700e-02 1.99020299e-04 9.99642112e-01 -8.59508187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:39.31, Z:-0.86 [[ 9.90369406e-01 1.35970812e-01 2.60840363e-02 1.33958704e+02] [-1.35919077e-01 9.90712828e-01 -3.75448359e-03 3.93116859e+01] [-2.63522896e-02 1.73007538e-04 9.99652703e-01 -8.59951502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.99, Y:39.31, Z:-0.86 [[ 9.90326754e-01 1.36271776e-01 2.61328110e-02 1.33991400e+02] [-1.36219817e-01 9.90671476e-01 -3.76660055e-03 3.93070015e+01] [-2.64023118e-02 1.70358546e-04 9.99651384e-01 -8.59295601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.02, Y:39.30, Z:-0.86 [[ 9.90099393e-01 1.37717293e-01 2.71503108e-02 1.34023619e+02] [-1.37661630e-01 9.90471568e-01 -3.91771568e-03 3.93039378e+01] [-2.74311481e-02 1.41371886e-04 9.99623685e-01 -8.59275503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.06, Y:39.30, Z:-0.86 [[ 9.89876195e-01 1.39554518e-01 2.58776809e-02 1.34056129e+02] [-1.39504488e-01 9.90214385e-01 -3.73753340e-03 3.93037898e+01] [-2.61460415e-02 8.96427074e-05 9.99658130e-01 -8.60448953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.09, Y:39.30, Z:-0.86 [[ 9.89797082e-01 1.40316765e-01 2.47576469e-02 1.34088198e+02] [-1.40271130e-01 9.90106661e-01 -3.57901444e-03 3.92997896e+01] [-2.50149068e-02 6.97149420e-05 9.99687076e-01 -8.60850310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39592000000002 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:134.12, Y:39.29, Z:-0.86 [[ 9.89610558e-01 1.41585882e-01 2.49876440e-02 1.34120876e+02] [-1.41539677e-01 9.89925975e-01 -3.61713678e-03 3.92949104e+01] [-2.52480533e-02 4.28136992e-05 9.99681216e-01 -8.61669707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.15, Y:39.29, Z:-0.86 [[ 9.89607165e-01 1.41711623e-01 2.44023411e-02 1.34152736e+02] [-1.41667516e-01 9.89907983e-01 -3.53567049e-03 3.92920277e+01] [-2.46571178e-02 4.19058197e-05 9.99695966e-01 -8.61402046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.19, Y:39.29, Z:-0.86 [[ 9.89433062e-01 1.42752398e-01 2.53765417e-02 1.34185094e+02] [-1.42704954e-01 9.89758431e-01 -3.68019276e-03 3.92889515e+01] [-2.56420024e-02 1.99461909e-05 9.99671190e-01 -8.61067452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.22, Y:39.29, Z:-0.86 [[ 9.89351507e-01 1.43117268e-01 2.64772274e-02 1.34217184e+02] [-1.43065654e-01 9.89705738e-01 -3.84331919e-03 3.92860086e+01] [-2.67547092e-02 1.44117694e-05 9.99642029e-01 -8.60957348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.25, Y:39.28, Z:-0.86 [[ 9.89188527e-01 1.44367149e-01 2.57717570e-02 1.34249145e+02] [-1.44318585e-01 9.89524192e-01 -3.74430782e-03 3.92846931e+01] [-2.60423321e-02 -1.55171662e-05 9.99660841e-01 -8.61703740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:134.28, Y:39.28, Z:-0.86 [[ 9.89072535e-01 1.45358762e-01 2.46241770e-02 1.34281800e+02] [-1.45314635e-01 9.89379012e-01 -3.58159333e-03 3.92822549e+01] [-2.48832599e-02 -3.57977028e-05 9.99690363e-01 -8.61733125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.31, Y:39.28, Z:-0.86 [[ 9.88863142e-01 1.46664391e-01 2.52832573e-02 1.34314993e+02] [-1.46618210e-01 9.89186308e-01 -3.68084759e-03 3.92835944e+01] [-2.55497012e-02 -6.71314305e-05 9.99673551e-01 -8.62202997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.35, Y:39.28, Z:-0.86 [[ 9.88736356e-01 1.47465405e-01 2.55807152e-02 1.34347626e+02] [-1.47418268e-01 9.89067211e-01 -3.72919852e-03 3.92815101e+01] [-2.58509744e-02 -8.38705812e-05 9.99665804e-01 -8.62024306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.38, Y:39.28, Z:-0.86 [[ 9.88597657e-01 1.48544327e-01 2.46830969e-02 1.34380225e+02] [-1.48500694e-01 9.88905745e-01 -3.60165342e-03 3.92808979e+01] [-2.49442615e-02 -1.04870885e-04 9.99688838e-01 -8.61223494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.41, Y:39.28, Z:-0.86 [[ 9.88578620e-01 1.48671042e-01 2.46826350e-02 1.34411594e+02] [-1.48627370e-01 9.88886702e-01 -3.60481723e-03 3.92763606e+01] [-2.49442615e-02 -1.04869876e-04 9.99688838e-01 -8.61250849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:39.27, Z:-0.86 [[ 9.88643468e-01 1.48475604e-01 2.32182520e-02 1.34444312e+02] [-1.48436835e-01 9.88916067e-01 -3.39398594e-03 3.92749323e+01] [-2.34648266e-02 -9.10018156e-05 9.99724659e-01 -8.61604672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.48, Y:39.28, Z:-0.86 [[ 9.88867729e-01 1.47152566e-01 2.20621260e-02 1.34477207e+02] [-1.47117169e-01 9.89113805e-01 -3.22789163e-03 3.92773023e+01] [-2.22969459e-02 -5.37596490e-05 9.99751391e-01 -8.61525199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:39.28, Z:-0.86 [[ 9.88949608e-01 1.46503158e-01 2.27045588e-02 1.34509824e+02] [-1.46465430e-01 9.89210202e-01 -3.32485647e-03 3.92757964e+01] [-2.29466831e-02 -3.73174615e-05 9.99736690e-01 -8.62353014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.54, Y:39.27, Z:-0.86 [[ 9.88974024e-01 1.46340438e-01 2.26904468e-02 1.34542231e+02] [-1.46302646e-01 9.89234287e-01 -3.32574834e-03 3.92741753e+01] [-2.29328594e-02 -3.05936778e-05 9.99737007e-01 -8.62495046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.57, Y:39.27, Z:-0.86 [[ 9.89206491e-01 1.44865851e-01 2.20091511e-02 1.34574297e+02] [-1.44829865e-01 9.89451305e-01 -3.22878542e-03 3.92733789e+01] [-2.22447240e-02 6.35311614e-06 9.99752555e-01 -8.61845684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.61, Y:39.28, Z:-0.86 [[ 9.89624652e-01 1.41950223e-01 2.22076962e-02 1.34606425e+02] [-1.41912816e-01 9.89873794e-01 -3.25943359e-03 3.92755785e+01] [-2.24454938e-02 7.40591198e-05 9.99748065e-01 -8.63481504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.64, Y:39.28, Z:-0.86 [[ 9.90308989e-01 1.37274520e-01 2.10668507e-02 1.34637976e+02] [-1.37239771e-01 9.90533026e-01 -3.09333880e-03 3.92758655e+01] [-2.12920480e-02 1.72151461e-04 9.99773284e-01 -8.62731075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.67, Y:39.27, Z:-0.86 [[ 9.90606027e-01 1.35313248e-01 1.97490314e-02 1.34669176e+02] [-1.35282295e-01 9.90802848e-01 -2.90109560e-03 3.92728087e+01] [-1.99599533e-02 2.02148478e-04 9.99800760e-01 -8.63450250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.70, Y:39.27, Z:-0.86 [[ 9.90878023e-01 1.33328677e-01 1.96011984e-02 1.34699167e+02] [-1.33297809e-01 9.91071847e-01 -2.87883609e-03 3.92705341e+01] [-1.98100273e-02 2.39778612e-04 9.99803733e-01 -8.63300711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.73, Y:39.27, Z:-0.86 [[ 9.91216910e-01 1.30867240e-01 1.90473807e-02 1.34729868e+02] [-1.30837638e-01 9.91399862e-01 -2.79747021e-03 3.92690643e+01] [-1.92496678e-02 2.80785482e-04 9.99814669e-01 -8.64113101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:134.76, Y:39.27, Z:-0.86 [[ 9.91773883e-01 1.26689715e-01 1.82833587e-02 1.34759885e+02] [-1.26661751e-01 9.91942335e-01 -2.68417278e-03 3.92695066e+01] [-1.84760946e-02 3.46290244e-04 9.99829242e-01 -8.63662719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02592 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:134.79, Y:39.27, Z:-0.86 [[ 9.91970775e-01 1.25061324e-01 1.88054807e-02 1.34789765e+02] [-1.25031459e-01 9.92148938e-01 -2.76021028e-03 3.92662497e+01] [-1.90030333e-02 3.86771235e-04 9.99819351e-01 -8.64622134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05592000000001 meters Centerline goodness [0,1] 0.9999005568814638 Centerline is valid? [True, True] Translation: X:134.82, Y:39.26, Z:-0.86 [[ 9.92273512e-01 1.22762873e-01 1.79598024e-02 1.34819552e+02] [-1.22735277e-01 9.92435947e-01 -2.63500255e-03 3.92646061e+01] [-1.81474340e-02 4.10341903e-04 9.99835238e-01 -8.63558639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08592000000002 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:134.85, Y:39.26, Z:-0.86 [[ 9.92414290e-01 1.21548671e-01 1.84336071e-02 1.34849079e+02] [-1.21519411e-01 9.92585374e-01 -2.70337818e-03 3.92630721e+01] [-1.86255208e-02 4.42830059e-04 9.99826432e-01 -8.63836479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11592000000002 meters Centerline goodness [0,1] 0.999950258654994 Centerline is valid? [True, True] Translation: X:134.88, Y:39.26, Z:-0.86 [[ 9.92605027e-01 1.19902483e-01 1.89381694e-02 1.34878487e+02] [-1.19871322e-01 9.92785555e-01 -2.77621511e-03 3.92607502e+01] [-1.91344161e-02 4.85541670e-04 9.99816802e-01 -8.64528805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14592000000002 meters Centerline goodness [0,1] 0.9998507314160613 Centerline is valid? [True, True] Translation: X:134.91, Y:39.26, Z:-0.87 [[ 9.93093882e-01 1.15906637e-01 1.81712296e-02 1.34909210e+02] [-1.15877281e-01 9.93259966e-01 -2.66373652e-03 3.92591931e+01] [-1.83574996e-02 5.39707756e-04 9.99831341e-01 -8.65398309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17592000000002 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:134.94, Y:39.26, Z:-0.86 [[ 9.93842001e-01 1.09509195e-01 1.69059976e-02 1.34939179e+02] [-1.09482877e-01 9.93985595e-01 -2.47728903e-03 3.92592909e+01] [-1.70756040e-02 6.11116640e-04 9.99854014e-01 -8.64952790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20592000000002 meters Centerline goodness [0,1] 0.9997015370840173 Centerline is valid? [True, True] Translation: X:134.97, Y:39.26, Z:-0.86 [[ 9.94244181e-01 1.06180722e-01 1.42885871e-02 1.34968301e+02] [-1.06161591e-01 9.94346688e-01 -2.09290658e-03 3.92561752e+01] [-1.44300356e-02 5.63961043e-04 9.99895723e-01 -8.63813705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23592000000002 meters Centerline goodness [0,1] 0.9995519044062733 Centerline is valid? [True, True] Translation: X:135.00, Y:39.25, Z:-0.86 [[ 9.94750192e-01 1.01280097e-01 1.46422975e-02 1.34997189e+02] [-1.01259496e-01 9.94857739e-01 -2.14342769e-03 3.92523792e+01] [-1.47840896e-02 6.49503434e-04 9.99890498e-01 -8.64904948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26592 meters Centerline goodness [0,1] 0.9988053758088601 Centerline is valid? [True, True] Translation: X:135.03, Y:39.25, Z:-0.86 [[ 9.95415898e-01 9.45079050e-02 1.46780949e-02 1.35026320e+02] [-9.44864757e-02 9.95523828e-01 -2.14818415e-03 3.92462050e+01] [-1.48154136e-02 7.51455197e-04 9.99889963e-01 -8.64713511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29592 meters Centerline goodness [0,1] 0.9991046557898926 Centerline is valid? [True, True] Translation: X:135.05, Y:39.24, Z:-0.86 [[ 9.95720754e-01 9.12252644e-02 1.47692725e-02 1.35054928e+02] [-9.12032263e-02 9.95829958e-01 -2.16029502e-03 3.92414852e+01] [-1.49047575e-02 8.04045283e-04 9.99888595e-01 -8.64018993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32592 meters Centerline goodness [0,1] 0.9989527229204069 Centerline is valid? [True, True] Translation: X:135.08, Y:39.24, Z:-0.86 [[ 9.95979971e-01 8.83308343e-02 1.48849280e-02 1.35084667e+02] [-8.83081345e-02 9.96090827e-01 -2.17673177e-03 3.92372417e+01] [-1.50190127e-02 8.53521022e-04 9.99886844e-01 -8.63970990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35592 meters Centerline goodness [0,1] 0.9991043439319302 Centerline is valid? [True, True] Translation: X:135.11, Y:39.23, Z:-0.87 [[ 9.96027796e-01 8.75087199e-02 1.64576457e-02 1.35114553e+02] [-8.74808580e-02 9.96163294e-01 -2.40669448e-03 3.92320824e+01] [-1.66051093e-02 9.57405634e-04 9.99861667e-01 -8.65180126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38592 meters Centerline goodness [0,1] 0.9993016063054974 Centerline is valid? [True, True] Translation: X:135.14, Y:39.22, Z:-0.86 [[ 9.96021122e-01 8.79250186e-02 1.45298444e-02 1.35144814e+02] [-8.79033349e-02 9.96126742e-01 -2.12556143e-03 3.92242456e+01] [-1.46604565e-02 8.39882306e-04 9.99892177e-01 -8.64483268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41592 meters Centerline goodness [0,1] 0.9992523178147742 Centerline is valid? [True, True] Translation: X:135.17, Y:39.21, Z:-0.87 [[ 9.95843850e-01 8.97641109e-02 1.54088196e-02 1.35174647e+02] [-8.97399362e-02 9.95962680e-01 -2.25461681e-03 3.92137418e+01] [-1.55489929e-02 8.62459804e-04 9.99878735e-01 -8.65477960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44592 meters Centerline goodness [0,1] 0.9993037250708708 Centerline is valid? [True, True] Translation: X:135.21, Y:39.21, Z:-0.86 [[ 9.95918098e-01 8.91486858e-02 1.41299183e-02 1.35205730e+02] [-8.91282848e-02 9.96018007e-01 -2.06827463e-03 3.92078769e+01] [-1.42580371e-02 8.00456747e-04 9.99898029e-01 -8.64928381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47592 meters Centerline goodness [0,1] 0.9993036904406645 Centerline is valid? [True, True] Translation: X:135.23, Y:39.20, Z:-0.86 [[ 9.95773568e-01 9.06484198e-02 1.47602302e-02 1.35234772e+02] [-9.06263214e-02 9.95882624e-01 -2.16058823e-03 3.91985829e+01] [-1.48953107e-02 8.13791285e-04 9.99888728e-01 -8.64764461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50592 meters Centerline goodness [0,1] 0.9996517066374764 Centerline is valid? [True, True] Translation: X:135.26, Y:39.19, Z:-0.86 [[ 9.95732079e-01 9.11381887e-02 1.45415821e-02 1.35264734e+02] [-9.11168097e-02 9.95837939e-01 -2.12739537e-03 3.91893921e+01] [-1.46749461e-02 7.93333247e-04 9.99892002e-01 -8.64583330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53592 meters Centerline goodness [0,1] 0.9990048761070753 Centerline is valid? [True, True] Translation: X:135.30, Y:39.18, Z:-0.86 [[ 9.95720688e-01 9.12078030e-02 1.48811402e-02 1.35295816e+02] [-9.11854103e-02 9.95831551e-01 -2.17782079e-03 3.91826142e+01] [-1.50177432e-02 8.11558336e-04 9.99886898e-01 -8.64605346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56592 meters Centerline goodness [0,1] 0.9995521051060018 Centerline is valid? [True, True] Translation: X:135.33, Y:39.17, Z:-0.86 [[ 9.95566793e-01 9.25281104e-02 1.68911111e-02 1.35326374e+02] [-9.24994320e-02 9.95709666e-01 -2.47296052e-03 3.91745473e+01] [-1.70474609e-02 8.99579191e-04 9.99854277e-01 -8.64299306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59592 meters Centerline goodness [0,1] 0.9993534268377599 Centerline is valid? [True, True] Translation: X:135.36, Y:39.17, Z:-0.87 [[ 9.95405981e-01 9.40248856e-02 1.80625211e-02 1.35356668e+02] [-9.39923175e-02 9.95569408e-01 -2.64551426e-03 3.91657214e+01] [-1.82312376e-02 9.35622502e-04 9.99833359e-01 -8.65153246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62592 meters Centerline goodness [0,1] 0.9994519455931443 Centerline is valid? [True, True] Translation: X:135.39, Y:39.16, Z:-0.86 [[ 9.95249519e-01 9.59785784e-02 1.63250658e-02 1.35387225e+02] [-9.59522214e-02 9.95383067e-01 -2.39199456e-03 3.91575109e+01] [-1.64792743e-02 8.14205105e-04 9.99863876e-01 -8.64195207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65592 meters Centerline goodness [0,1] 0.9994514810012965 Centerline is valid? [True, True] Translation: X:135.42, Y:39.15, Z:-0.86 [[ 9.95074281e-01 9.81575109e-02 1.38664381e-02 1.35417623e+02] [-9.81386953e-02 9.95170671e-01 -2.03256321e-03 3.91495591e+01] [-1.39989838e-02 6.61717232e-04 9.99901790e-01 -8.63995108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68592 meters Centerline goodness [0,1] 0.9993038289408255 Centerline is valid? [True, True] Translation: X:135.45, Y:39.14, Z:-0.86 [[ 9.94539746e-01 1.03442598e-01 1.37957360e-02 1.35447138e+02] [-1.03424479e-01 9.94635253e-01 -2.02234068e-03 3.91405601e+01] [-1.39309216e-02 5.84481371e-04 9.99902789e-01 -8.63846069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71592 meters Centerline goodness [0,1] 0.999800538545926 Centerline is valid? [True, True] Translation: X:135.48, Y:39.13, Z:-0.86 [[ 9.94117963e-01 1.07328960e-01 1.44903454e-02 1.35476828e+02] [-1.07309382e-01 9.94223408e-01 -2.12417095e-03 3.91337584e+01] [-1.46346256e-02 5.56726487e-04 9.99892753e-01 -8.63887184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74592 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:135.51, Y:39.13, Z:-0.86 [[ 9.93292404e-01 1.14164841e-01 1.83463711e-02 1.35506981e+02] [-1.14134609e-01 9.93461653e-01 -2.68996354e-03 3.91260464e+01] [-1.85335155e-02 5.77964450e-04 9.99828073e-01 -8.64349226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.54, Y:39.12, Z:-0.86 [[ 9.92757730e-01 1.18798482e-01 1.78608722e-02 1.35537919e+02] [-1.18770559e-01 9.92918270e-01 -2.61985488e-03 3.91210135e+01] [-1.80456211e-02 4.79535406e-04 9.99837050e-01 -8.63926085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.57, Y:39.12, Z:-0.86 [[ 9.92306046e-01 1.22453777e-01 1.82697501e-02 1.35568673e+02] [-1.22425153e-01 9.92474127e-01 -2.68126216e-03 3.91158174e+01] [-1.84605849e-02 4.23955704e-04 9.99829499e-01 -8.64007708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.60, Y:39.11, Z:-0.86 [[ 9.91451630e-01 1.29310182e-01 1.73937391e-02 1.35599638e+02] [-1.29285271e-01 9.91604153e-01 -2.55381854e-03 3.91089444e+01] [-1.75779387e-02 2.83233275e-04 9.99845456e-01 -8.64759912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.63, Y:39.10, Z:-0.86 [[ 9.91123259e-01 1.31734267e-01 1.79100115e-02 1.35631089e+02] [-1.31708221e-01 9.91285035e-01 -2.63129357e-03 3.91040916e+01] [-1.81005579e-02 2.49040515e-04 9.99836140e-01 -8.63744008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.66, Y:39.11, Z:-0.86 [[ 9.90488430e-01 1.36381457e-01 1.82419633e-02 1.35662908e+02] [-1.36355201e-01 9.90656383e-01 -2.68126435e-03 3.91065574e+01] [-1.84371921e-02 1.68374734e-04 9.99830006e-01 -8.62538761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.69, Y:39.11, Z:-0.86 [[ 9.89998999e-01 1.39638734e-01 2.00750110e-02 1.35694308e+02] [-1.39607579e-01 9.90202509e-01 -2.95198373e-03 3.91054145e+01] [-2.02905375e-02 1.19837258e-04 9.99794119e-01 -8.62969638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.73, Y:39.10, Z:-0.86 [[ 9.89639166e-01 1.42303516e-01 1.90795724e-02 1.35725255e+02] [-1.42275846e-01 9.89823068e-01 -2.80683215e-03 3.91027214e+01] [-1.92848230e-02 6.31887231e-05 9.99814029e-01 -8.62904882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.76, Y:39.10, Z:-0.86 [[ 9.89107166e-01 1.46219560e-01 1.69367775e-02 1.35755834e+02] [-1.46198329e-01 9.89252162e-01 -2.49165034e-03 3.91016521e+01] [-1.71190718e-02 -1.16193692e-05 9.99853458e-01 -8.63856971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.79, Y:39.10, Z:-0.86 [[ 9.88854656e-01 1.47967589e-01 1.64943093e-02 1.35785439e+02] [-1.47947714e-01 9.88992210e-01 -2.42553844e-03 3.91008258e+01] [-1.66716445e-02 -4.17903724e-05 9.99861018e-01 -8.63629721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.81, Y:39.10, Z:-0.86 [[ 9.88577229e-01 1.49702859e-01 1.74389434e-02 1.35814780e+02] [-1.49681047e-01 9.88731029e-01 -2.55680091e-03 3.91041111e+01] [-1.76251848e-02 -8.26841399e-05 9.99844661e-01 -8.63279383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.84, Y:39.10, Z:-0.86 [[ 9.88623658e-01 1.49317448e-01 1.80986796e-02 1.35842365e+02] [-1.49294063e-01 9.88789306e-01 -2.64401282e-03 3.91029900e+01] [-1.82905781e-02 -8.80917902e-05 9.99832710e-01 -8.63017278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.87, Y:39.11, Z:-0.86 [[ 9.89026580e-01 1.46836068e-01 1.62970472e-02 1.35871483e+02] [-1.46816894e-01 9.89160840e-01 -2.37333149e-03 3.91060464e+01] [-1.64688916e-02 -4.53939148e-05 9.99864378e-01 -8.62530985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.90, Y:39.11, Z:-0.86 [[ 9.89472756e-01 1.43855327e-01 1.57895490e-02 1.35899309e+02] [-1.43837081e-01 9.89598729e-01 -2.29111555e-03 3.91061315e+01] [-1.59549068e-02 -4.12621809e-06 9.99872712e-01 -8.62574957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16592 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:135.93, Y:39.11, Z:-0.86 [[ 9.90290522e-01 1.38223225e-01 1.47993841e-02 1.35927588e+02] [-1.38206682e-01 9.90401098e-01 -2.13971982e-03 3.91093559e+01] [-1.49530853e-02 7.35704777e-05 9.99888194e-01 -8.63278829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:135.96, Y:39.11, Z:-0.86 [[ 9.90668937e-01 1.35115451e-01 1.78570049e-02 1.35956874e+02] [-1.35091009e-01 9.90829852e-01 -2.57352808e-03 3.91082217e+01] [-1.80409770e-02 1.37193513e-04 9.99837239e-01 -8.64417597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:135.98, Y:39.11, Z:-0.86 [[ 9.91100580e-01 1.32100489e-01 1.64042941e-02 1.35984406e+02] [-1.32079589e-01 9.91236315e-01 -2.35579457e-03 3.91068427e+01] [-1.65717337e-02 1.68156942e-04 9.99862665e-01 -8.63547157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25592 meters Centerline goodness [0,1] 0.9998512273741631 Centerline is valid? [True, True] Translation: X:136.01, Y:39.11, Z:-0.86 [[ 9.91736349e-01 1.26986066e-01 1.82634575e-02 1.36013228e+02] [-1.26959444e-01 9.91904463e-01 -2.61455713e-03 3.91079653e+01] [-1.84476173e-02 2.74232943e-04 9.99829791e-01 -8.63369171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28592 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:136.04, Y:39.11, Z:-0.86 [[ 9.92015912e-01 1.24711215e-01 1.87494909e-02 1.36041553e+02] [-1.24682906e-01 9.92193032e-01 -2.67592316e-03 3.91053637e+01] [-1.89368319e-02 3.16817346e-04 9.99820632e-01 -8.63590490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31592 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:136.07, Y:39.10, Z:-0.86 [[ 9.92266859e-01 1.22315746e-01 2.11030430e-02 1.36070394e+02] [-1.22279538e-01 9.92491158e-01 -3.00256694e-03 3.91045129e+01] [-2.13118448e-02 3.98877325e-04 9.99772797e-01 -8.64228405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:136.10, Y:39.10, Z:-0.87 [[ 9.92245451e-01 1.22239167e-01 2.25066863e-02 1.36099633e+02] [-1.22198001e-01 9.92500582e-01 -3.20054398e-03 3.91011112e+01] [-2.27291310e-02 4.25453142e-04 9.99741569e-01 -8.65170922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37592 meters Centerline goodness [0,1] 0.9996014348345954 Centerline is valid? [True, True] Translation: X:136.13, Y:39.10, Z:-0.87 [[ 9.92310587e-01 1.21754391e-01 2.22613622e-02 1.36130174e+02] [-1.21713997e-01 9.92560165e-01 -3.16560567e-03 3.90979678e+01] [-2.24811677e-02 4.31744656e-04 9.99747173e-01 -8.66334214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40592 meters Centerline goodness [0,1] 0.9998509094523407 Centerline is valid? [True, True] Translation: X:136.16, Y:39.09, Z:-0.87 [[ 9.92510587e-01 1.20349411e-01 2.09464700e-02 1.36161051e+02] [-1.20313335e-01 9.92731499e-01 -2.97862564e-03 3.90949402e+01] [-2.11526964e-02 4.36177807e-04 9.99776162e-01 -8.66240194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43592 meters Centerline goodness [0,1] 0.9996023263906149 Centerline is valid? [True, True] Translation: X:136.19, Y:39.09, Z:-0.87 [[ 9.92738834e-01 1.18707674e-01 1.94446845e-02 1.36190573e+02] [-1.18676294e-01 9.92929151e-01 -2.76392793e-03 3.90916007e+01] [-1.96352936e-02 4.36235487e-04 9.99807114e-01 -8.66194892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46592 meters Centerline goodness [0,1] 0.9997513922036595 Centerline is valid? [True, True] Translation: X:136.22, Y:39.09, Z:-0.87 [[ 9.93091670e-01 1.15089333e-01 2.28775014e-02 1.36219634e+02] [-1.15044982e-01 9.93354967e-01 -3.24978512e-03 3.90885005e+01] [-2.30994952e-02 5.95392792e-04 9.99732994e-01 -8.66835383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49592 meters Centerline goodness [0,1] 0.9998509983113142 Centerline is valid? [True, True] Translation: X:136.25, Y:39.08, Z:-0.87 [[ 9.93247063e-01 1.13707844e-01 2.30390691e-02 1.36249447e+02] [-1.13662495e-01 9.93514030e-01 -3.27265663e-03 3.90842775e+01] [-2.32617651e-02 6.31878514e-04 9.99729209e-01 -8.66156654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52592 meters Centerline goodness [0,1] 0.999850723988655 Centerline is valid? [True, True] Translation: X:136.28, Y:39.08, Z:-0.87 [[ 9.93532770e-01 1.11135432e-01 2.32712563e-02 1.36280203e+02] [-1.11088427e-01 9.93805024e-01 -3.30700103e-03 3.90785724e+01] [-2.34946164e-02 7.00446643e-04 9.99723718e-01 -8.67407636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55592000000001 meters Centerline goodness [0,1] 0.9996523293930665 Centerline is valid? [True, True] Translation: X:136.31, Y:39.07, Z:-0.87 [[ 9.93512591e-01 1.11372523e-01 2.29976598e-02 1.36312336e+02] [-1.11326616e-01 9.93778489e-01 -3.27086306e-03 3.90734290e+01] [-2.32188639e-02 6.89391983e-04 9.99730168e-01 -8.67038659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58592000000002 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:136.34, Y:39.07, Z:-0.87 [[ 9.93436229e-01 1.12039368e-01 2.30572810e-02 1.36343251e+02] [-1.11993369e-01 9.93703538e-01 -3.28077838e-03 3.90691207e+01] [-2.32796780e-02 6.76981511e-04 9.99728762e-01 -8.67276072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61592000000002 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:136.37, Y:39.06, Z:-0.87 [[ 9.93429621e-01 1.12097992e-01 2.30570874e-02 1.36373813e+02] [-1.12051978e-01 9.93696927e-01 -3.28213847e-03 3.90647917e+01] [-2.32796781e-02 6.76981326e-04 9.99728762e-01 -8.67302716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64592000000002 meters Centerline goodness [0,1] 0.9995530171343432 Centerline is valid? [True, True] Translation: X:136.40, Y:39.06, Z:-0.87 [[ 9.93255993e-01 1.13469019e-01 2.38183381e-02 1.36404494e+02] [-1.13420275e-01 9.93541311e-01 -3.39193877e-03 3.90593365e+01] [-2.40493829e-02 6.67581057e-04 9.99710549e-01 -8.66678854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67592000000002 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:136.44, Y:39.05, Z:-0.87 [[ 9.93057935e-01 1.15121751e-01 2.41437306e-02 1.36435475e+02] [-1.15072117e-01 9.93351185e-01 -3.43975100e-03 3.90531011e+01] [-2.43791935e-02 6.37601829e-04 9.99702580e-01 -8.66975298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70592000000002 meters Centerline goodness [0,1] 0.9995529727313366 Centerline is valid? [True, True] Translation: X:136.47, Y:39.05, Z:-0.87 [[ 9.92718473e-01 1.18623980e-01 2.09376583e-02 1.36465824e+02] [-1.18587406e-01 9.92939133e-01 -2.98427278e-03 3.90450839e+01] [-2.11438266e-02 4.79600137e-04 9.99776329e-01 -8.67593917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73592000000002 meters Centerline goodness [0,1] 0.9999006063015605 Centerline is valid? [True, True] Translation: X:136.50, Y:39.04, Z:-0.87 [[ 9.92407666e-01 1.21080677e-01 2.15984847e-02 1.36495125e+02] [-1.21042365e-01 9.92642572e-01 -3.07723974e-03 3.90398897e+01] [-2.18121697e-02 4.39544649e-04 9.99761990e-01 -8.68780202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76592 meters Centerline goodness [0,1] 0.9998509316770187 Centerline is valid? [True, True] Translation: X:136.53, Y:39.03, Z:-0.87 [[ 9.92205041e-01 1.22717311e-01 2.16706956e-02 1.36525354e+02] [-1.22679134e-01 9.92441584e-01 -3.08747521e-03 3.90348172e+01] [-2.18857861e-02 4.04866316e-04 9.99760396e-01 -8.69402627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79592 meters Centerline goodness [0,1] 0.9997508098679292 Centerline is valid? [True, True] Translation: X:136.56, Y:39.03, Z:-0.87 [[ 9.92257397e-01 1.22118728e-01 2.26334880e-02 1.36555196e+02] [-1.22076927e-01 9.92515403e-01 -3.22464653e-03 3.90295751e+01] [-2.28578752e-02 4.36652710e-04 9.99738629e-01 -8.68425440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82592 meters Centerline goodness [0,1] 0.9996021286119262 Centerline is valid? [True, True] Translation: X:136.59, Y:39.02, Z:-0.87 [[ 9.92421407e-01 1.20739964e-01 2.28388332e-02 1.36585624e+02] [-1.20697036e-01 9.92684057e-01 -3.25390255e-03 3.90239678e+01] [-2.30646217e-02 4.72663079e-04 9.99733864e-01 -8.66459969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85592 meters Centerline goodness [0,1] 0.999553216838761 Centerline is valid? [True, True] Translation: X:136.62, Y:39.02, Z:-0.87 [[ 9.92581835e-01 1.19294554e-01 2.34544182e-02 1.36616604e+02] [-1.19248844e-01 9.92858770e-01 -3.34301209e-03 3.90198151e+01] [-2.36857280e-02 5.21300823e-04 9.99719318e-01 -8.67161895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88592 meters Centerline goodness [0,1] 0.9997516515174092 Centerline is valid? [True, True] Translation: X:136.65, Y:39.01, Z:-0.87 [[ 9.92732903e-01 1.18408159e-01 2.14683609e-02 1.36647698e+02] [-1.18369628e-01 9.92964884e-01 -3.06123862e-03 3.90134912e+01] [-2.16798041e-02 4.97790415e-04 9.99764842e-01 -8.67271508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91592 meters Centerline goodness [0,1] 0.9995026360290461 Centerline is valid? [True, True] Translation: X:136.68, Y:39.00, Z:-0.87 [[ 9.93253608e-01 1.14306093e-01 1.95291152e-02 1.36677005e+02] [-1.14273416e-01 9.93445435e-01 -2.78476304e-03 3.90043719e+01] [-1.97194257e-02 5.34317239e-04 9.99805410e-01 -8.67859502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94592 meters Centerline goodness [0,1] 0.9988562335272764 Centerline is valid? [True, True] Translation: X:136.71, Y:39.00, Z:-0.87 [[ 9.93371874e-01 1.13040387e-01 2.08372520e-02 1.36707111e+02] [-1.13002906e-01 9.93590215e-01 -2.97129740e-03 3.89978115e+01] [-2.10395662e-02 5.96933242e-04 9.99778466e-01 -8.68320080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97592 meters Centerline goodness [0,1] 0.9990545382165605 Centerline is valid? [True, True] Translation: X:136.74, Y:38.99, Z:-0.87 [[ 9.93484216e-01 1.12022626e-01 2.09772307e-02 1.36737583e+02] [-1.11984387e-01 9.93705460e-01 -2.99248931e-03 3.89886361e+01] [-2.11804152e-02 6.23868563e-04 9.99775475e-01 -8.67761561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00592 meters Centerline goodness [0,1] 0.9992051664182812 Centerline is valid? [True, True] Translation: X:136.77, Y:38.98, Z:-0.87 [[ 9.93573557e-01 1.11291911e-01 2.06324302e-02 1.36768608e+02] [-1.11254710e-01 9.93787559e-01 -2.94578132e-03 3.89809368e+01] [-2.08320941e-02 6.31395388e-04 9.99782789e-01 -8.66695475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03592 meters Centerline goodness [0,1] 0.9993033092809156 Centerline is valid? [True, True] Translation: X:136.80, Y:38.97, Z:-0.87 [[ 9.93645116e-01 1.10350245e-01 2.21857350e-02 1.36799336e+02] [-1.10306950e-01 9.93892514e-01 -3.16961958e-03 3.89723743e+01] [-2.24000043e-02 7.02236252e-04 9.99748842e-01 -8.67434858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06592 meters Centerline goodness [0,1] 0.9988072163411361 Centerline is valid? [True, True] Translation: X:136.83, Y:38.96, Z:-0.87 [[ 9.93760589e-01 1.09616600e-01 2.05935182e-02 1.36830833e+02] [-1.09579089e-01 9.93973718e-01 -2.94462619e-03 3.89626385e+01] [-2.07921957e-02 6.69634505e-04 9.99783595e-01 -8.65594315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09592 meters Centerline goodness [0,1] 0.9988046022812174 Centerline is valid? [True, True] Translation: X:136.86, Y:38.95, Z:-0.87 [[ 9.93628740e-01 1.10919334e-01 1.99706772e-02 1.36862592e+02] [-1.10884270e-01 9.93829216e-01 -2.85801493e-03 3.89549502e+01] [-2.01644516e-02 6.25371798e-04 9.99796481e-01 -8.65362351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12592 meters Centerline goodness [0,1] 0.9987035651957118 Centerline is valid? [True, True] Translation: X:136.89, Y:38.94, Z:-0.87 [[ 9.93389201e-01 1.13148226e-01 1.93745848e-02 1.36893670e+02] [-1.13115591e-01 9.93577958e-01 -2.77565360e-03 3.89414315e+01] [-1.95642207e-02 5.65736700e-04 9.99808442e-01 -8.66191747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15592 meters Centerline goodness [0,1] 0.9983587805241956 Centerline is valid? [True, True] Translation: X:136.93, Y:38.93, Z:-0.87 [[ 9.93193126e-01 1.14690779e-01 2.03332050e-02 1.36925493e+02] [-1.14655104e-01 9.93401080e-01 -2.91555239e-03 3.89340011e+01] [-2.05334148e-02 5.64400862e-04 9.99789008e-01 -8.66299717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18592 meters Centerline goodness [0,1] 0.9988053163422769 Centerline is valid? [True, True] Translation: X:136.96, Y:38.93, Z:-0.87 [[ 9.93059762e-01 1.15860469e-01 2.02153405e-02 1.36956668e+02] [-1.15825398e-01 9.93265353e-01 -2.90114206e-03 3.89276192e+01] [-2.04153250e-02 5.39557591e-04 9.99791440e-01 -8.65725021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21592 meters Centerline goodness [0,1] 0.9988063264697106 Centerline is valid? [True, True] Translation: X:136.99, Y:38.92, Z:-0.86 [[ 9.92924223e-01 1.16854448e-01 2.11311444e-02 1.36988115e+02] [-1.16816296e-01 9.93148902e-01 -3.03517795e-03 3.89175940e+01] [-2.13410469e-02 5.45239693e-04 9.99772105e-01 -8.64760177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24592 meters Centerline goodness [0,1] 0.9986561146782141 Centerline is valid? [True, True] Translation: X:137.02, Y:38.91, Z:-0.87 [[ 9.92930418e-01 1.16996950e-01 2.00224463e-02 1.37019182e+02] [-1.16962676e-01 9.93132140e-01 -2.87840614e-03 3.89055167e+01] [-2.02216997e-02 5.16178113e-04 9.99795387e-01 -8.65293810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27592 meters Centerline goodness [0,1] 0.9985563520509757 Centerline is valid? [True, True] Translation: X:137.05, Y:38.90, Z:-0.87 [[ 9.92720686e-01 1.18541834e-01 2.12949159e-02 1.37050561e+02] [-1.18503362e-01 9.92948924e-01 -3.06400000e-03 3.88968445e+01] [-2.15079760e-02 5.18177060e-04 9.99768542e-01 -8.66901330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30592000000001 meters Centerline goodness [0,1] 0.9988557213930348 Centerline is valid? [True, True] Translation: X:137.08, Y:38.89, Z:-0.87 [[ 9.92648873e-01 1.19301791e-01 2.03788308e-02 1.37082054e+02] [-1.19266666e-01 9.92857920e-01 -2.93475703e-03 3.88898192e+01] [-2.05834054e-02 4.82668061e-04 9.99788023e-01 -8.66411510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33592000000002 meters Centerline goodness [0,1] 0.9988545816733068 Centerline is valid? [True, True] Translation: X:137.11, Y:38.88, Z:-0.87 [[ 9.92151286e-01 1.23487207e-01 1.96655959e-02 1.37113329e+02] [-1.23455270e-01 9.92346090e-01 -2.83451416e-03 3.88786905e+01] [-1.98651034e-02 3.84445425e-04 9.99802595e-01 -8.65264421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36592000000002 meters Centerline goodness [0,1] 0.9993520733652312 Centerline is valid? [True, True] Translation: X:137.15, Y:38.87, Z:-0.87 [[ 9.91717958e-01 1.26738739e-01 2.08034706e-02 1.37145138e+02] [-1.26703657e-01 9.91936075e-01 -3.00116280e-03 3.88712942e+01] [-2.10160765e-02 3.40431233e-04 9.99779080e-01 -8.66450944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39592000000002 meters Centerline goodness [0,1] 0.9998009256955158 Centerline is valid? [True, True] Translation: X:137.18, Y:38.86, Z:-0.87 [[ 9.90753122e-01 1.34375854e-01 1.87451663e-02 1.37176441e+02] [-1.34348681e-01 9.90930423e-01 -2.70718406e-03 3.88621308e+01] [-1.89389357e-02 1.63762690e-04 9.99820629e-01 -8.65411722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42592000000002 meters Centerline goodness [0,1] 0.9997510456084445 Centerline is valid? [True, True] Translation: X:137.21, Y:38.86, Z:-0.87 [[ 9.90070883e-01 1.39124112e-01 2.01029142e-02 1.37207585e+02] [-1.39093784e-01 9.90274949e-01 -2.90593310e-03 3.88551641e+01] [-2.03116977e-02 8.08893560e-05 9.99793693e-01 -8.66593661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45592000000002 meters Centerline goodness [0,1] 0.9997014331210191 Centerline is valid? [True, True] Translation: X:137.24, Y:38.85, Z:-0.86 [[ 9.89600159e-01 1.42567099e-01 1.91349812e-02 1.37239558e+02] [-1.42540204e-01 9.89785139e-01 -2.76916034e-03 3.88485797e+01] [-1.93343112e-02 1.28573881e-05 9.99813075e-01 -8.64926822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48592000000002 meters Centerline goodness [0,1] 0.999800905878254 Centerline is valid? [True, True] Translation: X:137.27, Y:38.84, Z:-0.87 [[ 9.89127749e-01 1.45736528e-01 1.96763907e-02 1.37271228e+02] [-1.45708662e-01 9.89323437e-01 -2.85019450e-03 3.88419935e+01] [-1.98816919e-02 -4.78140952e-05 9.99802338e-01 -8.65753730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51592 meters Centerline goodness [0,1] 0.9997997797577335 Centerline is valid? [True, True] Translation: X:137.30, Y:38.84, Z:-0.86 [[ 9.88398477e-01 1.50627897e-01 1.94855603e-02 1.37303135e+02] [-1.50601468e-01 9.88590520e-01 -2.82512768e-03 3.88363669e+01] [-1.96887832e-02 -1.42202088e-04 9.99806147e-01 -8.64974476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54592 meters Centerline goodness [0,1] 0.9998009256955158 Centerline is valid? [True, True] Translation: X:137.33, Y:38.83, Z:-0.87 [[ 9.87713364e-01 1.54695311e-01 2.21736582e-02 1.37334770e+02] [-1.54662060e-01 9.87962194e-01 -3.21712913e-03 3.88337262e+01] [-2.24044108e-02 -2.51822204e-04 9.99748958e-01 -8.65912231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:137.37, Y:38.83, Z:-0.87 [[ 9.87262708e-01 1.57408411e-01 2.31286996e-02 1.37367215e+02] [-1.57372907e-01 9.87533537e-01 -3.35872213e-03 3.88309008e+01] [-2.33690577e-02 -3.23889588e-04 9.99726854e-01 -8.65658547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60592 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:137.40, Y:38.83, Z:-0.87 [[ 9.86983822e-01 1.59250100e-01 2.24129801e-02 1.37399005e+02] [-1.59217166e-01 9.87238209e-01 -3.25776043e-03 3.88282259e+01] [-2.26457490e-02 -3.53174342e-04 9.99743490e-01 -8.65557517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63592 meters Centerline goodness [0,1] 0.999900299102692 Centerline is valid? [True, True] Translation: X:137.43, Y:38.83, Z:-0.87 [[ 9.86820853e-01 1.60535390e-01 2.03222094e-02 1.37431168e+02] [-1.60508532e-01 9.87030025e-01 -2.95654807e-03 3.88253153e+01] [-2.05332614e-02 -3.44304697e-04 9.99789111e-01 -8.65452753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66592 meters Centerline goodness [0,1] 0.9996021088232369 Centerline is valid? [True, True] Translation: X:137.46, Y:38.82, Z:-0.87 [[ 9.86437488e-01 1.62798120e-01 2.09249750e-02 1.37463625e+02] [-1.62770095e-01 9.86659319e-01 -3.04703597e-03 3.88220562e+01] [-2.11418733e-02 -4.00249647e-04 9.99776406e-01 -8.65266032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69592 meters Centerline goodness [0,1] 0.9997515281021716 Centerline is valid? [True, True] Translation: X:137.50, Y:38.82, Z:-0.86 [[ 9.86433354e-01 1.62728009e-01 2.16525444e-02 1.37496237e+02] [-1.62697920e-01 9.86670881e-01 -3.15587173e-03 3.88196276e+01] [-2.18774838e-02 -4.09766799e-04 9.99760575e-01 -8.64573229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:137.53, Y:38.82, Z:-0.86 [[ 9.86336480e-01 1.63038857e-01 2.36364095e-02 1.37528895e+02] [-1.63003016e-01 9.86619545e-01 -3.44816611e-03 3.88205647e+01] [-2.38823287e-02 -4.51754020e-04 9.99714674e-01 -8.64255414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.56, Y:38.82, Z:-0.86 [[ 9.86520886e-01 1.62029521e-01 2.28686559e-02 1.37561012e+02] [-1.61995629e-01 9.86785826e-01 -3.33918523e-03 3.88180242e+01] [-2.31075121e-02 -4.10446319e-04 9.99732902e-01 -8.64045178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.59, Y:38.82, Z:-0.86 [[ 9.86862697e-01 1.59808504e-01 2.37330965e-02 1.37593216e+02] [-1.59771284e-01 9.87147966e-01 -3.46854606e-03 3.88167761e+01] [-2.39823811e-02 -3.68888598e-04 9.99712313e-01 -8.64709929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81592 meters Centerline goodness [0,1] 0.9998508872210349 Centerline is valid? [True, True] Translation: X:137.63, Y:38.81, Z:-0.87 [[ 9.87135596e-01 1.57719786e-01 2.62256417e-02 1.37625099e+02] [-1.57673486e-01 9.87483847e-01 -3.83711213e-03 3.88141908e+01] [-2.65025860e-02 -3.47338376e-04 9.99648684e-01 -8.65229286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84592 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:137.66, Y:38.81, Z:-0.86 [[ 9.87321765e-01 1.56662581e-01 2.55454046e-02 1.37656921e+02] [-1.56618209e-01 9.87652136e-01 -3.74103162e-03 3.88105827e+01] [-2.58160531e-02 -3.07273565e-04 9.99666663e-01 -8.63965042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.69, Y:38.81, Z:-0.86 [[ 9.88096760e-01 1.51719936e-01 2.54136388e-02 1.37689779e+02] [-1.51674298e-01 9.88423508e-01 -3.72510889e-03 3.88099989e+01] [-2.56846113e-02 -1.73827801e-04 9.99670081e-01 -8.62245602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.72, Y:38.81, Z:-0.86 [[ 9.88403235e-01 1.49516375e-01 2.65310757e-02 1.37722399e+02] [-1.49465747e-01 9.88759243e-01 -3.89241437e-03 3.88075626e+01] [-2.68148260e-02 -1.18212090e-04 9.99640411e-01 -8.63677755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93592 meters Centerline goodness [0,1] 0.9998508204873198 Centerline is valid? [True, True] Translation: X:137.76, Y:38.81, Z:-0.86 [[ 9.89320028e-01 1.43439403e-01 2.59040365e-02 1.37755265e+02] [-1.43388966e-01 9.89659101e-01 -3.80381286e-03 3.88079632e+01] [-2.61817821e-02 4.88352288e-05 9.99657197e-01 -8.64184422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96592 meters Centerline goodness [0,1] 0.9998506645427846 Centerline is valid? [True, True] Translation: X:137.79, Y:38.80, Z:-0.86 [[ 9.89598868e-01 1.41335461e-01 2.68023973e-02 1.37786880e+02] [-1.41280599e-01 9.89961754e-01 -3.93920748e-03 3.88048107e+01] [-2.70900979e-02 1.11576520e-04 9.99632990e-01 -8.63909354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.82, Y:38.80, Z:-0.86 [[ 9.89994787e-01 1.38699950e-01 2.59354077e-02 1.37818938e+02] [-1.38647588e-01 9.90334434e-01 -3.81512940e-03 3.88016825e+01] [-2.62138855e-02 1.81076502e-04 9.99656341e-01 -8.64288779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02592 meters Centerline goodness [0,1] 0.9999502190362406 Centerline is valid? [True, True] Translation: X:137.85, Y:38.80, Z:-0.86 [[ 9.90692974e-01 1.34405129e-01 2.15102864e-02 1.37850773e+02] [-1.34368041e-01 9.90926435e-01 -3.16690344e-03 3.87993520e+01] [-2.17407595e-02 2.47133940e-04 9.99763611e-01 -8.62313972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05592000000001 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:137.88, Y:38.80, Z:-0.86 [[ 9.90909199e-01 1.32811908e-01 2.14465769e-02 1.37881511e+02] [-1.32774636e-01 9.91141220e-01 -3.15892877e-03 3.87961173e+01] [-2.16761298e-02 2.82650135e-04 9.99765005e-01 -8.62650314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08592000000002 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:137.91, Y:38.79, Z:-0.86 [[ 9.91288259e-01 1.29789177e-01 2.24133051e-02 1.37913730e+02] [-1.29747633e-01 9.91541545e-01 -3.30411018e-03 3.87929801e+01] [-2.26525609e-02 3.67252359e-04 9.99743330e-01 -8.62815057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11592000000002 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:137.95, Y:38.79, Z:-0.86 [[ 9.91516072e-01 1.27996164e-01 2.26464135e-02 1.37945248e+02] [-1.27953234e-01 9.91774576e-01 -3.34062695e-03 3.87895077e+01] [-2.28877246e-02 4.14603473e-04 9.99737956e-01 -8.62383820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.98, Y:38.79, Z:-0.86 [[ 9.91600012e-01 1.27182933e-01 2.35354767e-02 1.37977662e+02] [-1.27136267e-01 9.91879174e-01 -3.47467596e-03 3.87862442e+01] [-2.37862687e-02 4.53276060e-04 9.99716964e-01 -8.63133704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17592000000002 meters Centerline goodness [0,1] 0.9998504784688995 Centerline is valid? [True, True] Translation: X:138.01, Y:38.78, Z:-0.86 [[ 9.91856732e-01 1.25416259e-01 2.21581659e-02 1.38009565e+02] [-1.25374379e-01 9.92104098e-01 -3.27475427e-03 3.87819985e+01] [-2.23939147e-02 4.70020783e-04 9.99749114e-01 -8.62736132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20592000000002 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:138.04, Y:38.78, Z:-0.86 [[ 9.91894527e-01 1.25127661e-01 2.20978873e-02 1.38040875e+02] [-1.25085874e-01 9.92140534e-01 -3.26866593e-03 3.87763900e+01] [-2.23332102e-02 4.78038308e-04 9.99750468e-01 -8.64459616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23592000000002 meters Centerline goodness [0,1] 0.9996515679442509 Centerline is valid? [True, True] Translation: X:138.07, Y:38.77, Z:-0.86 [[ 9.92260170e-01 1.22624555e-01 1.95696874e-02 1.38072258e+02] [-1.22591249e-01 9.92453018e-01 -2.89713444e-03 3.87707341e+01] [-1.97772552e-02 4.75638697e-04 9.99804298e-01 -8.63911117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26592 meters Centerline goodness [0,1] 0.999700807818889 Centerline is valid? [True, True] Translation: X:138.10, Y:38.77, Z:-0.86 [[ 9.92364080e-01 1.21991412e-01 1.82106875e-02 1.38104524e+02] [-1.21962423e-01 9.92531051e-01 -2.69820340e-03 3.87657474e+01] [-1.84038304e-02 4.56580561e-04 9.99830531e-01 -8.62435301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29592 meters Centerline goodness [0,1] 0.9998010445162895 Centerline is valid? [True, True] Translation: X:138.14, Y:38.76, Z:-0.86 [[ 9.92417214e-01 1.21510480e-01 1.85277442e-02 1.38135661e+02] [-1.21480367e-01 9.92590035e-01 -2.74638035e-03 3.87602216e+01] [-1.87241683e-02 4.74797962e-04 9.99824575e-01 -8.62172612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32592 meters Centerline goodness [0,1] 0.999252801992528 Centerline is valid? [True, True] Translation: X:138.17, Y:38.75, Z:-0.86 [[ 9.92438100e-01 1.21144672e-01 1.97632514e-02 1.38166542e+02] [-1.21110312e-01 9.92634728e-01 -2.93073876e-03 3.87547438e+01] [-1.99727331e-02 5.15043265e-04 9.99800392e-01 -8.62314755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35592 meters Centerline goodness [0,1] 0.9991049674307593 Centerline is valid? [True, True] Translation: X:138.20, Y:38.75, Z:-0.86 [[ 9.92333614e-01 1.22211577e-01 1.83937116e-02 1.38197897e+02] [-1.22181956e-01 9.92503963e-01 -2.72985795e-03 3.87488331e+01] [-1.85894519e-02 4.61550134e-04 9.99827095e-01 -8.60717110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38592 meters Centerline goodness [0,1] 0.9997515404492149 Centerline is valid? [True, True] Translation: X:138.23, Y:38.74, Z:-0.86 [[ 9.92120770e-01 1.23585513e-01 2.05669373e-02 1.38229116e+02] [-1.23548720e-01 9.92333805e-01 -3.05493909e-03 3.87416830e+01] [-2.07868134e-02 4.89849735e-04 9.99783811e-01 -8.61394845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41592 meters Centerline goodness [0,1] 0.9996017522899243 Centerline is valid? [True, True] Translation: X:138.26, Y:38.74, Z:-0.86 [[ 9.92071675e-01 1.24034625e-01 2.02287787e-02 1.38260663e+02] [-1.23999075e-01 9.92277777e-01 -3.00719728e-03 3.87351075e+01] [-2.04455642e-02 4.75005390e-04 9.99790855e-01 -8.62626324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44592 meters Centerline goodness [0,1] 0.9995022646956349 Centerline is valid? [True, True] Translation: X:138.29, Y:38.73, Z:-0.86 [[ 9.92146254e-01 1.23421661e-01 2.03200425e-02 1.38292379e+02] [-1.23385609e-01 9.92354196e-01 -3.02327980e-03 3.87295679e+01] [-2.05378176e-02 4.92334915e-04 9.99788956e-01 -8.62418403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47592 meters Centerline goodness [0,1] 0.9995022646956349 Centerline is valid? [True, True] Translation: X:138.32, Y:38.72, Z:-0.86 [[ 9.92131361e-01 1.23541380e-01 2.03196775e-02 1.38323742e+02] [-1.23505303e-01 9.92339299e-01 -3.02573164e-03 3.87249413e+01] [-2.05378176e-02 4.92335323e-04 9.99788956e-01 -8.62445763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50592 meters Centerline goodness [0,1] 0.9992533598805375 Centerline is valid? [True, True] Translation: X:138.36, Y:38.72, Z:-0.86 [[ 9.92281847e-01 1.22341004e-01 2.02339945e-02 1.38355621e+02] [-1.22304930e-01 9.92487990e-01 -3.01546431e-03 3.87188757e+01] [-2.04509114e-02 5.17473223e-04 9.99790724e-01 -8.61773716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53592 meters Centerline goodness [0,1] 0.9995521273948743 Centerline is valid? [True, True] Translation: X:138.39, Y:38.71, Z:-0.86 [[ 9.92390519e-01 1.21404026e-01 2.05455692e-02 1.38387053e+02] [-1.21366580e-01 9.92603024e-01 -3.06443217e-03 3.87138254e+01] [-2.07656285e-02 5.47567967e-04 9.99784221e-01 -8.61070517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56592 meters Centerline goodness [0,1] 0.9997008376545672 Centerline is valid? [True, True] Translation: X:138.42, Y:38.71, Z:-0.86 [[ 9.92748452e-01 1.18497842e-01 2.02181426e-02 1.38417860e+02] [-1.18460938e-01 9.92954128e-01 -3.01748628e-03 3.87060604e+01] [-2.04332538e-02 6.00544685e-04 9.99791039e-01 -8.59454316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59592 meters Centerline goodness [0,1] 0.9997498749374687 Centerline is valid? [True, True] Translation: X:138.45, Y:38.70, Z:-0.86 [[ 9.92821628e-01 1.18318414e-01 1.74919434e-02 1.38449170e+02] [-1.18290727e-01 9.92975567e-01 -2.61272471e-03 3.86995560e+01] [-1.76782059e-02 5.24834889e-04 9.99843591e-01 -8.59102716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62592 meters Centerline goodness [0,1] 0.9994527363184079 Centerline is valid? [True, True] Translation: X:138.48, Y:38.69, Z:-0.86 [[ 9.92881174e-01 1.17603546e-01 1.88780222e-02 1.38480056e+02] [-1.17571145e-01 9.93060455e-01 -2.82098425e-03 3.86947490e+01] [-1.90787750e-02 5.81391469e-04 9.99817815e-01 -8.59755956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65592 meters Centerline goodness [0,1] 0.9993530729037073 Centerline is valid? [True, True] Translation: X:138.51, Y:38.69, Z:-0.86 [[ 9.92824060e-01 1.18296474e-01 1.75022867e-02 1.38511402e+02] [-1.18268695e-01 9.92978179e-01 -2.61749643e-03 3.86884211e+01] [-1.76890294e-02 5.28740835e-04 9.99843397e-01 -8.59530198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68592 meters Centerline goodness [0,1] 0.999204336366801 Centerline is valid? [True, True] Translation: X:138.54, Y:38.68, Z:-0.86 [[ 9.92603013e-01 1.19686483e-01 2.03569450e-02 1.38542441e+02] [-1.19649141e-01 9.92811563e-01 -3.04695394e-03 3.86814511e+01] [-2.05752896e-02 5.88724675e-04 9.99788133e-01 -8.61248990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71592 meters Centerline goodness [0,1] 0.9991543550713824 Centerline is valid? [True, True] Translation: X:138.57, Y:38.67, Z:-0.86 [[ 9.92596063e-01 1.19297393e-01 2.28295415e-02 1.38573641e+02] [-1.19250259e-01 9.92858339e-01 -3.41986441e-03 3.86742216e+01] [-2.30744815e-02 6.72115228e-04 9.99733523e-01 -8.60354128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74592 meters Centerline goodness [0,1] 0.9997012398546034 Centerline is valid? [True, True] Translation: X:138.61, Y:38.67, Z:-0.86 [[ 9.92728290e-01 1.18119275e-01 2.32030184e-02 1.38605223e+02] [-1.18070197e-01 9.92999158e-01 -3.47866457e-03 3.86700755e+01] [-2.34514750e-02 7.13783778e-04 9.99724722e-01 -8.60194042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77592 meters Centerline goodness [0,1] 0.9995517705064993 Centerline is valid? [True, True] Translation: X:138.64, Y:38.66, Z:-0.86 [[ 9.92794619e-01 1.18041487e-01 2.06167763e-02 1.38636544e+02] [-1.18002673e-01 9.93008459e-01 -3.09343642e-03 3.86634306e+01] [-2.08377871e-02 6.38312331e-04 9.99782666e-01 -8.60216212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80592000000001 meters Centerline goodness [0,1] 0.9991538078646093 Centerline is valid? [True, True] Translation: X:138.67, Y:38.66, Z:-0.86 [[ 9.92821198e-01 1.17957621e-01 1.98007200e-02 1.38667839e+02] [-1.17921754e-01 9.93018438e-01 -2.97341838e-03 3.86570231e+01] [-2.00132174e-02 6.17137169e-04 9.99799525e-01 -8.60263596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83592000000002 meters Centerline goodness [0,1] 0.9995019672294437 Centerline is valid? [True, True] Translation: X:138.70, Y:38.65, Z:-0.86 [[ 9.92801877e-01 1.18374460e-01 1.82186968e-02 1.38699870e+02] [-1.18344124e-01 9.92968867e-01 -2.73807629e-03 3.86507337e+01] [-1.84147171e-02 5.62291551e-04 9.99830277e-01 -8.59965444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86592000000002 meters Centerline goodness [0,1] 0.9997508843605202 Centerline is valid? [True, True] Translation: X:138.73, Y:38.65, Z:-0.86 [[ 9.92480998e-01 1.21009268e-01 1.83909307e-02 1.38731440e+02] [-1.20978767e-01 9.92651241e-01 -2.76623390e-03 3.86452846e+01] [-1.85905201e-02 5.20522478e-04 9.99827046e-01 -8.58894737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89592000000002 meters Centerline goodness [0,1] 0.9999002045806098 Centerline is valid? [True, True] Translation: X:138.76, Y:38.64, Z:-0.86 [[ 9.92235236e-01 1.22799189e-01 1.97381840e-02 1.38763224e+02] [-1.22764359e-01 9.92431400e-01 -2.97131641e-03 3.86394721e+01] [-1.99536689e-02 5.25099319e-04 9.99800768e-01 -8.58646047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92592000000002 meters Centerline goodness [0,1] 0.999900616179686 Centerline is valid? [True, True] Translation: X:138.79, Y:38.63, Z:-0.86 [[ 9.91312117e-01 1.29521310e-01 2.29023178e-02 1.38794612e+02] [-1.29476141e-01 9.91576534e-01 -3.45049372e-03 3.86319539e+01] [-2.31563134e-02 4.55212502e-04 9.99731753e-01 -8.58743780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95592000000002 meters Centerline goodness [0,1] 0.9997015816174276 Centerline is valid? [True, True] Translation: X:138.83, Y:38.63, Z:-0.86 [[ 9.90908519e-01 1.32619497e-01 2.26357017e-02 1.38826902e+02] [-1.32576101e-01 9.91166950e-01 -3.41384171e-03 3.86273197e+01] [-2.28885014e-02 3.81851766e-04 9.99737951e-01 -8.58594570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98592000000002 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:138.86, Y:38.62, Z:-0.86 [[ 9.90315239e-01 1.37388567e-01 2.00027307e-02 1.38858915e+02] [-1.37355600e-01 9.90517200e-01 -3.01929385e-03 3.86245217e+01] [-2.02278652e-02 2.42565636e-04 9.99795366e-01 -8.59193034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01592 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:138.89, Y:38.62, Z:-0.86 [[ 9.90061537e-01 1.39100757e-01 2.07154965e-02 1.38890394e+02] [-1.39065718e-01 9.90278209e-01 -3.12954456e-03 3.86198970e+01] [-2.09494268e-02 2.17626296e-04 9.99780513e-01 -8.59277193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.92, Y:38.62, Z:-0.86 [[ 9.89932136e-01 1.40006113e-01 2.08003318e-02 1.38922076e+02] [-1.39970930e-01 9.90150619e-01 -3.14502280e-03 3.86157051e+01] [-2.10357838e-02 2.01917348e-04 9.99778703e-01 -8.59490810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.95, Y:38.62, Z:-0.86 [[ 9.89942722e-01 1.39818435e-01 2.15456007e-02 1.38954762e+02] [-1.39780581e-01 9.90177135e-01 -3.26046396e-03 3.86160731e+01] [-2.17898341e-02 2.16015992e-04 9.99762550e-01 -8.57531631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10592 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:138.99, Y:38.62, Z:-0.86 [[ 9.89995698e-01 1.39345682e-01 2.21652508e-02 1.38986889e+02] [-1.39305437e-01 9.90243771e-01 -3.35707157e-03 3.86152837e+01] [-2.24167949e-02 2.35746478e-04 9.99748684e-01 -8.56769317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13592 meters Centerline goodness [0,1] 0.999950137122912 Centerline is valid? [True, True] Translation: X:139.02, Y:38.62, Z:-0.86 [[ 9.90114912e-01 1.38479706e-01 2.22672870e-02 1.39019422e+02] [-1.38438807e-01 9.90365237e-01 -3.37538424e-03 3.86172315e+01] [-2.25201692e-02 2.59361629e-04 9.99746355e-01 -8.58313006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16592 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:139.05, Y:38.61, Z:-0.86 [[ 9.90271729e-01 1.37680289e-01 2.01504691e-02 1.39051282e+02] [-1.37646579e-01 9.90476690e-01 -3.05707310e-03 3.86139085e+01] [-2.03794687e-02 2.53689932e-04 9.99792285e-01 -8.58259056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.08, Y:38.61, Z:-0.86 [[ 9.90548641e-01 1.35758164e-01 1.95732081e-02 1.39082749e+02] [-1.35725957e-01 9.90741964e-01 -2.97078189e-03 3.86100002e+01] [-1.97953066e-02 2.86111564e-04 9.99804013e-01 -8.60107911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.11, Y:38.61, Z:-0.86 [[ 9.90973480e-01 1.32773283e-01 1.85153044e-02 1.39114657e+02] [-1.32743921e-01 9.91146380e-01 -2.81137818e-03 3.86088688e+01] [-1.87246529e-02 3.28207102e-04 9.99824624e-01 -8.58563980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.14, Y:38.61, Z:-0.86 [[ 9.91302811e-01 1.30441916e-01 1.74253990e-02 1.39144949e+02] [-1.30415548e-01 9.91455891e-01 -2.64593666e-03 3.86062849e+01] [-1.76216555e-02 3.50381494e-04 9.99844665e-01 -8.56621892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28592 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:139.18, Y:38.60, Z:-0.86 [[ 9.91798360e-01 1.26502088e-01 1.82546997e-02 1.39175120e+02] [-1.26472483e-01 9.91966243e-01 -2.77186073e-03 3.86032637e+01] [-1.84586920e-02 4.40409736e-04 9.99829527e-01 -8.57553182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31592 meters Centerline goodness [0,1] 0.9999501619735859 Centerline is valid? [True, True] Translation: X:139.21, Y:38.60, Z:-0.86 [[ 9.92161606e-01 1.23556715e-01 1.86838618e-02 1.39206241e+02] [-1.23525159e-01 9.92337382e-01 -2.83812222e-03 3.85983826e+01] [-1.88913636e-02 5.07948894e-04 9.99821413e-01 -8.58395310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34592 meters Centerline goodness [0,1] 0.9999003388479171 Centerline is valid? [True, True] Translation: X:139.24, Y:38.59, Z:-0.86 [[ 9.92351066e-01 1.21924906e-01 1.93307832e-02 1.39236973e+02] [-1.21890794e-01 9.92539171e-01 -2.93758978e-03 3.85938521e+01] [-1.95447249e-02 5.58875834e-04 9.99808827e-01 -8.59902867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37592 meters Centerline goodness [0,1] 0.999701373681067 Centerline is valid? [True, True] Translation: X:139.27, Y:38.59, Z:-0.86 [[ 9.92869736e-01 1.17753948e-01 1.85390357e-02 1.39267981e+02] [-1.17721826e-01 9.93042612e-01 -2.81839632e-03 3.85888640e+01] [-1.87419298e-02 6.15851276e-04 9.99824165e-01 -8.60826253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40592 meters Centerline goodness [0,1] 0.9992033459470225 Centerline is valid? [True, True] Translation: X:139.30, Y:38.58, Z:-0.86 [[ 9.92925532e-01 1.17115462e-01 1.95667174e-02 1.39298455e+02] [-1.17079532e-01 9.93118083e-01 -2.97582148e-03 3.85829199e+01] [-1.97805756e-02 6.63907006e-04 9.99804125e-01 -8.61031460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43592 meters Centerline goodness [0,1] 0.998703759098614 Centerline is valid? [True, True] Translation: X:139.33, Y:38.58, Z:-0.86 [[ 9.93296208e-01 1.13998956e-01 1.91541624e-02 1.39329975e+02] [-1.13963902e-01 9.93480614e-01 -2.91535701e-03 3.85757296e+01] [-1.93616367e-02 7.12929985e-04 9.99812292e-01 -8.59886154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46592 meters Centerline goodness [0,1] 0.9984081185951647 Centerline is valid? [True, True] Translation: X:139.36, Y:38.57, Z:-0.86 [[ 9.93431144e-01 1.12926077e-01 1.85003654e-02 1.39361412e+02] [-1.12893148e-01 9.93603138e-01 -2.81808225e-03 3.85703539e+01] [-1.87002561e-02 7.11006185e-04 9.99824882e-01 -8.60099384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49592 meters Centerline goodness [0,1] 0.9982540157637434 Centerline is valid? [True, True] Translation: X:139.39, Y:38.57, Z:-0.86 [[ 9.93649368e-01 1.11036616e-01 1.82154922e-02 1.39393108e+02] [-1.11004336e-01 9.93816043e-01 -2.77688434e-03 3.85651800e+01] [-1.84111842e-02 7.37250759e-04 9.99830228e-01 -8.60626809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52592 meters Centerline goodness [0,1] 0.9975555001247194 Centerline is valid? [True, True] Translation: X:139.42, Y:38.56, Z:-0.86 [[ 9.93920966e-01 1.08590446e-01 1.81446720e-02 1.39424623e+02] [-1.08557969e-01 9.94086266e-01 -2.76826489e-03 3.85593378e+01] [-1.83379763e-02 7.81687765e-04 9.99831540e-01 -8.61825218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55592000000001 meters Centerline goodness [0,1] 0.9970100164449096 Centerline is valid? [True, True] Translation: X:139.46, Y:38.55, Z:-0.86 [[ 9.94126685e-01 1.06302156e-01 2.02974566e-02 1.39456030e+02] [-1.06260988e-01 9.94333444e-01 -3.09914239e-03 3.85530099e+01] [-2.05118854e-02 9.24112358e-04 9.99789182e-01 -8.62586156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58592000000002 meters Centerline goodness [0,1] 0.99731142643764 Centerline is valid? [True, True] Translation: X:139.49, Y:38.55, Z:-0.86 [[ 9.94216413e-01 1.05571077e-01 1.97096683e-02 1.39487607e+02] [-1.05532070e-01 9.94411339e-01 -3.01173776e-03 3.85462386e+01] [-1.99174701e-02 9.14317020e-04 9.99801209e-01 -8.62111552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61592000000002 meters Centerline goodness [0,1] 0.9967664908964282 Centerline is valid? [True, True] Translation: X:139.52, Y:38.54, Z:-0.86 [[ 9.94352749e-01 1.04294708e-01 1.96271366e-02 1.39518674e+02] [-1.04255743e-01 9.94545994e-01 -3.00091329e-03 3.85397094e+01] [-1.98330695e-02 9.37724672e-04 9.99802866e-01 -8.62353039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64592000000002 meters Centerline goodness [0,1] 0.9970094203259732 Centerline is valid? [True, True] Translation: X:139.55, Y:38.53, Z:-0.86 [[ 9.94387161e-01 1.04088093e-01 1.89695209e-02 1.39549715e+02] [-1.04051616e-01 9.94567663e-01 -2.90258045e-03 3.85322347e+01] [-1.91685961e-02 9.12479427e-04 9.99815849e-01 -8.62011432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67592000000002 meters Centerline goodness [0,1] 0.9972612289612588 Centerline is valid? [True, True] Translation: X:139.58, Y:38.52, Z:-0.86 [[ 9.94341331e-01 1.04345263e-01 1.99344774e-02 1.39580671e+02] [-1.04304984e-01 9.94540674e-01 -3.05258928e-03 3.85240884e+01] [-2.01441718e-02 9.56050341e-04 9.99796628e-01 -8.63712425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70592000000002 meters Centerline goodness [0,1] 0.9971573907839617 Centerline is valid? [True, True] Translation: X:139.61, Y:38.52, Z:-0.86 [[ 9.94071798e-01 1.06677504e-01 2.10040716e-02 1.39612390e+02] [-1.06633252e-01 9.94293211e-01 -3.21885886e-03 3.85162431e+01] [-2.12275856e-02 9.60044346e-04 9.99774208e-01 -8.63093093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73592000000002 meters Centerline goodness [0,1] 0.9974581339712919 Centerline is valid? [True, True] Translation: X:139.64, Y:38.51, Z:-0.86 [[ 9.93908600e-01 1.07685816e-01 2.34405411e-02 1.39644043e+02] [-1.07630914e-01 9.94184421e-01 -3.59506019e-03 3.85100437e+01] [-2.36913578e-02 1.05023438e-03 9.99718769e-01 -8.63942890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76592 meters Centerline goodness [0,1] 0.9974547087887409 Centerline is valid? [True, True] Translation: X:139.68, Y:38.50, Z:-0.86 [[ 9.93986324e-01 1.07407451e-01 2.13266601e-02 1.39676281e+02] [-1.07361874e-01 9.94214619e-01 -3.27401667e-03 3.85047663e+01] [-2.15549311e-02 9.64657613e-04 9.99767200e-01 -8.63544575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79592 meters Centerline goodness [0,1] 0.9974564859607999 Centerline is valid? [True, True] Translation: X:139.71, Y:38.50, Z:-0.86 [[ 9.93858482e-01 1.08602342e-01 2.12331940e-02 1.39707554e+02] [-1.08557381e-01 9.94084832e-01 -3.26221919e-03 3.84971200e+01] [-2.14618807e-02 9.37164286e-04 9.99769228e-01 -8.64634943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82592 meters Centerline goodness [0,1] 0.9978016487634275 Centerline is valid? [True, True] Translation: X:139.74, Y:38.49, Z:-0.87 [[ 9.93937040e-01 1.07880309e-01 2.12367583e-02 1.39738854e+02] [-1.07835114e-01 9.94163430e-01 -3.26528898e-03 3.84912819e+01] [-2.14650688e-02 9.55423413e-04 9.99769142e-01 -8.65478159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85592 meters Centerline goodness [0,1] 0.9973587162364198 Centerline is valid? [True, True] Translation: X:139.77, Y:38.49, Z:-0.87 [[ 9.93946894e-01 1.07691226e-01 2.17295180e-02 1.39770878e+02] [-1.07643806e-01 9.94183902e-01 -3.34366130e-03 3.84854142e+01] [-2.19632200e-02 9.84373737e-04 9.99758295e-01 -8.65806441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88592 meters Centerline goodness [0,1] 0.997256721033468 Centerline is valid? [True, True] Translation: X:139.80, Y:38.48, Z:-0.87 [[ 9.94057800e-01 1.06682739e-01 2.16306229e-02 1.39802072e+02] [-1.06635469e-01 9.94292605e-01 -3.33041173e-03 3.84799229e+01] [-2.18624659e-02 1.00403013e-03 9.99760484e-01 -8.65520072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91592 meters Centerline goodness [0,1] 0.9976111083461903 Centerline is valid? [True, True] Translation: X:139.83, Y:38.47, Z:-0.87 [[ 9.94033899e-01 1.06604022e-01 2.30692522e-02 1.39834164e+02] [-1.06550168e-01 9.94300974e-01 -3.55465405e-03 3.84739298e+01] [-2.33167203e-02 1.07541393e-03 9.99727550e-01 -8.66321666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94592 meters Centerline goodness [0,1] 0.9974011694737368 Centerline is valid? [True, True] Translation: X:139.87, Y:38.47, Z:-0.87 [[ 9.94192906e-01 1.05612717e-01 2.06499104e-02 1.39867167e+02] [-1.05569278e-01 9.94406848e-01 -3.18553921e-03 3.84685259e+01] [-2.08708458e-02 9.87044345e-04 9.99781693e-01 -8.66309689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97592 meters Centerline goodness [0,1] 0.9969586677967792 Centerline is valid? [True, True] Translation: X:139.90, Y:38.46, Z:-0.87 [[ 9.94145038e-01 1.05951230e-01 2.12127319e-02 1.39899953e+02] [-1.05905386e-01 9.94370814e-01 -3.27617922e-03 3.84632486e+01] [-2.14404367e-02 1.01045476e-03 9.99769617e-01 -8.66247988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00592 meters Centerline goodness [0,1] 0.9971549787871226 Centerline is valid? [True, True] Translation: X:139.93, Y:38.46, Z:-0.87 [[ 9.94059830e-01 1.07227907e-01 1.86341214e-02 1.39932014e+02] [-1.07192704e-01 9.94234090e-01 -2.88071709e-03 3.84571687e+01] [-1.88355720e-02 8.66163286e-04 9.99822220e-01 -8.66844874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03592 meters Centerline goodness [0,1] 0.9971067990222976 Centerline is valid? [True, True] Translation: X:139.96, Y:38.45, Z:-0.87 [[ 9.93880386e-01 1.08659270e-01 1.98731246e-02 1.39963800e+02] [-1.08619466e-01 9.94078648e-01 -3.07467968e-03 3.84511744e+01] [-2.00895413e-02 8.97255642e-04 9.99797782e-01 -8.66957776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06592 meters Centerline goodness [0,1] 0.9972520609542843 Centerline is valid? [True, True] Translation: X:140.00, Y:38.45, Z:-0.87 [[ 9.93738789e-01 1.09860490e-01 2.03443540e-02 1.39995902e+02] [-1.09818977e-01 9.93946613e-01 -3.15002927e-03 3.84459235e+01] [-2.05672655e-02 8.96110133e-04 9.99788070e-01 -8.67454000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09592 meters Centerline goodness [0,1] 0.9971088181047805 Centerline is valid? [True, True] Translation: X:140.03, Y:38.44, Z:-0.87 [[ 9.93767589e-01 1.09674749e-01 1.99356106e-02 1.40029089e+02] [-1.09634779e-01 9.93967135e-01 -3.09028335e-03 3.84411762e+01] [-2.01542678e-02 8.85387178e-04 9.99796490e-01 -8.67462840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12592 meters Centerline goodness [0,1] 0.996857855361596 Centerline is valid? [True, True] Translation: X:140.06, Y:38.44, Z:-0.87 [[ 9.93848309e-01 1.09253133e-01 1.81464039e-02 1.40061133e+02] [-1.09219905e-01 9.94013625e-01 -2.81514241e-03 3.84352884e+01] [-1.83453358e-02 8.15876013e-04 9.99831377e-01 -8.67979220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15592 meters Centerline goodness [0,1] 0.9968617683686177 Centerline is valid? [True, True] Translation: X:140.09, Y:38.43, Z:-0.87 [[ 9.93848534e-01 1.09063936e-01 1.92392622e-02 1.40092755e+02] [-1.09026504e-01 9.94034355e-01 -2.98699224e-03 3.84273682e+01] [-1.94502607e-02 8.71028358e-04 9.99810446e-01 -8.69026656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18592 meters Centerline goodness [0,1] 0.9964602652308306 Centerline is valid? [True, True] Translation: X:140.12, Y:38.42, Z:-0.87 [[ 9.93851138e-01 1.09147415e-01 1.86214289e-02 1.40124558e+02] [-1.09112322e-01 9.94025216e-01 -2.89329978e-03 3.84220054e+01] [-1.88259661e-02 8.43681937e-04 9.99822420e-01 -8.67718937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21592 meters Centerline goodness [0,1] 0.9970125473013344 Centerline is valid? [True, True] Translation: X:140.16, Y:38.42, Z:-0.87 [[ 9.93547445e-01 1.11475928e-01 2.08947651e-02 1.40156024e+02] [-1.11432203e-01 9.93766727e-01 -3.24904325e-03 3.84165640e+01] [-2.11267124e-02 8.99728919e-04 9.99776401e-01 -8.66981932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24592 meters Centerline goodness [0,1] 0.9971033311691555 Centerline is valid? [True, True] Translation: X:140.19, Y:38.41, Z:-0.87 [[ 9.93168825e-01 1.14918669e-01 2.02332412e-02 1.40187425e+02] [-1.14878343e-01 9.93374580e-01 -3.14804273e-03 3.84107639e+01] [-2.04609564e-02 8.02176672e-04 9.99790331e-01 -8.65769913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27592 meters Centerline goodness [0,1] 0.9968608301360307 Centerline is valid? [True, True] Translation: X:140.22, Y:38.40, Z:-0.87 [[ 9.92814326e-01 1.17895791e-01 2.05011515e-02 1.40219061e+02] [-1.17854949e-01 9.93025686e-01 -3.19334743e-03 3.84023085e+01] [-2.07346523e-02 7.54238912e-04 9.99784729e-01 -8.66897121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30592000000001 meters Centerline goodness [0,1] 0.997556231609396 Centerline is valid? [True, True] Translation: X:140.25, Y:38.39, Z:-0.87 [[ 9.92239998e-01 1.22500056e-01 2.12960722e-02 1.40250689e+02] [-1.22456972e-01 9.92468269e-01 -3.32044332e-03 3.83930808e+01] [-2.15424304e-02 6.86824150e-04 9.99767699e-01 -8.67647133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33592000000002 meters Centerline goodness [0,1] 0.9979595899273415 Centerline is valid? [True, True] Translation: X:140.28, Y:38.39, Z:-0.87 [[ 9.91919418e-01 1.24756858e-01 2.30563222e-02 1.40282502e+02] [-1.24706899e-01 9.92187102e-01 -3.59776393e-03 3.83869109e+01] [-2.33250312e-02 6.93409470e-04 9.99727694e-01 -8.67985398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36592000000002 meters Centerline goodness [0,1] 0.9975610970086108 Centerline is valid? [True, True] Translation: X:140.31, Y:38.38, Z:-0.87 [[ 9.91533993e-01 1.27661547e-01 2.37249065e-02 1.40314212e+02] [-1.27609407e-01 9.91817580e-01 -3.70504540e-03 3.83816237e+01] [-2.40037712e-02 6.46157215e-04 9.99711659e-01 -8.68012353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39592000000002 meters Centerline goodness [0,1] 0.9974072596729159 Centerline is valid? [True, True] Translation: X:140.35, Y:38.38, Z:-0.87 [[ 9.91432102e-01 1.28576336e-01 2.30328475e-02 1.40345445e+02] [-1.28527374e-01 9.91699428e-01 -3.59982556e-03 3.83757592e+01] [-2.33045140e-02 6.08631219e-04 9.99728228e-01 -8.68217212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42592000000002 meters Centerline goodness [0,1] 0.9974072596729159 Centerline is valid? [True, True] Translation: X:140.38, Y:38.37, Z:-0.87 [[ 9.91408384e-01 1.28759210e-01 2.30321917e-02 1.40377608e+02] [-1.28710200e-01 9.91675701e-01 -3.60401901e-03 3.83707905e+01] [-2.33045154e-02 6.08576660e-04 9.99728228e-01 -8.68245303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45592000000002 meters Centerline goodness [0,1] 0.9972087923042416 Centerline is valid? [True, True] Translation: X:140.41, Y:38.37, Z:-0.87 [[ 9.91181835e-01 1.30479132e-01 2.31033968e-02 1.40409574e+02] [-1.30430216e-01 9.91450890e-01 -3.61811186e-03 3.83653796e+01] [-2.33779714e-02 5.72825725e-04 9.99726534e-01 -8.68746012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48592000000002 meters Centerline goodness [0,1] 0.9972080965200917 Centerline is valid? [True, True] Translation: X:140.44, Y:38.36, Z:-0.87 [[ 9.90853201e-01 1.33141021e-01 2.19864371e-02 1.40441687e+02] [-1.33097315e-01 9.91096983e-01 -3.44594502e-03 3.83611457e+01] [-2.22494881e-02 4.88089910e-04 9.99752330e-01 -8.68354038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51592 meters Centerline goodness [0,1] 0.9972078181092939 Centerline is valid? [True, True] Translation: X:140.47, Y:38.36, Z:-0.87 [[ 9.90616793e-01 1.34707508e-01 2.30706776e-02 1.40473316e+02] [-1.34659740e-01 9.90885290e-01 -3.61879997e-03 3.83558468e+01] [-2.33478746e-02 4.78152576e-04 9.99727287e-01 -8.68851785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54592 meters Centerline goodness [0,1] 0.9972563104858825 Centerline is valid? [True, True] Translation: X:140.50, Y:38.35, Z:-0.87 [[ 9.90485472e-01 1.35684031e-01 2.29863936e-02 1.40504904e+02] [-1.35636807e-01 9.90752056e-01 -3.60848335e-03 3.83480274e+01] [-2.32634302e-02 4.56349309e-04 9.99729266e-01 -8.69034981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57592 meters Centerline goodness [0,1] 0.997508222864547 Centerline is valid? [True, True] Translation: X:140.54, Y:38.34, Z:-0.87 [[ 9.90281128e-01 1.37054282e-01 2.36518835e-02 1.40536705e+02] [-1.37004602e-01 9.90563441e-01 -3.71595678e-03 3.83414487e+01] [-2.39379789e-02 4.39425000e-04 9.99713349e-01 -8.69735965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60592 meters Centerline goodness [0,1] 0.9974605387641289 Centerline is valid? [True, True] Translation: X:140.57, Y:38.34, Z:-0.87 [[ 9.90279608e-01 1.37325914e-01 2.20882740e-02 1.40568865e+02] [-1.37282545e-01 9.90525833e-01 -3.47521250e-03 3.83366996e+01] [-2.23562427e-02 4.09097613e-04 9.99749984e-01 -8.68458690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63592 meters Centerline goodness [0,1] 0.9978092013543118 Centerline is valid? [True, True] Translation: X:140.60, Y:38.33, Z:-0.87 [[ 9.89997299e-01 1.39324135e-01 2.22291256e-02 1.40601248e+02] [-1.39280647e-01 9.90246762e-01 -3.50032478e-03 3.83345190e+01] [-2.24999993e-02 3.69225085e-04 9.99746775e-01 -8.68243619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66592 meters Centerline goodness [0,1] 0.9980572851805729 Centerline is valid? [True, True] Translation: X:140.63, Y:38.33, Z:-0.87 [[ 9.89784691e-01 1.40926036e-01 2.15897688e-02 1.40632944e+02] [-1.40885334e-01 9.90020074e-01 -3.40242962e-03 3.83297105e+01] [-2.18537954e-02 3.25990976e-04 9.99761124e-01 -8.67417767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69592 meters Centerline goodness [0,1] 0.9982067247820673 Centerline is valid? [True, True] Translation: X:140.66, Y:38.32, Z:-0.87 [[ 9.89502110e-01 1.42783521e-01 2.23257692e-02 1.40664813e+02] [-1.42740404e-01 9.89753897e-01 -3.52130137e-03 3.83241732e+01] [-2.25998009e-02 2.97545816e-04 9.99744548e-01 -8.67910560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72592 meters Centerline goodness [0,1] 0.9985575009948269 Centerline is valid? [True, True] Translation: X:140.70, Y:38.32, Z:-0.87 [[ 9.89304461e-01 1.44295230e-01 2.13440621e-02 1.40697007e+02] [-1.44256114e-01 9.89534649e-01 -3.36920309e-03 3.83196587e+01] [-2.16068489e-02 2.54156180e-04 9.99766512e-01 -8.66846051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75592 meters Centerline goodness [0,1] 0.9984566364632083 Centerline is valid? [True, True] Translation: X:140.73, Y:38.32, Z:-0.87 [[ 9.89257303e-01 1.44480759e-01 2.22553003e-02 1.40728989e+02] [-1.44438213e-01 9.89507575e-01 -3.51593045e-03 3.83153220e+01] [-2.25297725e-02 2.63644065e-04 9.99746138e-01 -8.67501719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78592 meters Centerline goodness [0,1] 0.9985061248879593 Centerline is valid? [True, True] Translation: X:140.76, Y:38.31, Z:-0.87 [[ 9.89525655e-01 1.42704861e-01 2.17784510e-02 1.40760506e+02] [-1.42663628e-01 9.89765241e-01 -3.44338777e-03 3.83116135e+01] [-2.20469419e-02 3.00327717e-04 9.99756892e-01 -8.65980185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81592 meters Centerline goodness [0,1] 0.9982585331873818 Centerline is valid? [True, True] Translation: X:140.79, Y:38.31, Z:-0.87 [[ 9.89772064e-01 1.40966667e-01 2.19011431e-02 1.40792352e+02] [-1.40924479e-01 9.90014283e-01 -3.46561912e-03 3.83080919e+01] [-2.21709812e-02 3.43765817e-04 9.99754134e-01 -8.65970804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84592 meters Centerline goodness [0,1] 0.9988552657774239 Centerline is valid? [True, True] Translation: X:140.82, Y:38.31, Z:-0.87 [[ 9.90084500e-01 1.38759182e-01 2.18762924e-02 1.40824956e+02] [-1.38716489e-01 9.90326074e-01 -3.46448208e-03 3.83059555e+01] [-2.21453915e-02 3.95527530e-04 9.99754683e-01 -8.67080243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87592 meters Centerline goodness [0,1] 0.9985551292910169 Centerline is valid? [True, True] Translation: X:140.86, Y:38.30, Z:-0.87 [[ 9.90376241e-01 1.36938881e-01 2.00660173e-02 1.40857105e+02] [-1.36902537e-01 9.90579417e-01 -3.18031888e-03 3.83032006e+01] [-2.03124930e-02 4.02623580e-04 9.99793599e-01 -8.66734239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90592 meters Centerline goodness [0,1] 0.9987056305072933 Centerline is valid? [True, True] Translation: X:140.89, Y:38.30, Z:-0.87 [[ 9.90729916e-01 1.34343705e-01 2.01494827e-02 1.40889126e+02] [-1.34306470e-01 9.90934689e-01 -3.19609891e-03 3.83001255e+01] [-2.03961971e-02 4.60264908e-04 9.99791870e-01 -8.66397576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93592 meters Centerline goodness [0,1] 0.9987544218026008 Centerline is valid? [True, True] Translation: X:140.92, Y:38.30, Z:-0.87 [[ 9.90921597e-01 1.32866844e-01 2.05131634e-02 1.40921351e+02] [-1.32827883e-01 9.91133770e-01 -3.25637924e-03 3.82953475e+01] [-2.07639538e-02 5.02096448e-04 9.99784280e-01 -8.66774530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96592 meters Centerline goodness [0,1] 0.9988552657774239 Centerline is valid? [True, True] Translation: X:140.95, Y:38.29, Z:-0.87 [[ 9.91175446e-01 1.31170174e-01 1.91212355e-02 1.40953236e+02] [-1.31135959e-01 9.91359739e-01 -3.03781721e-03 3.82909246e+01] [-1.93544941e-02 5.03528277e-04 9.99812557e-01 -8.65260165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99592 meters Centerline goodness [0,1] 0.9984566364632083 Centerline is valid? [True, True] Translation: X:140.99, Y:38.29, Z:-0.86 [[ 9.91412870e-01 1.29379081e-01 1.90151264e-02 1.40985155e+02] [-1.29344870e-01 9.91595061e-01 -3.02333047e-03 3.82877748e+01] [-1.92464611e-02 5.37859681e-04 9.99814625e-01 -8.64183195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02592 meters Centerline goodness [0,1] 0.9982570589114088 Centerline is valid? [True, True] Translation: X:141.02, Y:38.29, Z:-0.86 [[ 9.91697504e-01 1.27294994e-01 1.82221205e-02 1.41017144e+02] [-1.27263184e-01 9.91864746e-01 -2.89949795e-03 3.82854659e+01] [-1.84429705e-02 5.56419795e-04 9.99829759e-01 -8.62442063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05592000000001 meters Centerline goodness [0,1] 0.9988050784167289 Centerline is valid? [True, True] Translation: X:141.05, Y:38.28, Z:-0.86 [[ 9.91909090e-01 1.25610672e-01 1.83933922e-02 1.41048523e+02] [-1.25577929e-01 9.92079435e-01 -2.92902698e-03 3.82793075e+01] [-1.86156232e-02 5.95524380e-04 9.99826537e-01 -8.63078903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08592000000002 meters Centerline goodness [0,1] 0.9987058882086507 Centerline is valid? [True, True] Translation: X:141.08, Y:38.27, Z:-0.86 [[ 9.91997483e-01 1.24912753e-01 1.83792565e-02 1.41079913e+02] [-1.24879900e-01 9.92167542e-01 -2.92903649e-03 3.82740166e+01] [-1.86011758e-02 6.10397126e-04 9.99826797e-01 -8.62287499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11592000000002 meters Centerline goodness [0,1] 0.9986555793457152 Centerline is valid? [True, True] Translation: X:141.11, Y:38.27, Z:-0.86 [[ 9.91996622e-01 1.25025640e-01 1.76434388e-02 1.41111735e+02] [-1.24995344e-01 9.92153338e-01 -2.81394675e-03 3.82691372e+01] [-1.78568122e-02 5.86077974e-04 9.99840383e-01 -8.61374969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14592000000002 meters Centerline goodness [0,1] 0.9988545246277205 Centerline is valid? [True, True] Translation: X:141.14, Y:38.26, Z:-0.86 [[ 9.91885053e-01 1.25715166e-01 1.89667999e-02 1.41143136e+02] [-1.25680234e-01 9.92066184e-01 -3.02734846e-03 3.82641887e+01] [-1.91969044e-02 6.19029827e-04 9.99815531e-01 -8.61510543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17592000000002 meters Centerline goodness [0,1] 0.9986571172784243 Centerline is valid? [True, True] Translation: X:141.17, Y:38.26, Z:-0.86 [[ 9.91473302e-01 1.28955806e-01 1.87374187e-02 1.41174110e+02] [-1.28922238e-01 9.91650188e-01 -2.99359090e-03 3.82561939e+01] [-1.89670057e-02 5.52395508e-04 9.99819958e-01 -8.59983838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20592000000002 meters Centerline goodness [0,1] 0.9982558429261973 Centerline is valid? [True, True] Translation: X:141.21, Y:38.25, Z:-0.86 [[ 9.91249275e-01 1.30812935e-01 1.76875862e-02 1.41205376e+02] [-1.30783279e-01 9.91406948e-01 -2.82809389e-03 3.82504151e+01] [-1.79055471e-02 4.90105490e-04 9.99839563e-01 -8.60204902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23592000000002 meters Centerline goodness [0,1] 0.997809528550804 Centerline is valid? [True, True] Translation: X:141.24, Y:38.24, Z:-0.86 [[ 9.90765431e-01 1.34307099e-01 1.85866469e-02 1.41236885e+02] [-1.34274921e-01 9.90939655e-01 -2.97417789e-03 3.82447907e+01] [-1.88176987e-02 4.50992092e-04 9.99822830e-01 -8.60251864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26592 meters Centerline goodness [0,1] 0.9979091995221028 Centerline is valid? [True, True] Translation: X:141.27, Y:38.24, Z:-0.86 [[ 9.90402551e-01 1.36966206e-01 1.85214693e-02 1.41269014e+02] [-1.36934675e-01 9.90575639e-01 -2.96608085e-03 3.82404514e+01] [-1.87531691e-02 4.01382669e-04 9.99824063e-01 -8.60404518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29592 meters Centerline goodness [0,1] 0.9974073889415167 Centerline is valid? [True, True] Translation: X:141.30, Y:38.24, Z:-0.86 [[ 9.89683734e-01 1.41917710e-01 1.96334140e-02 1.41300678e+02] [-1.41883202e-01 9.89878404e-01 -3.14665298e-03 3.82352427e+01] [-1.98812583e-02 3.28539629e-04 9.99802294e-01 -8.61161206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32592 meters Centerline goodness [0,1] 0.9973110247983269 Centerline is valid? [True, True] Translation: X:141.33, Y:38.23, Z:-0.86 [[ 9.89337127e-01 1.44164103e-01 2.07065270e-02 1.41333037e+02] [-1.44126155e-01 9.89553748e-01 -3.32130495e-03 3.82315705e+01] [-2.09690344e-02 3.01538175e-04 9.99780080e-01 -8.60409515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35592 meters Centerline goodness [0,1] 0.9973644952759821 Centerline is valid? [True, True] Translation: X:141.36, Y:38.23, Z:-0.86 [[ 9.89231890e-01 1.44559035e-01 2.28681598e-02 1.41364480e+02] [-1.44512749e-01 9.89496123e-01 -3.67256312e-03 3.82276659e+01] [-2.31588576e-02 3.28275913e-04 9.99731744e-01 -8.60942586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38592 meters Centerline goodness [0,1] 0.997262728313343 Centerline is valid? [True, True] Translation: X:141.40, Y:38.22, Z:-0.86 [[ 9.89447358e-01 1.43224263e-01 2.19256901e-02 1.41396248e+02] [-1.43181308e-01 9.89690199e-01 -3.52472947e-03 3.82236877e+01] [-2.22044674e-02 3.48185272e-04 9.99753390e-01 -8.59128918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41592 meters Centerline goodness [0,1] 0.9970125473013344 Centerline is valid? [True, True] Translation: X:141.43, Y:38.22, Z:-0.86 [[ 9.89769401e-01 1.41060209e-01 2.14137689e-02 1.41428636e+02] [-1.41018669e-01 9.90000942e-01 -3.44522858e-03 3.82211528e+01] [-2.16856361e-02 3.90240636e-04 9.99764763e-01 -8.60278319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44592 meters Centerline goodness [0,1] 0.9976124154397135 Centerline is valid? [True, True] Translation: X:141.46, Y:38.22, Z:-0.86 [[ 9.89970464e-01 1.39692813e-01 2.10807448e-02 1.41461027e+02] [-1.39652175e-01 9.90194801e-01 -3.39495611e-03 3.82175777e+01] [-2.13482949e-02 4.16934412e-04 9.99772012e-01 -8.60939110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47592 meters Centerline goodness [0,1] 0.9978609093622525 Centerline is valid? [True, True] Translation: X:141.49, Y:38.21, Z:-0.86 [[ 9.90055090e-01 1.39213242e-01 2.02630516e-02 1.41493192e+02] [-1.39175542e-01 9.90262340e-01 -3.26589496e-03 3.82140931e+01] [-2.05203927e-02 4.13294746e-04 9.99789349e-01 -8.60399100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50592 meters Centerline goodness [0,1] 0.9987547940429347 Centerline is valid? [True, True] Translation: X:141.53, Y:38.21, Z:-0.86 [[ 9.89991323e-01 1.39548747e-01 2.10553362e-02 1.41525225e+02] [-1.39508060e-01 9.90215111e-01 -3.39625335e-03 3.82075010e+01] [-2.13232550e-02 4.24872233e-04 9.99772543e-01 -8.60575681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53592 meters Centerline goodness [0,1] 0.998806801232972 Centerline is valid? [True, True] Translation: X:141.56, Y:38.20, Z:-0.86 [[ 9.89951111e-01 1.39963582e-01 2.01741041e-02 1.41556614e+02] [-1.39926264e-01 9.90156571e-01 -3.25665132e-03 3.82016983e+01] [-2.04313344e-02 4.01038578e-04 9.99791178e-01 -8.59845482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56592 meters Centerline goodness [0,1] 0.9990545852614818 Centerline is valid? [True, True] Translation: X:141.59, Y:38.20, Z:-0.86 [[ 9.89889772e-01 1.40535750e-01 1.91818372e-02 1.41588252e+02] [-1.40502073e-01 9.90075535e-01 -3.09890094e-03 3.81973687e+01] [-1.94269741e-02 3.72482461e-04 9.99811209e-01 -8.59142490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59592 meters Centerline goodness [0,1] 0.999252801992528 Centerline is valid? [True, True] Translation: X:141.62, Y:38.19, Z:-0.86 [[ 9.90093322e-01 1.39086454e-01 1.92398364e-02 1.41620312e+02] [-1.39052252e-01 9.90280160e-01 -3.11070771e-03 3.81928708e+01] [-1.94854856e-02 4.04548342e-04 9.99810058e-01 -8.60259241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62592 meters Centerline goodness [0,1] 0.9997508595346056 Centerline is valid? [True, True] Translation: X:141.65, Y:38.19, Z:-0.86 [[ 9.90498452e-01 1.35897210e-01 2.10894550e-02 1.41651536e+02] [-1.35855336e-01 9.90722808e-01 -3.41241253e-03 3.81859553e+01] [-2.13575414e-02 5.14874339e-04 9.99771769e-01 -8.60776855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65592 meters Centerline goodness [0,1] 0.9997015964589446 Centerline is valid? [True, True] Translation: X:141.68, Y:38.18, Z:-0.86 [[ 9.90751606e-01 1.33854974e-01 2.22283732e-02 1.41683205e+02] [-1.33807878e-01 9.91000755e-01 -3.59948749e-03 3.81798693e+01] [-2.25101439e-02 5.91866569e-04 9.99746439e-01 -8.61820348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68592 meters Centerline goodness [0,1] 0.9999004182433778 Centerline is valid? [True, True] Translation: X:141.71, Y:38.17, Z:-0.86 [[ 9.91186883e-01 1.30687156e-01 2.16663227e-02 1.41714541e+02] [-1.30641596e-01 9.91423444e-01 -3.51115316e-03 3.81738185e+01] [-2.19393629e-02 6.49685977e-04 9.99759092e-01 -8.61380813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71592 meters Centerline goodness [0,1] 0.9999501917617174 Centerline is valid? [True, True] Translation: X:141.75, Y:38.17, Z:-0.86 [[ 9.91870763e-01 1.25372057e-01 2.17770021e-02 1.41746194e+02] [-1.25324690e-01 9.92109494e-01 -3.53179448e-03 3.81680984e+01] [-2.20479589e-02 7.73887643e-04 9.99756615e-01 -8.61874509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.78, Y:38.16, Z:-0.86 [[ 9.92227693e-01 1.22714117e-01 2.06264437e-02 1.41778049e+02] [-1.22670998e-01 9.92441746e-01 -3.34772921e-03 3.81618343e+01] [-2.08813574e-02 7.91443213e-04 9.99781647e-01 -8.61725766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77592 meters Centerline goodness [0,1] 0.9996516199671528 Centerline is valid? [True, True] Translation: X:141.81, Y:38.15, Z:-0.86 [[ 9.92881574e-01 1.17245888e-01 2.09661974e-02 1.41808637e+02] [-1.17200090e-01 9.93102487e-01 -3.40419201e-03 3.81533301e+01] [-2.12207103e-02 9.22719293e-04 9.99774390e-01 -8.62457847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80592000000001 meters Centerline goodness [0,1] 0.9994512620971765 Centerline is valid? [True, True] Translation: X:141.84, Y:38.15, Z:-0.86 [[ 9.93231202e-01 1.14478810e-01 1.96566002e-02 1.41840334e+02] [-1.14437970e-01 9.93425262e-01 -3.19384414e-03 3.81462819e+01] [-1.98929906e-02 9.22764247e-04 9.99801689e-01 -8.60345079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83592000000002 meters Centerline goodness [0,1] 0.9997011803376662 Centerline is valid? [True, True] Translation: X:141.87, Y:38.14, Z:-0.86 [[ 9.93727418e-01 1.10283193e-01 1.85320023e-02 1.41870968e+02] [-1.10246133e-01 9.93899750e-01 -3.01277405e-03 3.81373082e+01] [-1.87512108e-02 9.50794581e-04 9.99823729e-01 -8.61035288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86592000000002 meters Centerline goodness [0,1] 0.9996012759170654 Centerline is valid? [True, True] Translation: X:141.90, Y:38.13, Z:-0.86 [[ 9.93995483e-01 1.07711659e-01 1.92660002e-02 1.41901747e+02] [-1.07671089e-01 9.94181631e-01 -3.13381797e-03 3.81293038e+01] [-1.94914523e-02 1.04060968e-03 9.99809482e-01 -8.61074059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89592000000002 meters Centerline goodness [0,1] 0.9993523316062176 Centerline is valid? [True, True] Translation: X:141.93, Y:38.12, Z:-0.86 [[ 9.94276776e-01 1.05014307e-01 1.96389313e-02 1.41933240e+02] [-1.04971582e-01 9.94470084e-01 -3.19676921e-03 3.81209769e+01] [-1.98660362e-02 1.11694370e-03 9.99802027e-01 -8.60537292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92592000000002 meters Centerline goodness [0,1] 0.9988529250411451 Centerline is valid? [True, True] Translation: X:141.96, Y:38.11, Z:-0.86 [[ 9.94728550e-01 1.00768623e-01 1.89946373e-02 1.41963149e+02] [-1.00727861e-01 9.94909207e-01 -3.09304739e-03 3.81086926e+01] [-1.92096216e-02 1.16345336e-03 9.99814801e-01 -8.61232601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95592000000002 meters Centerline goodness [0,1] 0.9986027246868606 Centerline is valid? [True, True] Translation: X:141.99, Y:38.10, Z:-0.86 [[ 9.94889177e-01 9.89951655e-02 1.98867347e-02 1.41994077e+02] [-9.89500969e-02 9.95087122e-01 -3.24003884e-03 3.81008619e+01] [-2.01097817e-02 1.25568525e-03 9.99796989e-01 -8.62330055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98592000000002 meters Centerline goodness [0,1] 0.9989525139664804 Centerline is valid? [True, True] Translation: X:142.03, Y:38.09, Z:-0.86 [[ 9.94880350e-01 9.90994433e-02 1.98088460e-02 1.42025139e+02] [-9.90546800e-02 9.95076747e-01 -3.23072592e-03 3.80880849e+01] [-2.00314852e-02 1.25202682e-03 9.99798566e-01 -8.63234416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01592 meters Centerline goodness [0,1] 0.999551815148648 Centerline is valid? [True, True] Translation: X:142.06, Y:38.08, Z:-0.86 [[ 9.94734041e-01 1.00128559e-01 2.18737201e-02 1.42056183e+02] [-1.00074165e-01 9.94973575e-01 -3.57011923e-03 3.80788575e+01] [-2.21212444e-02 1.36232484e-03 9.99754367e-01 -8.64139353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04592 meters Centerline goodness [0,1] 0.999601077091852 Centerline is valid? [True, True] Translation: X:142.09, Y:38.07, Z:-0.86 [[ 9.94574948e-01 1.01565702e-01 2.24739990e-02 1.42086441e+02] [-1.01508586e-01 9.94827891e-01 -3.67073217e-03 3.80654517e+01] [-2.27305815e-02 1.36951439e-03 9.99740689e-01 -8.63143843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07592 meters Centerline goodness [0,1] 0.9996513770606106 Centerline is valid? [True, True] Translation: X:142.12, Y:38.06, Z:-0.86 [[ 9.94490569e-01 1.03005846e-01 1.94500163e-02 1.42116564e+02] [-1.02963319e-01 9.94680077e-01 -3.17800311e-03 3.80568126e+01] [-1.96738966e-02 1.15785588e-03 9.99805780e-01 -8.62791278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10592 meters Centerline goodness [0,1] 0.9995504270942605 Centerline is valid? [True, True] Translation: X:142.15, Y:38.05, Z:-0.86 [[ 9.94303633e-01 1.04427382e-01 2.13356047e-02 1.42147795e+02] [-1.04376481e-01 9.94531739e-01 -3.48856571e-03 3.80485728e+01] [-2.15832378e-02 1.24175821e-03 9.99766284e-01 -8.63874628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13592 meters Centerline goodness [0,1] 0.9996514291405239 Centerline is valid? [True, True] Translation: X:142.18, Y:38.04, Z:-0.86 [[ 9.93984235e-01 1.07517060e-01 2.08667705e-02 1.42178417e+02] [-1.07469011e-01 9.94202574e-01 -3.41379136e-03 3.80384793e+01] [-2.11128377e-02 1.15072361e-03 9.99776437e-01 -8.64935935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16592 meters Centerline goodness [0,1] 0.9996509076401356 Centerline is valid? [True, True] Translation: X:142.21, Y:38.03, Z:-0.86 [[ 9.93887656e-01 1.08227886e-01 2.17727296e-02 1.42209828e+02] [-1.08175687e-01 9.94125402e-01 -3.56455698e-03 3.80307023e+01] [-2.20306080e-02 1.18748920e-03 9.99756591e-01 -8.64773779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19592 meters Centerline goodness [0,1] 0.9995514577622726 Centerline is valid? [True, True] Translation: X:142.24, Y:38.02, Z:-0.87 [[ 9.93814534e-01 1.09022423e-01 2.11372360e-02 1.42241128e+02] [-1.08973353e-01 9.94038639e-01 -3.46302714e-03 3.80214525e+01] [-2.13887769e-02 1.13821122e-03 9.99770586e-01 -8.65224357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22592 meters Centerline goodness [0,1] 0.9998003992015968 Centerline is valid? [True, True] Translation: X:142.27, Y:38.01, Z:-0.86 [[ 9.93793218e-01 1.08970873e-01 2.23693556e-02 1.42272386e+02] [-1.08915790e-01 9.94044206e-01 -3.66981548e-03 3.80131159e+01] [-2.26360313e-02 1.21066171e-03 9.99743039e-01 -8.64934717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25592 meters Centerline goodness [0,1] 0.9994521912350598 Centerline is valid? [True, True] Translation: X:142.30, Y:38.01, Z:-0.86 [[ 9.93796762e-01 1.09408410e-01 1.99448109e-02 1.42304343e+02] [-1.09364649e-01 9.93996301e-01 -3.27510931e-03 3.80062460e+01] [-2.01833928e-02 1.07353579e-03 9.99795718e-01 -8.64028560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28592 meters Centerline goodness [0,1] 0.9997003745318352 Centerline is valid? [True, True] Translation: X:142.34, Y:38.00, Z:-0.86 [[ 9.93635484e-01 1.10697375e-01 2.08474653e-02 1.42335941e+02] [-1.10649791e-01 9.93853554e-01 -3.42588403e-03 3.79973627e+01] [-2.10985639e-02 1.09731226e-03 9.99776798e-01 -8.64311500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31592 meters Centerline goodness [0,1] 0.9997003745318352 Centerline is valid? [True, True] Translation: X:142.37, Y:37.99, Z:-0.86 [[ 9.93615873e-01 1.10873372e-01 2.08468666e-02 1.42368083e+02] [-1.10825750e-01 9.93833936e-01 -3.42952520e-03 3.79921330e+01] [-2.10985665e-02 1.09726104e-03 9.99776798e-01 -8.64339615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34592 meters Centerline goodness [0,1] 0.9996503671145297 Centerline is valid? [True, True] Translation: X:142.40, Y:37.99, Z:-0.86 [[ 9.93455259e-01 1.12358643e-01 2.05471056e-02 1.42399682e+02] [-1.12312645e-01 9.93667161e-01 -3.38274423e-03 3.79855696e+01] [-2.07970647e-02 1.05290526e-03 9.99783163e-01 -8.63391729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37592 meters Centerline goodness [0,1] 0.9997011952191235 Centerline is valid? [True, True] Translation: X:142.43, Y:37.98, Z:-0.86 [[ 9.93029052e-01 1.15831189e-01 2.18274661e-02 1.42431363e+02] [-1.15780044e-01 9.93268365e-01 -3.59678885e-03 3.79768293e+01] [-2.20971519e-02 1.04453084e-03 9.99755282e-01 -8.63148483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40592 meters Centerline goodness [0,1] 0.999800538545926 Centerline is valid? [True, True] Translation: X:142.46, Y:37.97, Z:-0.86 [[ 9.92865574e-01 1.17073211e-01 2.26233369e-02 1.42463058e+02] [-1.17018525e-01 9.93122725e-01 -3.73070464e-03 3.79688889e+01] [-2.29045155e-02 1.05673868e-03 9.99737099e-01 -8.63682027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43592 meters Centerline goodness [0,1] 0.9997998298553771 Centerline is valid? [True, True] Translation: X:142.49, Y:37.96, Z:-0.87 [[ 9.92584604e-01 1.19090937e-01 2.43547263e-02 1.42493656e+02] [-1.19028091e-01 9.92882752e-01 -4.01922338e-03 3.79586770e+01] [-2.46600407e-02 1.09052268e-03 9.99695300e-01 -8.65073011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46592 meters Centerline goodness [0,1] 0.999800905878254 Centerline is valid? [True, True] Translation: X:142.52, Y:37.95, Z:-0.86 [[ 9.92453918e-01 1.20641780e-01 2.19267162e-02 1.42524898e+02] [-1.20591017e-01 9.92695647e-01 -3.62762786e-03 3.79515546e+01] [-2.22041992e-02 9.56088473e-04 9.99752999e-01 -8.63821762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49592 meters Centerline goodness [0,1] 0.9997006137418293 Centerline is valid? [True, True] Translation: X:142.56, Y:37.94, Z:-0.86 [[ 9.92312165e-01 1.21561560e-01 2.32240044e-02 1.42557513e+02] [-1.21504756e-01 9.92583395e-01 -3.84680424e-03 3.79435443e+01] [-2.35193847e-02 9.95403654e-04 9.99722885e-01 -8.64076933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52592 meters Centerline goodness [0,1] 0.9999501942424545 Centerline is valid? [True, True] Translation: X:142.59, Y:37.94, Z:-0.86 [[ 9.92194133e-01 1.22483117e-01 2.34240866e-02 1.42589538e+02] [-1.22425500e-01 9.92470108e-01 -3.88358753e-03 3.79370022e+01] [-2.37233797e-02 9.85567249e-04 9.99718075e-01 -8.64999125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55592000000001 meters Centerline goodness [0,1] 0.9999001946204901 Centerline is valid? [True, True] Translation: X:142.62, Y:37.93, Z:-0.86 [[ 9.92072741e-01 1.23460318e-01 2.34355703e-02 1.42620689e+02] [-1.23402683e-01 9.92349034e-01 -3.89531465e-03 3.79293479e+01] [-2.37371823e-02 9.72423233e-04 9.99717760e-01 -8.64966174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58592000000002 meters Centerline goodness [0,1] 0.9997508347037425 Centerline is valid? [True, True] Translation: X:142.65, Y:37.92, Z:-0.87 [[ 9.91849300e-01 1.25136166e-01 2.39980527e-02 1.42651141e+02] [-1.25075968e-01 9.92139108e-01 -3.99919954e-03 3.79188678e+01] [-2.43098510e-02 9.65023599e-04 9.99704006e-01 -8.65731631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61592000000002 meters Centerline goodness [0,1] 0.9998502994011976 Centerline is valid? [True, True] Translation: X:142.68, Y:37.91, Z:-0.87 [[ 9.91696075e-01 1.26740180e-01 2.18133482e-02 1.42682714e+02] [-1.26690739e-01 9.91935588e-01 -3.63936681e-03 3.79095976e+01] [-2.20986904e-02 8.45596585e-04 9.99755437e-01 -8.65707356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64592000000002 meters Centerline goodness [0,1] 0.999900299102692 Centerline is valid? [True, True] Translation: X:142.71, Y:37.90, Z:-0.87 [[ 9.91296289e-01 1.29894170e-01 2.14282929e-02 1.42713379e+02] [-1.29846994e-01 9.91527564e-01 -3.58435786e-03 3.78996942e+01] [-2.17123303e-02 7.70761224e-04 9.99763962e-01 -8.65777745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67592000000002 meters Centerline goodness [0,1] 0.9998007174172977 Centerline is valid? [True, True] Translation: X:142.75, Y:37.89, Z:-0.87 [[ 9.90939509e-01 1.32299163e-01 2.31478257e-02 1.42745023e+02] [-1.32244525e-01 9.91209521e-01 -3.88222051e-03 3.78930544e+01] [-2.34579598e-02 7.85872468e-04 9.99724515e-01 -8.65871540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70592000000002 meters Centerline goodness [0,1] 0.9998006578291637 Centerline is valid? [True, True] Translation: X:142.78, Y:37.89, Z:-0.87 [[ 9.90620876e-01 1.34372127e-01 2.47873183e-02 1.42777252e+02] [-1.34309809e-01 9.90930618e-01 -4.16964659e-03 3.78870211e+01] [-2.51227969e-02 8.01358969e-04 9.99684052e-01 -8.65853788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73592000000002 meters Centerline goodness [0,1] 0.9995511669658886 Centerline is valid? [True, True] Translation: X:142.81, Y:37.88, Z:-0.87 [[ 9.90182118e-01 1.37763122e-01 2.36790029e-02 1.42808434e+02] [-1.37706968e-01 9.90464962e-01 -3.99373827e-03 3.78794453e+01] [-2.40034126e-02 6.93764510e-04 9.99711636e-01 -8.66356036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76592 meters Centerline goodness [0,1] 0.9991537657424461 Centerline is valid? [True, True] Translation: X:142.84, Y:37.87, Z:-0.87 [[ 9.89806888e-01 1.40313503e-01 2.43812415e-02 1.42839439e+02] [-1.40254471e-01 9.90106905e-01 -4.12311130e-03 3.78725653e+01] [-2.47185638e-02 6.61505827e-04 9.99694231e-01 -8.67456401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79592 meters Centerline goodness [0,1] 0.9985059760956175 Centerline is valid? [True, True] Translation: X:142.87, Y:37.87, Z:-0.87 [[ 9.89200324e-01 1.44631597e-01 2.37575113e-02 1.42870892e+02] [-1.44576535e-01 9.89485421e-01 -4.02822120e-03 3.78651904e+01] [-2.40903191e-02 5.49939047e-04 9.99709635e-01 -8.66664008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82592 meters Centerline goodness [0,1] 0.998305591547892 Centerline is valid? [True, True] Translation: X:142.90, Y:37.86, Z:-0.87 [[ 9.88844021e-01 1.47090931e-01 2.34895732e-02 1.42902511e+02] [-1.47037546e-01 9.89122850e-01 -3.99336594e-03 3.78599250e+01] [-2.38214615e-02 4.94966826e-04 9.99716106e-01 -8.65979314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85592 meters Centerline goodness [0,1] 0.9974599063651758 Centerline is valid? [True, True] Translation: X:142.93, Y:37.85, Z:-0.87 [[ 9.88056049e-01 1.51955519e-01 2.55883465e-02 1.42933662e+02] [-1.51893492e-01 9.88387243e-01 -4.36185587e-03 3.78533232e+01] [-2.59540033e-02 4.23054774e-04 9.99663049e-01 -8.66628517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88592 meters Centerline goodness [0,1] 0.9974605387641289 Centerline is valid? [True, True] Translation: X:142.97, Y:37.85, Z:-0.87 [[ 9.87659004e-01 1.54439154e-01 2.60430184e-02 1.42965658e+02] [-1.54375448e-01 9.88002230e-01 -4.45137726e-03 3.78471476e+01] [-2.64180272e-02 3.76040194e-04 9.99650912e-01 -8.66290221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91592 meters Centerline goodness [0,1] 0.9971114099307734 Centerline is valid? [True, True] Translation: X:143.00, Y:37.84, Z:-0.87 [[ 9.87107245e-01 1.57716778e-01 2.72892820e-02 1.42998011e+02] [-1.57647681e-01 9.87484338e-01 -4.67875168e-03 3.78421783e+01] [-2.76856562e-02 3.16337646e-04 9.99616629e-01 -8.66308887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94592 meters Centerline goodness [0,1] 0.9966120273030741 Centerline is valid? [True, True] Translation: X:143.03, Y:37.84, Z:-0.87 [[ 9.86037089e-01 1.64522374e-01 2.57536106e-02 1.43030802e+02] [-1.64463035e-01 9.86373344e-01 -4.42003076e-03 3.78396244e+01] [-2.61298690e-02 1.22797295e-04 9.99658549e-01 -8.65259980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97592 meters Centerline goodness [0,1] 0.9965156794425087 Centerline is valid? [True, True] Translation: X:143.06, Y:37.84, Z:-0.87 [[ 9.85573716e-01 1.67078335e-01 2.70051791e-02 1.43062772e+02] [-1.67013704e-01 9.85943622e-01 -4.64732059e-03 3.78357066e+01] [-2.74020506e-02 7.00420464e-05 9.99624491e-01 -8.65740680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00592 meters Centerline goodness [0,1] 0.9966638450430713 Centerline is valid? [True, True] Translation: X:143.10, Y:37.83, Z:-0.87 [[ 9.85066541e-01 1.70308532e-01 2.52767282e-02 1.43095045e+02] [-1.70252666e-01 9.85390787e-01 -4.36186316e-03 3.78325372e+01] [-2.56503176e-02 -6.70492082e-06 9.99670976e-01 -8.65482393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03592 meters Centerline goodness [0,1] 0.9963603729371292 Centerline is valid? [True, True] Translation: X:143.13, Y:37.83, Z:-0.86 [[ 9.84749714e-01 1.72055447e-01 2.57861075e-02 1.43127558e+02] [-1.71997538e-01 9.85087266e-01 -4.46379199e-03 3.78292130e+01] [-2.61695859e-02 -3.94291092e-05 9.99657517e-01 -8.64915806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06592 meters Centerline goodness [0,1] 0.9962627067968906 Centerline is valid? [True, True] Translation: X:143.16, Y:37.83, Z:-0.87 [[ 9.84399744e-01 1.73995594e-01 2.61281022e-02 1.43161492e+02] [-1.73936445e-01 9.84746428e-01 -4.53717800e-03 3.78303374e+01] [-2.65190043e-02 -7.82323490e-05 9.99648306e-01 -8.65955979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09592 meters Centerline goodness [0,1] 0.9961151509114453 Centerline is valid? [True, True] Translation: X:143.19, Y:37.83, Z:-0.86 [[ 9.84187365e-01 1.75370647e-01 2.49071730e-02 1.43193219e+02] [-1.75317039e-01 9.84502477e-01 -4.33698148e-03 3.78268923e+01] [-2.52817527e-02 -9.82494386e-05 9.99680361e-01 -8.64855857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12592 meters Centerline goodness [0,1] 0.9958624127617148 Centerline is valid? [True, True] Translation: X:143.23, Y:37.82, Z:-0.86 [[ 9.84253362e-01 1.75112999e-01 2.40989099e-02 1.43225767e+02] [-1.75062457e-01 9.84548339e-01 -4.20768565e-03 3.78241302e+01] [-2.44633621e-02 -7.73856318e-05 9.99700724e-01 -8.64890583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15592 meters Centerline goodness [0,1] 0.9962109881344102 Centerline is valid? [True, True] Translation: X:143.26, Y:37.82, Z:-0.87 [[ 9.84017259e-01 1.76262806e-01 2.53269918e-02 1.43257560e+02] [-1.76207052e-01 9.84343138e-01 -4.43415037e-03 3.78201455e+01] [-2.57120264e-02 -9.95140575e-05 9.99669386e-01 -8.65582803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18592 meters Centerline goodness [0,1] 0.9957667214502715 Centerline is valid? [True, True] Translation: X:143.29, Y:37.82, Z:-0.86 [[ 9.83945613e-01 1.76896519e-01 2.36358121e-02 1.43289668e+02] [-1.76847878e-01 9.84229451e-01 -4.14922529e-03 3.78172767e+01] [-2.39970459e-02 -9.73311940e-05 9.99712025e-01 -8.64323868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21592 meters Centerline goodness [0,1] 0.9962173999601831 Centerline is valid? [True, True] Translation: X:143.32, Y:37.82, Z:-0.87 [[ 9.83763809e-01 1.77654881e-01 2.54462320e-02 1.43322591e+02] [-1.77598443e-01 9.84092847e-01 -4.47911669e-03 3.78159977e+01] [-2.58371918e-02 -1.12818282e-04 9.99666158e-01 -8.65376535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24592 meters Centerline goodness [0,1] 0.9959715521957527 Centerline is valid? [True, True] Translation: X:143.35, Y:37.81, Z:-0.87 [[ 9.83703496e-01 1.77857581e-01 2.63460362e-02 1.43354980e+02] [-1.77796767e-01 9.84056233e-01 -4.65192806e-03 3.78114893e+01] [-2.67533618e-02 -1.08122163e-04 9.99642059e-01 -8.66182509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27592 meters Centerline goodness [0,1] 0.9960157378355495 Centerline is valid? [True, True] Translation: X:143.39, Y:37.81, Z:-0.87 [[ 9.83749250e-01 1.77478732e-01 2.71792703e-02 1.43387712e+02] [-1.77413459e-01 9.84124633e-01 -4.81376987e-03 3.78068419e+01] [-2.76021312e-02 -8.64258534e-05 9.99618985e-01 -8.67475320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30592000000001 meters Centerline goodness [0,1] 0.9960651491756737 Centerline is valid? [True, True] Translation: X:143.42, Y:37.80, Z:-0.87 [[ 9.83998291e-01 1.76496562e-01 2.44198099e-02 1.43419730e+02] [-1.76443284e-01 9.84301256e-01 -4.33657483e-03 3.78024325e+01] [-2.48018401e-02 -4.15292244e-05 9.99692386e-01 -8.66752550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33592000000002 meters Centerline goodness [0,1] 0.9965153325368379 Centerline is valid? [True, True] Translation: X:143.45, Y:37.80, Z:-0.87 [[ 9.84105171e-01 1.75675205e-01 2.59852594e-02 1.43451651e+02] [-1.75614262e-01 9.84448182e-01 -4.62695155e-03 3.78003048e+01] [-2.63939820e-02 -9.97520639e-06 9.99651618e-01 -8.66874091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36592000000002 meters Centerline goodness [0,1] 0.9964171974522293 Centerline is valid? [True, True] Translation: X:143.48, Y:37.80, Z:-0.87 [[ 9.84060656e-01 1.75871928e-01 2.63379890e-02 1.43484336e+02] [-1.75809010e-01 9.84413056e-01 -4.70392806e-03 3.77966532e+01] [-2.67547491e-02 -1.50524637e-06 9.99642028e-01 -8.66288157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39592000000002 meters Centerline goodness [0,1] 0.9962100433850297 Centerline is valid? [True, True] Translation: X:143.52, Y:37.79, Z:-0.87 [[ 9.83936905e-01 1.76416879e-01 2.72992890e-02 1.43516393e+02] [-1.76349134e-01 9.84315541e-01 -4.88857601e-03 3.77935823e+01] [-2.77335417e-02 -4.15561905e-06 9.99615351e-01 -8.66806947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42592000000002 meters Centerline goodness [0,1] 0.9962132536123568 Centerline is valid? [True, True] Translation: X:143.55, Y:37.79, Z:-0.87 [[ 9.83916775e-01 1.76587588e-01 2.69184795e-02 1.43549495e+02] [-1.76521387e-01 9.84284930e-01 -4.83487913e-03 3.77924722e+01] [-2.73492334e-02 5.43133975e-06 9.99625940e-01 -8.66761531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45592000000002 meters Centerline goodness [0,1] 0.9962173999601831 Centerline is valid? [True, True] Translation: X:143.58, Y:37.79, Z:-0.87 [[ 9.83943592e-01 1.76616920e-01 2.57190665e-02 1.43581727e+02] [-1.76556182e-01 9.84279667e-01 -4.63157008e-03 3.77907320e+01] [-2.61327679e-02 1.63435115e-05 9.99658481e-01 -8.66532078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48592000000002 meters Centerline goodness [0,1] 0.9959161312814383 Centerline is valid? [True, True] Translation: X:143.61, Y:37.79, Z:-0.87 [[ 9.83826689e-01 1.77225687e-01 2.60019503e-02 1.43614765e+02] [-1.77163447e-01 9.84170237e-01 -4.69650409e-03 3.77868256e+01] [-2.64226868e-02 1.39509039e-05 9.99650860e-01 -8.67230252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51592 meters Centerline goodness [0,1] 0.9961596009975062 Centerline is valid? [True, True] Translation: X:143.65, Y:37.78, Z:-0.87 [[ 9.83804526e-01 1.77540725e-01 2.46565530e-02 1.43647109e+02] [-1.77484568e-01 9.84113454e-01 -4.46515471e-03 3.77832273e+01] [-2.50575924e-02 1.66817552e-05 9.99686009e-01 -8.66843081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54592 meters Centerline goodness [0,1] 0.9962175882148012 Centerline is valid? [True, True] Translation: X:143.68, Y:37.78, Z:-0.87 [[ 9.83799161e-01 1.77598221e-01 2.44557236e-02 1.43679784e+02] [-1.77542863e-01 9.84103080e-01 -4.43398693e-03 3.77792418e+01] [-2.48544211e-02 2.02134269e-05 9.99691081e-01 -8.66701991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57592 meters Centerline goodness [0,1] 0.9963158418799164 Centerline is valid? [True, True] Translation: X:143.71, Y:37.78, Z:-0.87 [[ 9.84148368e-01 1.75482111e-01 2.56518608e-02 1.43712450e+02] [-1.75420394e-01 9.84482617e-01 -4.65435429e-03 3.77770142e+01] [-2.60705669e-02 8.07156516e-05 9.99660102e-01 -8.67247829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60592 meters Centerline goodness [0,1] 0.9964132708976786 Centerline is valid? [True, True] Translation: X:143.75, Y:37.78, Z:-0.87 [[ 9.84739987e-01 1.72261974e-01 2.47582543e-02 1.43745427e+02] [-1.72203339e-01 9.85051159e-01 -4.49720363e-03 3.77755720e+01] [-2.51628443e-02 1.65122173e-04 9.99683352e-01 -8.66699311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63592 meters Centerline goodness [0,1] 0.9962126874968854 Centerline is valid? [True, True] Translation: X:143.78, Y:37.77, Z:-0.87 [[ 9.85010133e-01 1.70886678e-01 2.35112895e-02 1.43777106e+02] [-1.70833334e-01 9.85290671e-01 -4.27387086e-03 3.77719805e+01] [-2.38958018e-02 1.93294144e-04 9.99714436e-01 -8.66730051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66592 meters Centerline goodness [0,1] 0.9961035068438405 Centerline is valid? [True, True] Translation: X:143.81, Y:37.77, Z:-0.87 [[ 9.85161283e-01 1.70168525e-01 2.23588609e-02 1.43808665e+02] [-1.70120031e-01 9.85414954e-01 -4.06736285e-03 3.77675568e+01] [-2.27248930e-02 2.03318308e-04 9.99741736e-01 -8.65997545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69592 meters Centerline goodness [0,1] 0.9964150567616012 Centerline is valid? [True, True] Translation: X:143.84, Y:37.76, Z:-0.87 [[ 9.85510615e-01 1.67934008e-01 2.38116816e-02 1.43840627e+02] [-1.67878277e-01 9.85798201e-01 -4.33483493e-03 3.77616700e+01] [-2.42014791e-02 2.74561761e-04 9.99707064e-01 -8.67431060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72592 meters Centerline goodness [0,1] 0.9967147834743654 Centerline is valid? [True, True] Translation: X:143.87, Y:37.76, Z:-0.87 [[ 9.85728897e-01 1.66828383e-01 2.25129540e-02 1.43872182e+02] [-1.66778209e-01 9.85985906e-01 -4.10139255e-03 3.77564492e+01] [-2.28816841e-02 2.88191012e-04 9.99738138e-01 -8.66149577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75592 meters Centerline goodness [0,1] 0.9968648917641204 Centerline is valid? [True, True] Translation: X:143.90, Y:37.75, Z:-0.87 [[ 9.85890706e-01 1.65725342e-01 2.35505224e-02 1.43903949e+02] [-1.65670047e-01 9.86171892e-01 -4.29350541e-03 3.77515674e+01] [-2.39364059e-02 3.31310938e-04 9.99713428e-01 -8.67685050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78592 meters Centerline goodness [0,1] 0.9971647433346598 Centerline is valid? [True, True] Translation: X:143.94, Y:37.75, Z:-0.87 [[ 9.85803035e-01 1.66187160e-01 2.39625546e-02 1.43936652e+02] [-1.66129935e-01 9.86094173e-01 -4.37330550e-03 3.77453182e+01] [-2.43561226e-02 3.30320207e-04 9.99703291e-01 -8.68288530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81592 meters Centerline goodness [0,1] 0.9975066074901511 Centerline is valid? [True, True] Translation: X:143.97, Y:37.74, Z:-0.87 [[ 9.85611839e-01 1.67429259e-01 2.31677843e-02 1.43967718e+02] [-1.67376038e-01 9.85884049e-01 -4.23134852e-03 3.77381778e+01] [-2.35492006e-02 2.92735246e-04 9.99722636e-01 -8.68044242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84592 meters Centerline goodness [0,1] 0.9986080039771315 Centerline is valid? [True, True] Translation: X:144.00, Y:37.73, Z:-0.87 [[ 9.85449927e-01 1.68025161e-01 2.56122337e-02 1.43998791e+02] [-1.67960037e-01 9.85782655e-01 -4.68851309e-03 3.77314986e+01] [-2.60358839e-02 3.18463173e-04 9.99660958e-01 -8.67787968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87592 meters Centerline goodness [0,1] 0.9988069198647842 Centerline is valid? [True, True] Translation: X:144.03, Y:37.73, Z:-0.87 [[ 9.85333103e-01 1.68806623e-01 2.49599540e-02 1.44030380e+02] [-1.68744936e-01 9.85649145e-01 -4.57263744e-03 3.77257350e+01] [-2.53736488e-02 2.93705207e-04 9.99677994e-01 -8.67260056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90592 meters Centerline goodness [0,1] 0.999502091216889 Centerline is valid? [True, True] Translation: X:144.06, Y:37.72, Z:-0.87 [[ 9.85117502e-01 1.70340746e-01 2.29682055e-02 1.44061983e+02] [-1.70288859e-01 9.85385191e-01 -4.21075520e-03 3.77179824e+01] [-2.33497927e-02 2.36859142e-04 9.99727328e-01 -8.66367218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.09, Y:37.71, Z:-0.87 [[ 9.84920946e-01 1.71454284e-01 2.31118648e-02 1.44093798e+02] [-1.71401944e-01 9.85192053e-01 -4.24164596e-03 3.77068560e+01] [-2.34968739e-02 2.16267384e-04 9.99723887e-01 -8.65843406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.12, Y:37.70, Z:-0.86 [[ 9.84828533e-01 1.72043266e-01 2.26688181e-02 1.44124933e+02] [-1.71993000e-01 9.85089374e-01 -4.16339846e-03 3.77004940e+01] [-2.30470965e-02 2.01355567e-04 9.99734360e-01 -8.64889908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.16, Y:37.70, Z:-0.87 [[ 9.84762982e-01 1.72470765e-01 2.22644336e-02 1.44157170e+02] [-1.72422319e-01 9.85014619e-01 -4.09208989e-03 3.76955933e+01] [-2.26365585e-02 1.90853364e-04 9.99743742e-01 -8.65313185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.19, Y:37.69, Z:-0.87 [[ 9.84059939e-01 1.76641299e-01 2.05885602e-02 1.44189167e+02] [-1.76600727e-01 9.84275288e-01 -3.78682867e-03 3.76911733e+01] [-2.09337214e-02 9.05116992e-05 9.99780862e-01 -8.65745676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.22, Y:37.68, Z:-0.87 [[ 9.83690068e-01 1.78749790e-01 2.00589581e-02 1.44220939e+02] [-1.78711661e-01 9.83894563e-01 -3.69213035e-03 3.76848163e+01] [-2.03958673e-02 4.71422331e-05 9.99791982e-01 -8.65797615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.25, Y:37.68, Z:-0.86 [[ 9.83081677e-01 1.81986685e-01 2.07668441e-02 1.44252630e+02] [-1.81946480e-01 9.83300995e-01 -3.82523965e-03 3.76781555e+01] [-2.11162011e-02 -1.79311605e-05 9.99777028e-01 -8.63678811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.29, Y:37.67, Z:-0.86 [[ 9.82795823e-01 1.83516941e-01 2.08303240e-02 1.44285854e+02] [-1.83476744e-01 9.83016546e-01 -3.84113288e-03 3.76736463e+01] [-2.11814661e-02 -4.68306542e-05 9.99775646e-01 -8.63027196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.32, Y:37.67, Z:-0.86 [[ 9.82754466e-01 1.83803342e-01 2.02482459e-02 1.44317805e+02] [-1.83765363e-01 9.82963036e-01 -3.73660473e-03 3.76695958e+01] [-2.05900777e-02 -4.87612673e-05 9.99788001e-01 -8.63120160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.35, Y:37.67, Z:-0.86 [[ 9.82616361e-01 1.84625482e-01 1.94555694e-02 1.44350087e+02] [-1.84590527e-01 9.82808948e-01 -3.59298443e-03 3.76656404e+01] [-1.97844642e-02 -6.07885273e-05 9.99804266e-01 -8.64380293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.38, Y:37.66, Z:-0.86 [[ 9.82589610e-01 1.84805596e-01 1.90932176e-02 1.44383089e+02] [-1.84771890e-01 9.82775095e-01 -3.52992359e-03 3.76610398e+01] [-1.94166883e-02 -5.94236593e-05 9.99811477e-01 -8.64162513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.42, Y:37.66, Z:-0.86 [[ 9.82552927e-01 1.85000600e-01 1.90925168e-02 1.44415081e+02] [-1.84966857e-01 9.82738406e-01 -3.53371206e-03 3.76551846e+01] [-1.94166883e-02 -5.94236995e-05 9.99811477e-01 -8.64190588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.45, Y:37.65, Z:-0.86 [[ 9.82319217e-01 1.86102218e-01 2.03695732e-02 1.44447504e+02] [-1.86063988e-01 9.82530385e-01 -3.77291216e-03 3.76521212e+01] [-2.07158719e-02 -8.38399102e-05 9.99785400e-01 -8.63224633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.48, Y:37.65, Z:-0.86 [[ 9.82277457e-01 1.86312663e-01 2.04594717e-02 1.44479588e+02] [-1.86274054e-01 9.82490501e-01 -3.79371031e-03 3.76466744e+01] [-2.08080528e-02 -8.45926267e-05 9.99783485e-01 -8.63432718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.51, Y:37.64, Z:-0.86 [[ 9.82441571e-01 1.85727583e-01 1.77151178e-02 1.44511413e+02] [-1.85698498e-01 9.82601273e-01 -3.28727778e-03 3.76414693e+01] [-1.80174355e-02 -6.01124410e-05 9.99837671e-01 -8.63071073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.54, Y:37.64, Z:-0.86 [[ 9.82478999e-01 1.85624498e-01 1.66901954e-02 1.44543647e+02] [-1.85598629e-01 9.82620752e-01 -3.09936709e-03 3.76363607e+01] [-1.69754509e-02 -5.26143119e-05 9.99855905e-01 -8.63390076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.58, Y:37.63, Z:-0.86 [[ 9.82502730e-01 1.85435475e-01 1.73801779e-02 1.44575685e+02] [-1.85407351e-01 9.82656442e-01 -3.22985852e-03 3.76311368e+01] [-1.76776741e-02 -4.90679340e-05 9.99843737e-01 -8.63515530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.61, Y:37.62, Z:-0.86 [[ 9.82288731e-01 1.86371311e-01 1.93541411e-02 1.44607577e+02] [-1.86336564e-01 9.82479379e-01 -3.59935983e-03 3.76248096e+01] [-1.96858620e-02 -7.07735537e-05 9.99806212e-01 -8.62813726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.64, Y:37.62, Z:-0.86 [[ 9.81702337e-01 1.89306820e-01 2.05778740e-02 1.44639082e+02] [-1.89268126e-01 9.81917975e-01 -3.82973613e-03 3.76199793e+01] [-2.09307795e-02 -1.35074742e-04 9.99780918e-01 -8.62748367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.67, Y:37.62, Z:-0.86 [[ 9.81132954e-01 1.92160538e-01 2.12709528e-02 1.44670492e+02] [-1.92119785e-01 9.81363484e-01 -3.96230664e-03 3.76150759e+01] [-2.16359354e-02 -1.99021268e-04 9.99765896e-01 -8.63489668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.70, Y:37.61, Z:-0.86 [[ 9.80666349e-01 1.94650633e-01 2.01157526e-02 1.44703079e+02] [-1.94614626e-01 9.80872609e-01 -3.75125702e-03 3.76100843e+01] [-2.04611753e-02 -2.36088146e-04 9.99790620e-01 -8.63381009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.74, Y:37.61, Z:-0.86 [[ 9.79887764e-01 1.98769976e-01 1.76200576e-02 1.44736248e+02] [-1.98742951e-01 9.80046131e-01 -3.28943180e-03 3.76058913e+01] [-1.79223095e-02 -2.78588267e-04 9.99839344e-01 -8.64074089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56592 meters Centerline goodness [0,1] 0.999900457893689 Centerline is valid? [True, True] Translation: X:144.77, Y:37.60, Z:-0.86 [[ 9.79532398e-01 2.00603103e-01 1.65733870e-02 1.44768770e+02] [-2.00579417e-01 9.79672553e-01 -3.09633286e-03 3.76036182e+01] [-1.68576264e-02 -2.91321956e-04 9.99857858e-01 -8.62816617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.80, Y:37.60, Z:-0.86 [[ 9.79555106e-01 2.00388339e-01 1.77850278e-02 1.44800750e+02] [-2.00360983e-01 9.79716500e-01 -3.32513208e-03 3.76014793e+01] [-1.80906028e-02 -3.06275547e-04 9.99836305e-01 -8.63264963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62592 meters Centerline goodness [0,1] 0.9999502116006971 Centerline is valid? [True, True] Translation: X:144.83, Y:37.60, Z:-0.86 [[ 9.79729125e-01 1.99510832e-01 1.80629323e-02 1.44832999e+02] [-1.99482421e-01 9.79895577e-01 -3.37955578e-03 3.75998372e+01] [-1.83740455e-02 -2.92188245e-04 9.99831140e-01 -8.62816733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65592 meters Centerline goodness [0,1] 0.9997014628321226 Centerline is valid? [True, True] Translation: X:144.87, Y:37.60, Z:-0.86 [[ 9.79905829e-01 1.98453451e-01 2.00198483e-02 1.44866323e+02] [-1.98418273e-01 9.80110268e-01 -3.74842944e-03 3.76006559e+01] [-2.03655476e-02 -2.99195854e-04 9.99792556e-01 -8.64369128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68592 meters Centerline goodness [0,1] 0.9998505008222455 Centerline is valid? [True, True] Translation: X:144.90, Y:37.60, Z:-0.86 [[ 9.79977756e-01 1.97857187e-01 2.22740195e-02 1.44898283e+02] [-1.97813417e-01 9.80230806e-01 -4.17352043e-03 3.75970561e+01] [-2.26594411e-02 -3.16142715e-04 9.99743192e-01 -8.64682532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.93, Y:37.60, Z:-0.86 [[ 9.80039805e-01 1.97516311e-01 2.25673906e-02 1.44931710e+02] [-1.97471187e-01 9.80299552e-01 -4.23300303e-03 3.75966460e+01] [-2.29588901e-02 -3.07897944e-04 9.99736363e-01 -8.64917553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74592 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:144.96, Y:37.60, Z:-0.87 [[ 9.80199677e-01 1.96663331e-01 2.30678808e-02 1.44964070e+02] [-1.96615871e-01 9.80471035e-01 -4.33008237e-03 3.75952974e+01] [-2.34689574e-02 -2.91166138e-04 9.99724524e-01 -8.65402358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.00, Y:37.60, Z:-0.87 [[ 9.80420500e-01 1.95432259e-01 2.41221076e-02 1.44997272e+02] [-1.95379908e-01 9.80717166e-01 -4.53126055e-03 3.75977811e+01] [-2.45425195e-02 -2.70434437e-04 9.99698750e-01 -8.68332087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.03, Y:37.60, Z:-0.87 [[ 9.80484581e-01 1.95217354e-01 2.32415718e-02 1.45029611e+02] [-1.95168623e-01 9.80759971e-01 -4.36895871e-03 3.75950905e+01] [-2.36472999e-02 -2.52328908e-04 9.99720332e-01 -8.68616396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83592000000002 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:145.06, Y:37.59, Z:-0.87 [[ 9.80526485e-01 1.95022612e-01 2.31082792e-02 1.45062164e+02] [-1.94974311e-01 9.80798716e-01 -4.34699746e-03 3.75923016e+01] [-2.35123334e-02 -2.43174671e-04 9.99723517e-01 -8.68859479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86592000000002 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:145.09, Y:37.59, Z:-0.87 [[ 9.80817901e-01 1.93208255e-01 2.58227564e-02 1.45094988e+02] [-1.93147218e-01 9.81157746e-01 -4.86108941e-03 3.75928502e+01] [-2.62754000e-02 -2.19750037e-04 9.99654718e-01 -8.69482126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89592000000002 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:145.13, Y:37.59, Z:-0.87 [[ 9.81048907e-01 1.92024000e-01 2.58809788e-02 1.45127388e+02] [-1.91962184e-01 9.81390213e-01 -4.87551416e-03 3.75890038e+01] [-2.63355550e-02 -1.85051373e-04 9.99653142e-01 -8.69897631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.16, Y:37.59, Z:-0.87 [[ 9.81274020e-01 1.90471967e-01 2.86657995e-02 1.45160005e+02] [-1.90395356e-01 9.81692623e-01 -5.40396245e-03 3.75882522e+01] [-2.91703073e-02 -1.55067134e-04 9.99574444e-01 -8.70547736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.19, Y:37.59, Z:-0.87 [[ 9.81540748e-01 1.89125810e-01 2.84462298e-02 1.45191981e+02] [-1.89049693e-01 9.81952858e-01 -5.36635974e-03 3.75858545e+01] [-2.89477738e-02 -1.10450244e-04 9.99580919e-01 -8.69990786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98592000000002 meters Centerline goodness [0,1] 0.9999502116006971 Centerline is valid? [True, True] Translation: X:145.22, Y:37.58, Z:-0.87 [[ 9.81690635e-01 1.88049468e-01 3.03462515e-02 1.45223631e+02] [-1.87962231e-01 9.82159555e-01 -5.72787362e-03 3.75824474e+01] [-3.08819844e-02 -8.09492456e-05 9.99523034e-01 -8.71110589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.26, Y:37.58, Z:-0.87 [[ 9.82523567e-01 1.83487495e-01 3.13014172e-02 1.45255943e+02] [-1.83392229e-01 9.83022042e-01 -5.91232677e-03 3.75785957e+01] [-3.18548210e-02 6.85637161e-05 9.99492504e-01 -8.73108494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04592 meters Centerline goodness [0,1] 0.999800905878254 Centerline is valid? [True, True] Translation: X:145.29, Y:37.57, Z:-0.87 [[ 9.83437986e-01 1.79046535e-01 2.81436743e-02 1.45287787e+02] [-1.78967600e-01 9.83840587e-01 -5.31955810e-03 3.75749248e+01] [-2.86413375e-02 1.94649646e-04 9.99589734e-01 -8.71749301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07592 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:145.32, Y:37.57, Z:-0.87 [[ 9.83773602e-01 1.77519519e-01 2.60061694e-02 1.45319436e+02] [-1.77451497e-01 9.84117254e-01 -4.91895384e-03 3.75705741e+01] [-2.64663304e-02 2.24303231e-04 9.99649680e-01 -8.71128259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10592 meters Centerline goodness [0,1] 0.9997514663485436 Centerline is valid? [True, True] Translation: X:145.35, Y:37.57, Z:-0.87 [[ 9.83903646e-01 1.76736157e-01 2.64186732e-02 1.45351182e+02] [-1.76665585e-01 9.84258232e-01 -5.00042238e-03 3.75650833e+01] [-2.68865520e-02 2.52663454e-04 9.99638459e-01 -8.71509231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13592 meters Centerline goodness [0,1] 0.999701700308243 Centerline is valid? [True, True] Translation: X:145.38, Y:37.56, Z:-0.87 [[ 9.83993358e-01 1.76295848e-01 2.60162418e-02 1.45382442e+02] [-1.76227167e-01 9.84337190e-01 -4.92764010e-03 3.75573604e+01] [-2.64774768e-02 2.63996558e-04 9.99649375e-01 -8.71240963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16592 meters Centerline goodness [0,1] 0.9997011356843993 Centerline is valid? [True, True] Translation: X:145.41, Y:37.55, Z:-0.87 [[ 9.83682116e-01 1.77768352e-01 2.77111326e-02 1.45414211e+02] [-1.77690910e-01 9.84072332e-01 -5.25226972e-03 3.75501269e+01] [-2.82034462e-02 2.42547428e-04 9.99602174e-01 -8.72582071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19592 meters Centerline goodness [0,1] 0.9998009653182067 Centerline is valid? [True, True] Translation: X:145.45, Y:37.54, Z:-0.87 [[ 9.83410598e-01 1.79543174e-01 2.58426704e-02 1.45445755e+02] [-1.79476348e-01 9.83750078e-01 -4.90151338e-03 3.75430299e+01] [-2.63027622e-02 1.82052111e-04 9.99654006e-01 -8.72256428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22592 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:145.48, Y:37.54, Z:-0.87 [[ 9.83301905e-01 1.80399677e-01 2.39440865e-02 1.45477602e+02] [-1.80342469e-01 9.83593378e-01 -4.54534582e-03 3.75371385e+01] [-2.43712238e-02 1.51311524e-04 9.99702966e-01 -8.70351508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.51, Y:37.53, Z:-0.87 [[ 9.83000541e-01 1.81880098e-01 2.50911572e-02 1.45508963e+02] [-1.81817672e-01 9.83320708e-01 -4.76651559e-03 3.75313256e+01] [-2.55395888e-02 1.23471626e-04 9.99673804e-01 -8.71305259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28592 meters Centerline goodness [0,1] 0.9998008860570461 Centerline is valid? [True, True] Translation: X:145.54, Y:37.53, Z:-0.87 [[ 9.82850696e-01 1.82607784e-01 2.56691866e-02 1.45541189e+02] [-1.82542607e-01 9.83185834e-01 -4.87972398e-03 3.75264422e+01] [-2.61286562e-02 1.10319877e-04 9.99658582e-01 -8.70709916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31592 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:145.57, Y:37.52, Z:-0.87 [[ 9.82794326e-01 1.82982269e-01 2.51555663e-02 1.45573002e+02] [-1.82919711e-01 9.83116208e-01 -4.78542496e-03 3.75210987e+01] [-2.56064929e-02 1.01639557e-04 9.99672095e-01 -8.71108233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34592 meters Centerline goodness [0,1] 0.9996004794246903 Centerline is valid? [True, True] Translation: X:145.60, Y:37.52, Z:-0.87 [[ 9.83078568e-01 1.81866894e-01 2.19308409e-02 1.45604870e+02] [-1.81819006e-01 9.83323151e-01 -4.17489599e-03 3.75175726e+01] [-2.23243790e-02 1.16807073e-04 9.99750773e-01 -8.70535471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37592 meters Centerline goodness [0,1] 0.999750946403666 Centerline is valid? [True, True] Translation: X:145.64, Y:37.51, Z:-0.87 [[ 9.83152312e-01 1.81530377e-01 2.14068677e-02 1.45635792e+02] [-1.81484638e-01 9.83385330e-01 -4.07664604e-03 3.75127034e+01] [-2.17912347e-02 1.22946340e-04 9.99762535e-01 -8.70897335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40592 meters Centerline goodness [0,1] 0.9998008067327324 Centerline is valid? [True, True] Translation: X:145.67, Y:37.51, Z:-0.87 [[ 9.83065348e-01 1.82160882e-01 1.99983567e-02 1.45666065e+02] [-1.82121094e-01 9.83268734e-01 -3.80846774e-03 3.75083142e+01] [-2.03575127e-02 1.01850073e-04 9.99792759e-01 -8.68865066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43592 meters Centerline goodness [0,1] 0.999850916861303 Centerline is valid? [True, True] Translation: X:145.70, Y:37.50, Z:-0.87 [[ 9.82908950e-01 1.83029708e-01 1.97515121e-02 1.45696542e+02] [-1.82991071e-01 9.83107379e-01 -3.76145889e-03 3.75028205e+01] [-2.01063160e-02 8.28212496e-05 9.99797844e-01 -8.69735778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46592 meters Centerline goodness [0,1] 0.9995517705064993 Centerline is valid? [True, True] Translation: X:145.73, Y:37.50, Z:-0.87 [[ 9.82753495e-01 1.83786008e-01 2.04516666e-02 1.45725497e+02] [-1.83744774e-01 9.82966275e-01 -3.89348185e-03 3.74977022e+01] [-2.08188660e-02 6.84460375e-05 9.99783262e-01 -8.70235402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49592 meters Centerline goodness [0,1] 0.9993531372841717 Centerline is valid? [True, True] Translation: X:145.76, Y:37.49, Z:-0.87 [[ 9.82432714e-01 1.85628762e-01 1.91813697e-02 1.45755253e+02] [-1.85592845e-01 9.82619948e-01 -3.65159604e-03 3.74926896e+01] [-1.95258378e-02 2.75224334e-05 9.99809352e-01 -8.70171800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52592 meters Centerline goodness [0,1] 0.9997016854770546 Centerline is valid? [True, True] Translation: X:145.78, Y:37.49, Z:-0.87 [[ 9.82255873e-01 1.86677148e-01 1.80289453e-02 1.45783228e+02] [-1.86645730e-01 9.82421316e-01 -3.42476598e-03 3.74876910e+01] [-1.83513457e-02 -1.02916266e-06 9.99831600e-01 -8.68422736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55592000000001 meters Centerline goodness [0,1] 0.9996016729735112 Centerline is valid? [True, True] Translation: X:145.81, Y:37.48, Z:-0.87 [[ 9.82177715e-01 1.87129847e-01 1.75885233e-02 1.45811768e+02] [-1.87100166e-01 9.82335187e-01 -3.33281766e-03 3.74820935e+01] [-1.79014950e-02 -1.73963986e-05 9.99839755e-01 -8.66078998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58592000000002 meters Centerline goodness [0,1] 0.9996021879661859 Centerline is valid? [True, True] Translation: X:145.84, Y:37.48, Z:-0.87 [[ 9.81934804e-01 1.88382337e-01 1.77801997e-02 1.45839457e+02] [-1.88352363e-01 9.82095766e-01 -3.36074819e-03 3.74762559e+01] [-1.80949644e-02 -4.89070031e-05 9.99836272e-01 -8.66475228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61592000000002 meters Centerline goodness [0,1] 0.999552394688417 Centerline is valid? [True, True] Translation: X:145.87, Y:37.47, Z:-0.87 [[ 9.81922311e-01 1.88443456e-01 1.78224133e-02 1.45867221e+02] [-1.88413501e-01 9.82084039e-01 -3.36037996e-03 3.74701679e+01] [-1.81363493e-02 -5.83512346e-05 9.99835521e-01 -8.67575964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64592000000002 meters Centerline goodness [0,1] 0.9995026112907237 Centerline is valid? [True, True] Translation: X:145.89, Y:37.46, Z:-0.87 [[ 9.81956882e-01 1.88255172e-01 1.79073133e-02 1.45894995e+02] [-1.88225053e-01 9.82120148e-01 -3.36800717e-03 3.74646899e+01] [-1.82211780e-02 -6.33671692e-05 9.99833979e-01 -8.67651619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67592000000002 meters Centerline goodness [0,1] 0.9995020416293198 Centerline is valid? [True, True] Translation: X:145.92, Y:37.46, Z:-0.87 [[ 9.81929782e-01 1.88537301e-01 1.63581439e-02 1.45923793e+02] [-1.88512324e-01 9.82066027e-01 -3.06960709e-03 3.74595352e+01] [-1.66435128e-02 -6.95730971e-05 9.99861485e-01 -8.67805902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70592000000002 meters Centerline goodness [0,1] 0.9993033786137234 Centerline is valid? [True, True] Translation: X:145.95, Y:37.45, Z:-0.87 [[ 9.81712653e-01 1.89650174e-01 1.65250851e-02 1.45950731e+02] [-1.89624988e-01 9.81851721e-01 -3.09224591e-03 3.74537204e+01] [-1.68116283e-02 -9.78721361e-05 9.99858670e-01 -8.67659668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73592000000002 meters Centerline goodness [0,1] 0.9997016409746395 Centerline is valid? [True, True] Translation: X:145.98, Y:37.45, Z:-0.87 [[ 9.81673411e-01 1.89845897e-01 1.66087230e-02 1.45977572e+02] [-1.89820632e-01 9.81813894e-01 -3.09909138e-03 3.74480140e+01] [-1.68950248e-02 -1.10382690e-04 9.99857263e-01 -8.68271605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76592 meters Centerline goodness [0,1] 0.9995514130488959 Centerline is valid? [True, True] Translation: X:146.01, Y:37.44, Z:-0.87 [[ 9.81272416e-01 1.91796910e-01 1.78435384e-02 1.46005562e+02] [-1.91768222e-01 9.81434623e-01 -3.32117479e-03 3.74427286e+01] [-1.81492574e-02 -1.62846421e-04 9.99835275e-01 -8.68499488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79592 meters Centerline goodness [0,1] 0.9994535790571755 Centerline is valid? [True, True] Translation: X:146.03, Y:37.44, Z:-0.87 [[ 9.81119836e-01 1.92557636e-01 1.80395128e-02 1.46034112e+02] [-1.92528596e-01 9.81285647e-01 -3.34930706e-03 3.74383941e+01] [-1.83468496e-02 -1.87050481e-04 9.99831665e-01 -8.68705784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82592 meters Centerline goodness [0,1] 0.9994028068080024 Centerline is valid? [True, True] Translation: X:146.06, Y:37.43, Z:-0.87 [[ 9.80842296e-01 1.93957009e-01 1.81402759e-02 1.46062365e+02] [-1.93928037e-01 9.81010005e-01 -3.35967591e-03 3.74341104e+01] [-1.84474249e-02 -2.22595874e-04 9.99829807e-01 -8.69471215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85592 meters Centerline goodness [0,1] 0.9991062562065541 Centerline is valid? [True, True] Translation: X:146.09, Y:37.43, Z:-0.87 [[ 9.80533770e-01 1.95478780e-01 1.84816969e-02 1.46090340e+02] [-1.95449137e-01 9.80707896e-01 -3.41438836e-03 3.74287124e+01] [-1.87925865e-02 -2.64308614e-04 9.99823369e-01 -8.69545301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:146.12, Y:37.43, Z:-0.87 [[ 9.80997776e-01 1.93017293e-01 1.96897792e-02 1.46118282e+02] [-1.92983361e-01 9.81195325e-01 -3.62714566e-03 3.74267177e+01] [-2.00196212e-02 -2.41577953e-04 9.99799558e-01 -8.71635143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91592 meters Centerline goodness [0,1] 0.9999005074121978 Centerline is valid? [True, True] Translation: X:146.15, Y:37.42, Z:-0.87 [[ 9.81244670e-01 1.91824582e-01 1.90322608e-02 1.46146468e+02] [-1.91792824e-01 9.81429204e-01 -3.49721127e-03 3.74228998e+01] [-1.93496677e-02 -2.18631143e-04 9.99812754e-01 -8.70237779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94592 meters Centerline goodness [0,1] 0.9998006478943434 Centerline is valid? [True, True] Translation: X:146.17, Y:37.42, Z:-0.87 [[ 9.82075958e-01 1.87406231e-01 2.01424322e-02 1.46174147e+02] [-1.87369948e-01 9.82282486e-01 -3.69062568e-03 3.74201909e+01] [-2.04772046e-02 -1.49611714e-04 9.99790309e-01 -8.71149313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97592 meters Centerline goodness [0,1] 0.9998011829613798 Centerline is valid? [True, True] Translation: X:146.20, Y:37.42, Z:-0.87 [[ 9.82455364e-01 1.85252953e-01 2.15127995e-02 1.46202786e+02] [-1.85211265e-01 9.82690861e-01 -3.93173396e-03 3.74162239e+01] [-2.18687968e-02 -1.21659702e-04 9.99760842e-01 -8.72174663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:37.42, Z:-0.87 [[ 9.83125699e-01 1.81334599e-01 2.41168674e-02 1.46231424e+02] [-1.81281131e-01 9.83421457e-01 -4.40340365e-03 3.74153820e+01] [-2.45155343e-02 -4.28337090e-05 9.99699448e-01 -8.74195678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03592 meters Centerline goodness [0,1] 0.9997018781675445 Centerline is valid? [True, True] Translation: X:146.26, Y:37.41, Z:-0.88 [[ 9.83490870e-01 1.79202024e-01 2.51464414e-02 1.46262613e+02] [-1.79143160e-01 9.83812296e-01 -4.59282168e-03 3.74112279e+01] [-2.55624212e-02 1.21852138e-05 9.99673228e-01 -8.75048348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06592 meters Centerline goodness [0,1] 0.9996019306364134 Centerline is valid? [True, True] Translation: X:146.29, Y:37.41, Z:-0.87 [[ 9.83820031e-01 1.77329789e-01 2.55400376e-02 1.46293114e+02] [-1.77268393e-01 9.84151483e-01 -4.66636450e-03 3.74063775e+01] [-2.59627513e-02 6.34214496e-05 9.99662909e-01 -8.74667938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09592 meters Centerline goodness [0,1] 0.9993547106125286 Centerline is valid? [True, True] Translation: X:146.32, Y:37.40, Z:-0.88 [[ 9.84417115e-01 1.73695333e-01 2.74385728e-02 1.46324452e+02] [-1.73623006e-01 9.84799422e-01 -5.01502148e-03 3.74019051e+01] [-2.78925764e-02 1.72905490e-04 9.99610911e-01 -8.75037405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12592 meters Centerline goodness [0,1] 0.9993547106125286 Centerline is valid? [True, True] Translation: X:146.36, Y:37.40, Z:-0.88 [[ 9.84395307e-01 1.73818983e-01 2.74379526e-02 1.46355645e+02] [-1.73746610e-01 9.84777605e-01 -5.01841319e-03 3.73962455e+01] [-2.78925767e-02 1.72851144e-04 9.99610911e-01 -8.75064771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15592 meters Centerline goodness [0,1] 0.9997018781675445 Centerline is valid? [True, True] Translation: X:146.39, Y:37.39, Z:-0.88 [[ 9.84585382e-01 1.72670575e-01 2.78657194e-02 1.46386980e+02] [-1.72595364e-01 9.84979608e-01 -5.10026702e-03 3.73911109e+01] [-2.83278314e-02 2.12154370e-04 9.99598664e-01 -8.75321953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18592 meters Centerline goodness [0,1] 0.9997011356843993 Centerline is valid? [True, True] Translation: X:146.42, Y:37.39, Z:-0.88 [[ 9.85562273e-01 1.66869672e-01 2.86621510e-02 1.46418338e+02] [-1.66787563e-01 9.85978883e-01 -5.24886105e-03 3.73859404e+01] [-2.91361513e-02 3.92589115e-04 9.99575375e-01 -8.75551401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21592 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:146.45, Y:37.38, Z:-0.88 [[ 9.85992347e-01 1.63957973e-01 3.06084084e-02 1.46450160e+02] [-1.63862808e-01 9.86467190e-01 -5.60913719e-03 3.73791471e+01] [-3.11138534e-02 5.14986601e-04 9.99515714e-01 -8.76206575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.48, Y:37.37, Z:-0.88 [[ 9.86772164e-01 1.58756981e-01 3.28164264e-02 1.46481701e+02] [-1.58644572e-01 9.87317418e-01 -6.01789639e-03 3.73731655e+01] [-3.33556124e-02 7.32144746e-04 9.99443279e-01 -8.76573641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:146.51, Y:37.37, Z:-0.88 [[ 9.87014246e-01 1.57670812e-01 3.07049403e-02 1.46513256e+02] [-1.57571762e-01 9.87491464e-01 -5.63451362e-03 3.73660120e+01] [-3.12092648e-02 7.23113680e-04 9.99512611e-01 -8.76215938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30592000000001 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:146.54, Y:37.35, Z:-0.88 [[ 9.87245019e-01 1.56224205e-01 3.06801187e-02 1.46544334e+02] [-1.56124499e-01 9.87721318e-01 -5.63374883e-03 3.73549763e+01] [-3.11835352e-02 7.71972321e-04 9.99513377e-01 -8.78851072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.58, Y:37.35, Z:-0.88 [[ 9.87256306e-01 1.55899257e-01 3.19438073e-02 1.46575716e+02] [-1.55790867e-01 9.87772621e-01 -5.86975608e-03 3.73476222e+01] [-3.24683089e-02 8.18400267e-04 9.99472430e-01 -8.78731915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36592000000002 meters Centerline goodness [0,1] 0.999950132149803 Centerline is valid? [True, True] Translation: X:146.61, Y:37.34, Z:-0.88 [[ 9.87199613e-01 1.56273422e-01 3.18675548e-02 1.46607160e+02] [-1.56165616e-01 9.87713503e-01 -5.85968329e-03 3.73409778e+01] [-3.23917269e-02 8.08060768e-04 9.99474924e-01 -8.78562243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39592000000002 meters Centerline goodness [0,1] 0.999950149551346 Centerline is valid? [True, True] Translation: X:146.64, Y:37.33, Z:-0.88 [[ 9.86853978e-01 1.58084146e-01 3.35950573e-02 1.46638004e+02] [-1.57965236e-01 9.87425325e-01 -6.18150593e-03 3.73320709e+01] [-3.41498085e-02 7.93392558e-04 9.99416410e-01 -8.78975796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.67, Y:37.32, Z:-0.88 [[ 9.86631366e-01 1.59567954e-01 3.31151913e-02 1.46668945e+02] [-1.59453114e-01 9.87186673e-01 -6.09731755e-03 3.73232947e+01] [-3.36638121e-02 7.35484341e-04 9.99432943e-01 -8.78358833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.70, Y:37.31, Z:-0.88 [[ 9.86550887e-01 1.60343894e-01 3.17361304e-02 1.46699748e+02] [-1.60238666e-01 9.87060974e-01 -5.84829757e-03 3.73111578e+01] [-3.22632346e-02 6.84287948e-04 9.99479172e-01 -8.77267966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.73, Y:37.30, Z:-0.88 [[ 9.86573721e-01 1.60384674e-01 3.08066424e-02 1.46731249e+02] [-1.60285418e-01 9.87054361e-01 -5.68091917e-03 3.73045436e+01] [-3.13189631e-02 6.66790002e-04 9.99509219e-01 -8.77223399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.76, Y:37.30, Z:-0.88 [[ 9.86403489e-01 1.61216576e-01 3.18962642e-02 1.46762007e+02] [-1.61110478e-01 9.86918827e-01 -5.88584249e-03 3.72951382e+01] [-3.24279190e-02 6.66993185e-04 9.99473854e-01 -8.77882225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.79, Y:37.29, Z:-0.88 [[ 9.86434297e-01 1.60998519e-01 3.20445612e-02 1.46792824e+02] [-1.60891185e-01 9.86954413e-01 -5.91723683e-03 3.72871037e+01] [-3.25791875e-02 6.81277913e-04 9.99468925e-01 -8.77965704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.82, Y:37.28, Z:-0.88 [[ 9.86363135e-01 1.61292780e-01 3.27476060e-02 1.46823640e+02] [-1.61180708e-01 9.86906360e-01 -6.05117504e-03 3.72787980e+01] [-3.32948315e-02 6.90373656e-04 9.99445335e-01 -8.78963906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.85, Y:37.27, Z:-0.88 [[ 9.86221829e-01 1.62253867e-01 3.22519159e-02 1.46854643e+02] [-1.62145545e-01 9.86748832e-01 -5.96362147e-03 3.72710425e+01] [-3.27921610e-02 6.51949204e-04 9.99461980e-01 -8.78519303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63592 meters Centerline goodness [0,1] 0.9999500249875063 Centerline is valid? [True, True] Translation: X:146.89, Y:37.26, Z:-0.88 [[ 9.86054923e-01 1.63409803e-01 3.15107183e-02 1.46885605e+02] [-1.63306755e-01 9.86558092e-01 -5.83399855e-03 3.72629819e+01] [-3.20404867e-02 6.06729825e-04 9.99486388e-01 -8.77667252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66592 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:146.92, Y:37.26, Z:-0.88 [[ 9.85917101e-01 1.63888359e-01 3.32877757e-02 1.46917209e+02] [-1.63773479e-01 9.86478692e-01 -6.16743275e-03 3.72557449e+01] [-3.38484519e-02 6.28922569e-04 9.99426779e-01 -8.79799346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.95, Y:37.25, Z:-0.88 [[ 9.85743669e-01 1.65170038e-01 3.20667848e-02 1.46948622e+02] [-1.65063979e-01 9.86264942e-01 -5.94527490e-03 3.72480499e+01] [-3.26083269e-02 5.67446016e-04 9.99468046e-01 -8.78356381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.98, Y:37.24, Z:-0.88 [[ 9.85590875e-01 1.66186454e-01 3.15069628e-02 1.46980424e+02] [-1.66084457e-01 9.86094206e-01 -5.84551337e-03 3.72424753e+01] [-3.20402786e-02 5.28467838e-04 9.99486439e-01 -8.78889736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.01, Y:37.24, Z:-0.88 [[ 9.85593847e-01 1.66394642e-01 3.02917710e-02 1.47012599e+02] [-1.66300342e-01 9.86059110e-01 -5.62392337e-03 3.72372956e+01] [-3.08052674e-02 5.05372391e-04 9.99525277e-01 -8.77658135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.04, Y:37.23, Z:-0.88 [[ 9.85684029e-01 1.66019308e-01 2.94038068e-02 1.47044299e+02] [-1.65930177e-01 9.86122373e-01 -5.46284437e-03 3.72316444e+01] [-2.99026893e-02 5.05659577e-04 9.99552687e-01 -8.77575160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.08, Y:37.22, Z:-0.88 [[ 9.85801270e-01 1.64883657e-01 3.17684724e-02 1.47076019e+02] [-1.64778889e-01 9.86312848e-01 -5.90622799e-03 3.72241103e+01] [-3.23074929e-02 5.87593476e-04 9.99477804e-01 -8.78872760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84592 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:147.11, Y:37.22, Z:-0.88 [[ 9.86133766e-01 1.62443553e-01 3.39453572e-02 1.47107285e+02] [-1.62322370e-01 9.86717578e-01 -6.31421082e-03 3.72190353e+01] [-3.45201835e-02 7.16565651e-04 9.99403744e-01 -8.79128437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.14, Y:37.21, Z:-0.88 [[ 9.86295086e-01 1.61573038e-01 3.34089286e-02 1.47140183e+02] [-1.61454943e-01 9.86860478e-01 -6.22072683e-03 3.72134266e+01] [-3.39750530e-02 7.41435629e-04 9.99422406e-01 -8.79627630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90592 meters Centerline goodness [0,1] 0.9998506571087217 Centerline is valid? [True, True] Translation: X:147.17, Y:37.21, Z:-0.88 [[ 9.86474887e-01 1.60774468e-01 3.19196910e-02 1.47171774e+02] [-1.60666121e-01 9.86990894e-01 -5.94749815e-03 3.72075371e+01] [-3.24606502e-02 7.38644622e-04 9.99472741e-01 -8.78448045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93592 meters Centerline goodness [0,1] 0.9999004826591034 Centerline is valid? [True, True] Translation: X:147.20, Y:37.20, Z:-0.88 [[ 9.86293283e-01 1.61843382e-01 3.21291254e-02 1.47203583e+02] [-1.61734041e-01 9.86816200e-01 -5.99058292e-03 3.72016131e+01] [-3.26750777e-02 7.12098392e-04 9.99465773e-01 -8.78510403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96592 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:147.24, Y:37.20, Z:-0.88 [[ 9.86116203e-01 1.63038842e-01 3.15146067e-02 1.47235393e+02] [-1.62934128e-01 9.86619428e-01 -5.88000014e-03 3.71961249e+01] [-3.20515916e-02 6.63558455e-04 9.99485995e-01 -8.78130782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:147.27, Y:37.19, Z:-0.88 [[ 9.85632701e-01 1.65875851e-01 3.18336332e-02 1.47266979e+02] [-1.65770351e-01 9.86146472e-01 -5.94359611e-03 3.71910835e+01] [-3.23785241e-02 5.81130160e-04 9.99475509e-01 -8.79074090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.30, Y:37.18, Z:-0.88 [[ 9.85235014e-01 1.68390977e-01 3.09264528e-02 1.47298642e+02] [-1.68292520e-01 9.85720163e-01 -5.77816547e-03 3.71846637e+01] [-3.14578191e-02 4.88160247e-04 9.99504961e-01 -8.78335459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:37.18, Z:-0.88 [[ 9.84944484e-01 1.69712900e-01 3.28921834e-02 1.47330043e+02] [-1.69602119e-01 9.85493431e-01 -6.14966105e-03 3.71793440e+01] [-3.34587075e-02 4.78490702e-04 9.99439986e-01 -8.78544325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08592000000002 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:147.36, Y:37.18, Z:-0.88 [[ 9.84545630e-01 1.72313413e-01 3.12728183e-02 1.47361954e+02] [-1.72214460e-01 9.85042104e-01 -5.85088688e-03 3.71761793e+01] [-3.18132290e-02 3.74833613e-04 9.99493761e-01 -8.78035989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.39, Y:37.17, Z:-0.88 [[ 9.84185053e-01 1.73918791e-01 3.36457349e-02 1.47394122e+02] [-1.73805034e-01 9.84759935e-01 -6.29918234e-03 3.71721577e+01] [-3.42285179e-02 3.51763001e-04 9.99413971e-01 -8.79097908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:37.17, Z:-0.88 [[ 9.84271463e-01 1.73870238e-01 3.12862032e-02 1.47425609e+02] [-1.73771728e-01 9.84768516e-01 -5.86147111e-03 3.71669639e+01] [-3.18288033e-02 3.32621159e-04 9.99493280e-01 -8.78190538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:37.16, Z:-0.88 [[ 9.84122804e-01 1.74973082e-01 2.97779695e-02 1.47457031e+02] [-1.74884231e-01 9.84573176e-01 -5.58275355e-03 3.71614666e+01] [-3.02954216e-02 2.86417780e-04 9.99540947e-01 -8.78204604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.49, Y:37.16, Z:-0.88 [[ 9.84240537e-01 1.74502203e-01 2.86277313e-02 1.47489133e+02] [-1.74419778e-01 9.84656740e-01 -5.37081004e-03 3.71584351e+01] [-2.91257067e-02 2.92926427e-04 9.99575714e-01 -8.77391428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.52, Y:37.15, Z:-0.88 [[ 9.84184876e-01 1.74695311e-01 2.93543532e-02 1.47520437e+02] [-1.74608647e-01 9.84622496e-01 -5.51002712e-03 3.71535447e+01] [-2.98655324e-02 2.97361455e-04 9.99553881e-01 -8.77609559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.55, Y:37.15, Z:-0.88 [[ 9.84047739e-01 1.75183112e-01 3.09987716e-02 1.47552506e+02] [-1.75086579e-01 9.84535823e-01 -5.82269744e-03 3.71490772e+01] [-3.15394394e-02 3.02343371e-04 9.99502462e-01 -8.77917845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.58, Y:37.14, Z:-0.88 [[ 9.84138861e-01 1.74818286e-01 3.01540816e-02 1.47584824e+02] [-1.74726653e-01 9.84600666e-01 -5.66793040e-03 3.71444725e+01] [-3.06805867e-02 3.09308802e-04 9.99529192e-01 -8.76981243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:37.14, Z:-0.88 [[ 9.83971314e-01 1.75764659e-01 3.01204028e-02 1.47616836e+02] [-1.75673555e-01 9.84432174e-01 -5.66548220e-03 3.71415611e+01] [-3.06472851e-02 2.83313717e-04 9.99530221e-01 -8.77429643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:37.14, Z:-0.88 [[ 9.83985650e-01 1.75807992e-01 2.93903055e-02 1.47649219e+02] [-1.75721158e-01 9.84424437e-01 -5.53193770e-03 3.71371481e+01] [-2.99050938e-02 2.78848784e-04 9.99552704e-01 -8.77952159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38592 meters Centerline goodness [0,1] 0.9999006704742985 Centerline is valid? [True, True] Translation: X:147.68, Y:37.13, Z:-0.88 [[ 9.83797935e-01 1.76955555e-01 2.87811465e-02 1.47681380e+02] [-1.76872666e-01 9.84218813e-01 -5.42099584e-03 3.71323208e+01] [-2.92862212e-02 2.42566393e-04 9.99571037e-01 -8.77718219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.71, Y:37.13, Z:-0.88 [[ 9.83697621e-01 1.77418370e-01 2.93549263e-02 1.47713168e+02] [-1.77332234e-01 9.84135492e-01 -5.53290462e-03 3.71291706e+01] [-2.98708637e-02 2.37130448e-04 9.99553738e-01 -8.78696173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44592 meters Centerline goodness [0,1] 0.9999007690399404 Centerline is valid? [True, True] Translation: X:147.74, Y:37.12, Z:-0.88 [[ 9.83834127e-01 1.76666542e-01 2.93145518e-02 1.47744674e+02] [-1.76580196e-01 9.84270727e-01 -5.52906886e-03 3.71246531e+01] [-2.98302567e-02 2.63317327e-04 9.99554944e-01 -8.78551493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.78, Y:37.12, Z:-0.88 [[ 9.83879744e-01 1.76451019e-01 2.90806891e-02 1.47776068e+02] [-1.76365841e-01 9.84309384e-01 -5.48870746e-03 3.71185372e+01] [-2.95928832e-02 2.71387895e-04 9.99561998e-01 -8.77650183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.81, Y:37.11, Z:-0.88 [[ 9.83841187e-01 1.76441135e-01 3.04145308e-02 1.47807463e+02] [-1.76347807e-01 9.84311151e-01 -5.74531390e-03 3.71118150e+01] [-3.09510715e-02 2.88940639e-04 9.99520859e-01 -8.77849678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:147.84, Y:37.11, Z:-0.88 [[ 9.84136248e-01 1.75008936e-01 2.91156072e-02 1.47839710e+02] [-1.74922671e-01 9.84566792e-01 -5.50375921e-03 3.71066556e+01] [-2.96294670e-02 3.23469160e-04 9.99560899e-01 -8.78631170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:147.87, Y:37.10, Z:-0.88 [[ 9.84228244e-01 1.74683884e-01 2.79339268e-02 1.47871329e+02] [-1.74604248e-01 9.84624515e-01 -5.28398297e-03 3.71012737e+01] [-2.84274558e-02 3.23262993e-04 9.99595806e-01 -8.79240167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59592 meters Centerline goodness [0,1] 0.9997516638521903 Centerline is valid? [True, True] Translation: X:147.90, Y:37.10, Z:-0.88 [[ 9.84205570e-01 1.74618197e-01 2.91184162e-02 1.47902686e+02] [-1.74531523e-01 9.84636160e-01 -5.51176916e-03 3.70957703e+01] [-2.96335007e-02 3.42632396e-04 9.99560773e-01 -8.79782389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62592 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:147.93, Y:37.09, Z:-0.88 [[ 9.84041338e-01 1.75514367e-01 2.92805793e-02 1.47934453e+02] [-1.75427010e-01 9.84476817e-01 -5.54619952e-03 3.70895047e+01] [-2.97994892e-02 3.21085112e-04 9.99555845e-01 -8.79931057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65592 meters Centerline goodness [0,1] 0.9998510205095098 Centerline is valid? [True, True] Translation: X:147.97, Y:37.08, Z:-0.88 [[ 9.83910764e-01 1.76420433e-01 2.82035494e-02 1.47965739e+02] [-1.76339654e-01 9.84314863e-01 -5.34578919e-03 3.70824892e+01] [-2.87042793e-02 2.86375368e-04 9.99587906e-01 -8.79642415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:148.00, Y:37.08, Z:-0.88 [[ 9.83793779e-01 1.76967269e-01 2.88510887e-02 1.47997330e+02] [-1.76882863e-01 9.84216697e-01 -5.47225040e-03 3.70754838e+01] [-2.93641325e-02 2.80302722e-04 9.99568742e-01 -8.80091310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71592 meters Centerline goodness [0,1] 0.9997512809033477 Centerline is valid? [True, True] Translation: X:148.03, Y:37.07, Z:-0.88 [[ 9.83830604e-01 1.76972954e-01 2.75302702e-02 1.48028423e+02] [-1.76896003e-01 9.84215678e-01 -5.22530307e-03 3.70680511e+01] [-2.80204609e-02 2.70818313e-04 9.99607313e-01 -8.80731513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74592 meters Centerline goodness [0,1] 0.9997513427491546 Centerline is valid? [True, True] Translation: X:148.06, Y:37.06, Z:-0.88 [[ 9.84156048e-01 1.75274784e-01 2.67511428e-02 1.48060212e+02] [-1.75201407e-01 9.84519503e-01 -5.08087582e-03 3.70632059e+01] [-2.72275712e-02 3.13536825e-04 9.99629212e-01 -8.79448446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77592 meters Centerline goodness [0,1] 0.9997511818860413 Centerline is valid? [True, True] Translation: X:148.09, Y:37.06, Z:-0.88 [[ 9.84330622e-01 1.74427492e-01 2.58510608e-02 1.48091805e+02] [-1.74358591e-01 9.84669966e-01 -4.91324815e-03 3.70577423e+01] [-2.63117687e-02 3.28906087e-04 9.99653731e-01 -8.78326031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80592000000001 meters Centerline goodness [0,1] 0.9995519267151249 Centerline is valid? [True, True] Translation: X:148.12, Y:37.05, Z:-0.88 [[ 9.84447805e-01 1.73766565e-01 2.58398751e-02 1.48123660e+02] [-1.73697408e-01 9.84786809e-01 -4.91448107e-03 3.70527009e+01] [-2.63007406e-02 3.49730787e-04 9.99654015e-01 -8.78581696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83592000000002 meters Centerline goodness [0,1] 0.9999004132848678 Centerline is valid? [True, True] Translation: X:148.15, Y:37.05, Z:-0.88 [[ 9.84505246e-01 1.73286679e-01 2.68541758e-02 1.48154909e+02] [-1.73211668e-01 9.84871353e-01 -5.11243079e-03 3.70473829e+01] [-2.73338246e-02 3.81758345e-04 9.99626288e-01 -8.79468953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.19, Y:37.04, Z:-0.88 [[ 9.84521712e-01 1.73103281e-01 2.74272196e-02 1.48186492e+02] [-1.73024863e-01 9.84903597e-01 -5.22508339e-03 3.70409972e+01] [-2.79176463e-02 3.98617127e-04 9.99610147e-01 -8.79612972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89592000000002 meters Centerline goodness [0,1] 0.9996518279035066 Centerline is valid? [True, True] Translation: X:148.22, Y:37.04, Z:-0.88 [[ 9.84662671e-01 1.72025677e-01 2.90962322e-02 1.48217807e+02] [-1.71936842e-01 9.85092359e-01 -5.54677552e-03 3.70355929e+01] [-2.96166638e-02 4.58988531e-04 9.99561225e-01 -8.79446484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92592000000002 meters Centerline goodness [0,1] 0.9999003438138423 Centerline is valid? [True, True] Translation: X:148.25, Y:37.03, Z:-0.88 [[ 9.84594591e-01 1.72387838e-01 2.92561997e-02 1.48249652e+02] [-1.72298072e-01 9.85029049e-01 -5.58101587e-03 3.70297257e+01] [-2.97803058e-02 4.54251249e-04 9.99556365e-01 -8.79987409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95592000000002 meters Centerline goodness [0,1] 0.9999497865930204 Centerline is valid? [True, True] Translation: X:148.28, Y:37.02, Z:-0.88 [[ 9.84742969e-01 1.71593715e-01 2.89289081e-02 1.48281185e+02] [-1.71505495e-01 9.85167686e-01 -5.52227334e-03 3.70242878e+01] [-2.94474128e-02 4.76553155e-04 9.99566217e-01 -8.80487232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98592000000002 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:148.31, Y:37.02, Z:-0.88 [[ 9.84687588e-01 1.72046404e-01 2.81138541e-02 1.48312674e+02] [-1.71963167e-01 9.85088742e-01 -5.37028172e-03 3.70191727e+01] [-2.86185788e-02 4.53502366e-04 9.99590302e-01 -8.79855439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01592 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:148.34, Y:37.01, Z:-0.88 [[ 9.84666406e-01 1.72167699e-01 2.81131926e-02 1.48343823e+02] [-1.72084413e-01 9.85067550e-01 -5.37374371e-03 3.70132631e+01] [-2.86185788e-02 4.53502672e-04 9.99590302e-01 -8.79882800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:148.38, Y:37.01, Z:-0.88 [[ 9.84741986e-01 1.71778365e-01 2.78462454e-02 1.48376289e+02] [-1.71696397e-01 9.85135513e-01 -5.32627076e-03 3.70097397e+01] [-2.83472633e-02 4.63902427e-04 9.99598028e-01 -8.79114145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:37.00, Z:-0.88 [[ 9.84547487e-01 1.72625543e-01 2.94392080e-02 1.48408369e+02] [-1.72534192e-01 9.84987412e-01 -5.63471288e-03 3.70038131e+01] [-2.99699447e-02 4.68372451e-04 9.99550691e-01 -8.79827617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.44, Y:37.00, Z:-0.88 [[ 9.84116891e-01 1.75046999e-01 2.95379764e-02 1.48439963e+02] [-1.74956011e-01 9.84559997e-01 -5.65736461e-03 3.69966579e+01] [-3.00722147e-02 3.99661540e-04 9.99547649e-01 -8.78963298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.47, Y:36.99, Z:-0.88 [[ 9.83985587e-01 1.75946455e-01 2.85518709e-02 1.48471786e+02] [-1.75861714e-01 9.84399671e-01 -5.47214028e-03 3.69917471e+01] [-2.90692560e-02 3.63326197e-04 9.99577334e-01 -8.78163901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.50, Y:36.99, Z:-0.88 [[ 9.83864871e-01 1.76505294e-01 2.92540056e-02 1.48503912e+02] [-1.76416469e-01 9.84299625e-01 -5.61046499e-03 3.69870804e+01] [-2.97849835e-02 3.59051057e-04 9.99556264e-01 -8.78845496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19592 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:148.54, Y:36.98, Z:-0.88 [[ 9.84019233e-01 1.75911243e-01 2.75931735e-02 1.48535736e+02] [-1.75831886e-01 9.84405966e-01 -5.29549511e-03 3.69821200e+01] [-2.80944217e-02 3.59109305e-04 9.99605209e-01 -8.79404907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.57, Y:36.98, Z:-0.88 [[ 9.84043384e-01 1.75996905e-01 2.61478244e-02 1.48567461e+02] [-1.75925586e-01 9.84390661e-01 -5.02147485e-03 3.69754727e+01] [-2.66234382e-02 3.41277767e-04 9.99645475e-01 -8.79185889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.60, Y:36.97, Z:-0.88 [[ 9.84215426e-01 1.74604747e-01 2.88648211e-02 1.48599255e+02] [-1.74517124e-01 9.84638514e-01 -5.54699459e-03 3.69720679e+01] [-2.93899462e-02 4.22032063e-04 9.99567933e-01 -8.79871429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:148.63, Y:36.97, Z:-0.88 [[ 9.84439759e-01 1.73531106e-01 2.76643352e-02 1.48630865e+02] [-1.73450099e-01 9.84828291e-01 -5.31981338e-03 3.69680333e+01] [-2.81677730e-02 4.38654128e-04 9.99603113e-01 -8.78573730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.66, Y:36.96, Z:-0.88 [[ 9.84769695e-01 1.71418143e-01 2.90597443e-02 1.48662672e+02] [-1.71327726e-01 9.85198224e-01 -5.59186361e-03 3.69624921e+01] [-2.95881553e-02 5.27957925e-04 9.99562035e-01 -8.80719170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34592 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:148.69, Y:36.96, Z:-0.88 [[ 9.84949066e-01 1.70381321e-01 2.90782335e-02 1.48694229e+02] [-1.70290228e-01 9.85378043e-01 -5.59910287e-03 3.69558606e+01] [-2.96070354e-02 5.63092146e-04 9.99561457e-01 -8.80864343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37592 meters Centerline goodness [0,1] 0.9999501768721041 Centerline is valid? [True, True] Translation: X:148.73, Y:36.95, Z:-0.88 [[ 9.85006263e-01 1.70118854e-01 2.86746796e-02 1.48725750e+02] [-1.70030056e-01 9.85423388e-01 -5.52500971e-03 3.69502639e+01] [-2.91966082e-02 5.66611796e-04 9.99573528e-01 -8.79569224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40592 meters Centerline goodness [0,1] 0.9999005667694143 Centerline is valid? [True, True] Translation: X:148.76, Y:36.95, Z:-0.88 [[ 9.84840039e-01 1.70925106e-01 2.95754272e-02 1.48757644e+02] [-1.70830891e-01 9.85283863e-01 -5.70229206e-03 3.69455673e+01] [-3.01148560e-02 5.63448968e-04 9.99546286e-01 -8.80022460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43592 meters Centerline goodness [0,1] 0.9999003686360466 Centerline is valid? [True, True] Translation: X:148.79, Y:36.94, Z:-0.88 [[ 9.85049345e-01 1.69922265e-01 2.83586450e-02 1.48789567e+02] [-1.69835126e-01 9.85457303e-01 -5.47125414e-03 3.69386055e+01] [-2.88759217e-02 5.73161263e-04 9.99582839e-01 -8.79640001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46592 meters Centerline goodness [0,1] 0.999950206642434 Centerline is valid? [True, True] Translation: X:148.82, Y:36.93, Z:-0.88 [[ 9.85267839e-01 1.68818037e-01 2.73451349e-02 1.48821595e+02] [-1.68736495e-01 9.85647059e-01 -5.27917481e-03 3.69329169e+01] [-2.78438717e-02 5.87278927e-04 9.99612112e-01 -8.79524498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49592 meters Centerline goodness [0,1] 0.9998503964494091 Centerline is valid? [True, True] Translation: X:148.85, Y:36.93, Z:-0.88 [[ 9.85539613e-01 1.67169640e-01 2.76764076e-02 1.48853326e+02] [-1.67085362e-01 9.85927936e-01 -5.34661096e-03 3.69282170e+01] [-2.81807345e-02 6.44974308e-04 9.99602636e-01 -8.79750211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:148.88, Y:36.92, Z:-0.88 [[ 9.85644292e-01 1.66415951e-01 2.84791347e-02 1.48884868e+02] [-1.66326295e-01 9.86055402e-01 -5.50526294e-03 3.69238116e+01] [-2.89981682e-02 6.89402054e-04 9.99579227e-01 -8.79092456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55592000000001 meters Centerline goodness [0,1] 0.99985055295407 Centerline is valid? [True, True] Translation: X:148.92, Y:36.92, Z:-0.88 [[ 9.85992257e-01 1.64562316e-01 2.71756100e-02 1.48916650e+02] [-1.64479883e-01 9.86366431e-01 -5.25665432e-03 3.69194721e+01] [-2.76701567e-02 7.13179300e-04 9.99616854e-01 -8.78228758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58592000000002 meters Centerline goodness [0,1] 0.9996516373046681 Centerline is valid? [True, True] Translation: X:148.95, Y:36.91, Z:-0.88 [[ 9.86069640e-01 1.64325462e-01 2.57644541e-02 1.48948342e+02] [-1.64251205e-01 9.86405937e-01 -4.98688046e-03 3.69144419e+01] [-2.62336820e-02 6.85568778e-04 9.99655603e-01 -8.77918616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61592000000002 meters Centerline goodness [0,1] 0.9997014034040012 Centerline is valid? [True, True] Translation: X:148.98, Y:36.91, Z:-0.88 [[ 9.86060011e-01 1.64517792e-01 2.48907873e-02 1.48979286e+02] [-1.64448508e-01 9.86373896e-01 -4.81935963e-03 3.69092493e+01] [-2.53444932e-02 6.58924969e-04 9.99678560e-01 -8.78137526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64592000000002 meters Centerline goodness [0,1] 0.9994031335488684 Centerline is valid? [True, True] Translation: X:149.01, Y:36.90, Z:-0.88 [[ 9.86144237e-01 1.63955208e-01 2.52632820e-02 1.49010329e+02] [-1.63883611e-01 9.86467547e-01 -4.89303192e-03 3.69027504e+01] [-2.57236459e-02 6.84997359e-04 9.99668858e-01 -8.79046783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67592000000002 meters Centerline goodness [0,1] 0.9996517586189742 Centerline is valid? [True, True] Translation: X:149.04, Y:36.90, Z:-0.88 [[ 9.86209699e-01 1.63580238e-01 2.51383243e-02 1.49041270e+02] [-1.63509185e-01 9.86529790e-01 -4.87038093e-03 3.68973300e+01] [-2.55964039e-02 6.92869980e-04 9.99672118e-01 -8.78250998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70592000000002 meters Centerline goodness [0,1] 0.9998011236513697 Centerline is valid? [True, True] Translation: X:149.07, Y:36.89, Z:-0.88 [[ 9.85979237e-01 1.65348821e-01 2.24657678e-02 1.49072766e+02] [-1.65292487e-01 9.86234977e-01 -4.35465287e-03 3.68929171e+01] [-2.28765628e-02 5.80174670e-04 9.99738129e-01 -8.76977198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73592000000002 meters Centerline goodness [0,1] 0.9996514117822818 Centerline is valid? [True, True] Translation: X:149.10, Y:36.89, Z:-0.88 [[ 9.85856601e-01 1.66203813e-01 2.15186958e-02 1.49102020e+02] [-1.66152359e-01 9.86091277e-01 -4.16986734e-03 3.68882311e+01] [-2.19124461e-02 5.35509158e-04 9.99759750e-01 -8.76865321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76592 meters Centerline goodness [0,1] 0.999701655810253 Centerline is valid? [True, True] Translation: X:149.13, Y:36.88, Z:-0.88 [[ 9.85475125e-01 1.68506371e-01 2.10803305e-02 1.49131587e+02] [-1.68457547e-01 9.85700451e-01 -4.08360472e-03 3.68828103e+01] [-2.14670047e-02 4.73150113e-04 9.99769445e-01 -8.76518707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79592 meters Centerline goodness [0,1] 0.9995526394273785 Centerline is valid? [True, True] Translation: X:149.16, Y:36.88, Z:-0.88 [[ 9.85075570e-01 1.70704950e-01 2.20440835e-02 1.49160181e+02] [-1.70652318e-01 9.85322095e-01 -4.26097778e-03 3.68801523e+01] [-2.24478925e-02 4.35511177e-04 9.99747919e-01 -8.76279916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82592 meters Centerline goodness [0,1] 0.999552394688417 Centerline is valid? [True, True] Translation: X:149.19, Y:36.88, Z:-0.88 [[ 9.84849956e-01 1.72058069e-01 2.16005682e-02 1.49189750e+02] [-1.72008068e-01 9.85086733e-01 -4.16574527e-03 3.68793378e+01] [-2.19951832e-02 3.87162048e-04 9.99758002e-01 -8.76690043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85592 meters Centerline goodness [0,1] 0.9996025437201908 Centerline is valid? [True, True] Translation: X:149.22, Y:36.88, Z:-0.88 [[ 9.84750816e-01 1.72536819e-01 2.22907037e-02 1.49217436e+02] [-1.72483949e-01 9.85002997e-01 -4.28762744e-03 3.68756490e+01] [-2.26961836e-02 3.77456008e-04 9.99742337e-01 -8.77216793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88592 meters Centerline goodness [0,1] 0.9996517759426923 Centerline is valid? [True, True] Translation: X:149.25, Y:36.87, Z:-0.88 [[ 9.84877763e-01 1.71767620e-01 2.26202532e-02 1.49245411e+02] [-1.71713235e-01 9.85137418e-01 -4.33957390e-03 3.68714635e+01] [-2.30294561e-02 3.89752983e-04 9.99734711e-01 -8.77276194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91592 meters Centerline goodness [0,1] 0.9996521739130435 Centerline is valid? [True, True] Translation: X:149.27, Y:36.87, Z:-0.88 [[ 9.85146296e-01 1.70286119e-01 2.21227011e-02 1.49273436e+02] [-1.70233979e-01 9.85394578e-01 -4.23296333e-03 3.68692489e+01] [-2.25204046e-02 4.04052709e-04 9.99746302e-01 -8.76708967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94592 meters Centerline goodness [0,1] 0.9997515898251192 Centerline is valid? [True, True] Translation: X:149.30, Y:36.87, Z:-0.88 [[ 9.85365483e-01 1.68999259e-01 2.22286993e-02 1.49302593e+02] [-1.68946514e-01 9.85616086e-01 -4.24338264e-03 3.68662383e+01] [-2.26260921e-02 4.25821530e-04 9.99743907e-01 -8.75694185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97592 meters Centerline goodness [0,1] 0.9997512685304945 Centerline is valid? [True, True] Translation: X:149.33, Y:36.87, Z:-0.87 [[ 9.85720058e-01 1.66745795e-01 2.34905673e-02 1.49332322e+02] [-1.66686498e-01 9.85999795e-01 -4.47389383e-03 3.68667417e+01] [-2.39076975e-02 4.94446485e-04 9.99714048e-01 -8.74654221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00592 meters Centerline goodness [0,1] 0.9996514638518224 Centerline is valid? [True, True] Translation: X:149.36, Y:36.86, Z:-0.88 [[ 9.85804213e-01 1.66129966e-01 2.43081854e-02 1.49360813e+02] [-1.66066547e-01 9.86103731e-01 -4.61891195e-03 3.68625212e+01] [-2.47377320e-02 5.16566443e-04 9.99693842e-01 -8.75332133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03592 meters Centerline goodness [0,1] 0.999800945508833 Centerline is valid? [True, True] Translation: X:149.39, Y:36.86, Z:-0.88 [[ 9.85943555e-01 1.65230196e-01 2.47848507e-02 1.49389217e+02] [-1.65164255e-01 9.86254882e-01 -4.69861934e-03 3.68591609e+01] [-2.52205338e-02 5.39002057e-04 9.99681766e-01 -8.76952294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06592 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:149.42, Y:36.86, Z:-0.88 [[ 9.86116876e-01 1.64001784e-01 2.60177270e-02 1.49417429e+02] [-1.63928855e-01 9.86459864e-01 -4.92612748e-03 3.68559227e+01] [-2.64733371e-02 5.92681237e-04 9.99649344e-01 -8.77807846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:149.45, Y:36.85, Z:-0.88 [[ 9.86284610e-01 1.62775461e-01 2.73279539e-02 1.49446240e+02] [-1.62694603e-01 9.86662922e-01 -5.17156165e-03 3.68515878e+01] [-2.78052821e-02 6.54521059e-04 9.99613144e-01 -8.78276858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:149.48, Y:36.85, Z:-0.88 [[ 9.86910213e-01 1.59003380e-01 2.69473082e-02 1.49475567e+02] [-1.58923400e-01 9.87277755e-01 -5.09784444e-03 3.68483510e+01] [-2.74150524e-02 7.48556890e-04 9.99623857e-01 -8.77616736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:149.51, Y:36.84, Z:-0.88 [[ 9.87142836e-01 1.57536262e-01 2.70434407e-02 1.49505693e+02] [-1.57455162e-01 9.87512885e-01 -5.11597822e-03 3.68436824e+01] [-2.75116982e-02 7.92071918e-04 9.99621168e-01 -8.77518140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18592 meters Centerline goodness [0,1] 0.9999005370996619 Centerline is valid? [True, True] Translation: X:149.54, Y:36.84, Z:-0.88 [[ 9.87681255e-01 1.54402806e-01 2.54069343e-02 1.49535525e+02] [-1.54330228e-01 9.88007638e-01 -4.80490412e-03 3.68403148e+01] [-2.58441358e-02 8.24655772e-04 9.99665644e-01 -8.79095956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21592 meters Centerline goodness [0,1] 0.999950149551346 Centerline is valid? [True, True] Translation: X:149.56, Y:36.83, Z:-0.88 [[ 9.87906265e-01 1.52603218e-01 2.74493899e-02 1.49564674e+02] [-1.52517852e-01 9.88287091e-01 -5.18951693e-03 3.68347522e+01] [-2.79198147e-02 9.40234304e-04 9.99609724e-01 -8.79136307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24592 meters Centerline goodness [0,1] 0.9998009356026675 Centerline is valid? [True, True] Translation: X:149.59, Y:36.83, Z:-0.88 [[ 9.88098230e-01 1.51106346e-01 2.87882066e-02 1.49594745e+02] [-1.51011814e-01 9.88516975e-01 -5.44257708e-03 3.68297180e+01] [-2.92800388e-02 1.03044148e-03 9.99570717e-01 -8.79792854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27592 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:149.63, Y:36.83, Z:-0.88 [[ 9.88237817e-01 1.50067165e-01 2.94255633e-02 1.49626169e+02] [-1.49967889e-01 9.88675207e-01 -5.56477358e-03 3.68254862e+01] [-2.99274147e-02 1.08643008e-03 9.99551484e-01 -8.80272615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30592000000001 meters Centerline goodness [0,1] 0.9999005370996619 Centerline is valid? [True, True] Translation: X:149.66, Y:36.82, Z:-0.88 [[ 9.88635917e-01 1.47602866e-01 2.85029333e-02 1.49657429e+02] [-1.47508647e-01 9.89046068e-01 -5.39197769e-03 3.68216470e+01] [-2.89865855e-02 1.12627367e-03 9.99579166e-01 -8.80515790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33592000000002 meters Centerline goodness [0,1] 0.9999003239471717 Centerline is valid? [True, True] Translation: X:149.69, Y:36.81, Z:-0.88 [[ 9.88515206e-01 1.48172227e-01 2.97098927e-02 1.49687796e+02] [-1.48070061e-01 9.88960894e-01 -5.62206845e-03 3.68125661e+01] [-3.02149564e-02 1.15835454e-03 9.99542753e-01 -8.82317679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36592000000002 meters Centerline goodness [0,1] 0.9999005568814638 Centerline is valid? [True, True] Translation: X:149.72, Y:36.81, Z:-0.88 [[ 9.88576485e-01 1.47898516e-01 2.90269240e-02 1.49718789e+02] [-1.47800776e-01 9.89001882e-01 -5.49624941e-03 3.68051703e+01] [-2.95205696e-02 1.14326104e-03 9.99563519e-01 -8.81307847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39592000000002 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:149.75, Y:36.80, Z:-0.88 [[ 9.88409343e-01 1.49482704e-01 2.64932397e-02 1.49750047e+02] [-1.49401789e-01 9.88763832e-01 -5.01889918e-03 3.67994745e+01] [-2.69457958e-02 1.00258944e-03 9.99636393e-01 -8.79567290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42592000000002 meters Centerline goodness [0,1] 0.9998009256955158 Centerline is valid? [True, True] Translation: X:149.78, Y:36.79, Z:-0.88 [[ 9.88321803e-01 1.50254579e-01 2.53687868e-02 1.49779741e+02] [-1.50180641e-01 9.88646892e-01 -4.80595515e-03 3.67934798e+01] [-2.58028890e-02 9.39929593e-04 9.99666608e-01 -8.79656036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45592000000002 meters Centerline goodness [0,1] 0.9999502438053538 Centerline is valid? [True, True] Translation: X:149.81, Y:36.78, Z:-0.88 [[ 9.87855375e-01 1.53115715e-01 2.64071085e-02 1.49808183e+02] [-1.53036660e-01 9.88207857e-01 -5.00112314e-03 3.67836762e+01] [-2.68614627e-02 8.99130689e-04 9.99638761e-01 -8.79837801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48592000000002 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:149.84, Y:36.78, Z:-0.88 [[ 9.87616462e-01 1.54921318e-01 2.47610643e-02 1.49838282e+02] [-1.54852381e-01 9.87926490e-01 -4.68933847e-03 3.67767594e+01] [-2.51885898e-02 7.96958112e-04 9.99682399e-01 -8.77637463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51592 meters Centerline goodness [0,1] 0.9999502091216889 Centerline is valid? [True, True] Translation: X:149.87, Y:36.77, Z:-0.88 [[ 9.87501674e-01 1.55502289e-01 2.56803939e-02 1.49866795e+02] [-1.55428612e-01 9.87835207e-01 -4.85277381e-03 3.67723897e+01] [-2.61226147e-02 8.00654268e-04 9.99658426e-01 -8.77817003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54592 meters Centerline goodness [0,1] 0.999950149551346 Centerline is valid? [True, True] Translation: X:149.90, Y:36.77, Z:-0.88 [[ 9.86932820e-01 1.59282078e-01 2.43480799e-02 1.49896092e+02] [-1.59217024e-01 9.87232890e-01 -4.59994965e-03 3.67657918e+01] [-2.47699148e-02 6.63212466e-04 9.99692959e-01 -8.77179340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57592 meters Centerline goodness [0,1] 0.9998506050495494 Centerline is valid? [True, True] Translation: X:149.92, Y:36.76, Z:-0.88 [[ 9.86891470e-01 1.59639128e-01 2.36764522e-02 1.49923725e+02] [-1.59577954e-01 9.87175241e-01 -4.46322619e-03 3.67586040e+01] [-2.40853129e-02 6.26480071e-04 9.99709710e-01 -8.77727270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60592 meters Centerline goodness [0,1] 0.9998500749625188 Centerline is valid? [True, True] Translation: X:149.95, Y:36.75, Z:-0.88 [[ 9.86603992e-01 1.61452985e-01 2.33558475e-02 1.49951377e+02] [-1.61394205e-01 9.86880244e-01 -4.39268770e-03 3.67519571e+01] [-2.37586370e-02 5.64344799e-04 9.99717564e-01 -8.76296637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63592 meters Centerline goodness [0,1] 0.9999501843180233 Centerline is valid? [True, True] Translation: X:149.98, Y:36.75, Z:-0.88 [[ 9.86463709e-01 1.62412908e-01 2.26141294e-02 1.49980071e+02] [-1.62358282e-01 9.86722749e-01 -4.24330796e-03 3.67473854e+01] [-2.30030439e-02 5.14278124e-04 9.99735263e-01 -8.75497319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.01, Y:36.74, Z:-0.88 [[ 9.86189400e-01 1.63709322e-01 2.50943293e-02 1.50007942e+02] [-1.63642756e-01 9.86508480e-01 -4.69763086e-03 3.67415416e+01] [-2.55248146e-02 5.26248571e-04 9.99674050e-01 -8.75021477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.04, Y:36.74, Z:-0.87 [[ 9.86056368e-01 1.64608522e-01 2.44310037e-02 1.50035606e+02] [-1.64545968e-01 9.86358862e-01 -4.56283328e-03 3.67355965e+01] [-2.48488183e-02 4.79187653e-04 9.99691106e-01 -8.74706685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.06, Y:36.73, Z:-0.87 [[ 9.86000975e-01 1.65001060e-01 2.40151541e-02 1.50063928e+02] [-1.64940972e-01 9.86293286e-01 -4.47544772e-03 3.67306073e+01] [-2.44244389e-02 4.51712965e-04 9.99701577e-01 -8.74622331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.09, Y:36.73, Z:-0.88 [[ 9.85697686e-01 1.66568716e-01 2.55917042e-02 1.50091564e+02] [-1.66501341e-01 9.86029756e-01 -4.75637538e-03 3.67277245e+01] [-2.60264452e-02 4.27295139e-04 9.99661163e-01 -8.77353901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.12, Y:36.72, Z:-0.88 [[ 9.85867517e-01 1.65940719e-01 2.29981941e-02 1.50119885e+02] [-1.65886376e-01 9.86135653e-01 -4.26425168e-03 3.67228128e+01] [-2.33869521e-02 3.88900141e-04 9.99726412e-01 -8.77093985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.15, Y:36.72, Z:-0.88 [[ 9.85959133e-01 1.65404689e-01 2.29320052e-02 1.50147076e+02] [-1.65350780e-01 9.86225703e-01 -4.24055484e-03 3.67174355e+01] [-2.33175406e-02 3.89188830e-04 9.99728033e-01 -8.76577655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.18, Y:36.71, Z:-0.88 [[ 9.86208086e-01 1.63551891e-01 2.53848263e-02 1.50175978e+02] [-1.63485508e-01 9.86534622e-01 -4.68283670e-03 3.67139937e+01] [-2.58088968e-02 4.68200201e-04 9.99666785e-01 -8.77306540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87592 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:150.20, Y:36.71, Z:-0.88 [[ 9.86482709e-01 1.62020889e-01 2.45172666e-02 1.50204159e+02] [-1.61958799e-01 9.86787212e-01 -4.51059068e-03 3.67130327e+01] [-2.49241350e-02 4.78832673e-04 9.99689231e-01 -8.76443802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.23, Y:36.71, Z:-0.88 [[ 9.86624475e-01 1.61075127e-01 2.50389625e-02 1.50232153e+02] [-1.61010342e-01 9.86942020e-01 -4.59551782e-03 3.67085449e+01] [-2.54522279e-02 5.02518439e-04 9.99675913e-01 -8.78161373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.26, Y:36.70, Z:-0.88 [[ 9.86702065e-01 1.60598802e-01 2.50411683e-02 1.50259044e+02] [-1.60534169e-01 9.87019641e-01 -4.58348250e-03 3.67032747e+01] [-2.54522268e-02 5.02568487e-04 9.99675913e-01 -8.78185107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.29, Y:36.70, Z:-0.88 [[ 9.86937349e-01 1.59172734e-01 2.48738701e-02 1.50287779e+02] [-1.59108784e-01 9.87250609e-01 -4.54199013e-03 3.66986449e+01] [-2.52797044e-02 5.25008482e-04 9.99680279e-01 -8.78879339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:36.70, Z:-0.88 [[ 9.87409035e-01 1.56200878e-01 2.49936514e-02 1.50316134e+02] [-1.56135633e-01 9.87725131e-01 -4.55307853e-03 3.66957746e+01] [-2.53980525e-02 5.93351297e-04 9.99677241e-01 -8.77384849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.34, Y:36.69, Z:-0.88 [[ 9.87629820e-01 1.54954406e-01 2.40097869e-02 1.50344075e+02] [-1.54894117e-01 9.87921447e-01 -4.36208093e-03 3.66922994e+01] [-2.43957071e-02 5.89146477e-04 9.99702207e-01 -8.76797480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.37, Y:36.69, Z:-0.88 [[ 9.88031747e-01 1.52111218e-01 2.56016552e-02 1.50373547e+02] [-1.52042003e-01 9.88363141e-01 -4.64015663e-03 3.66918010e+01] [-2.60095522e-02 6.92095116e-04 9.99661455e-01 -8.76508328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.40, Y:36.69, Z:-0.88 [[ 9.88083697e-01 1.51720707e-01 2.59120401e-02 1.50401159e+02] [-1.51650002e-01 9.88423158e-01 -4.68374767e-03 3.66885140e+01] [-2.63226820e-02 6.98373773e-04 9.99653254e-01 -8.76929441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.43, Y:36.69, Z:-0.88 [[ 9.88270072e-01 1.50451474e-01 2.62034195e-02 1.50430062e+02] [-1.50379023e-01 9.88617126e-01 -4.72517860e-03 3.66883188e+01] [-2.66160594e-02 7.29307971e-04 9.99645464e-01 -8.77496458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14592000000002 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:150.46, Y:36.69, Z:-0.88 [[ 9.88451133e-01 1.49508987e-01 2.47269227e-02 1.50458237e+02] [-1.49444441e-01 9.88760118e-01 -4.44847207e-03 3.66851846e+01] [-2.51140816e-02 7.01796124e-04 9.99684345e-01 -8.76506380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17592000000002 meters Centerline goodness [0,1] 0.9997014479773101 Centerline is valid? [True, True] Translation: X:150.49, Y:36.68, Z:-0.88 [[ 9.88516700e-01 1.48800800e-01 2.63259533e-02 1.50486766e+02] [-1.48727682e-01 9.88866903e-01 -4.72493228e-03 3.66813466e+01] [-2.67359376e-02 7.55276438e-04 9.99642246e-01 -8.77376105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20592000000002 meters Centerline goodness [0,1] 0.9997014182632495 Centerline is valid? [True, True] Translation: X:150.52, Y:36.68, Z:-0.88 [[ 9.88799293e-01 1.46695140e-01 2.75044389e-02 1.50516110e+02] [-1.46614845e-01 9.89181397e-01 -4.92463671e-03 3.66811208e+01] [-2.79292996e-02 8.36918256e-04 9.99609551e-01 -8.79286816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23592000000002 meters Centerline goodness [0,1] 0.9997516515174092 Centerline is valid? [True, True] Translation: X:150.54, Y:36.68, Z:-0.88 [[ 9.89130583e-01 1.44350438e-01 2.79935771e-02 1.50544617e+02] [-1.44266658e-01 9.89526214e-01 -5.00040572e-03 3.66794408e+01] [-2.84221891e-02 9.07514423e-04 9.99595596e-01 -8.79701238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26592 meters Centerline goodness [0,1] 0.9996016729735112 Centerline is valid? [True, True] Translation: X:150.57, Y:36.68, Z:-0.88 [[ 9.89356388e-01 1.42670603e-01 2.86188222e-02 1.50573260e+02] [-1.42582682e-01 9.89769755e-01 -5.10017387e-03 3.66762762e+01] [-2.90536895e-02 9.65341169e-04 9.99577386e-01 -8.79800153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29592 meters Centerline goodness [0,1] 0.9992020348112314 Centerline is valid? [True, True] Translation: X:150.60, Y:36.67, Z:-0.88 [[ 9.90049371e-01 1.37413380e-01 3.03282945e-02 1.50602257e+02] [-1.37312266e-01 9.90513080e-01 -5.40181115e-03 3.66738901e+01] [-3.07828535e-02 1.18361290e-03 9.99525395e-01 -8.80318705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32592 meters Centerline goodness [0,1] 0.9997518117740495 Centerline is valid? [True, True] Translation: X:150.63, Y:36.67, Z:-0.88 [[ 9.90464567e-01 1.34033994e-01 3.18563876e-02 1.50632665e+02] [-1.33920688e-01 9.90975810e-01 -5.67390202e-03 3.66691396e+01] [-3.23294053e-02 1.35356956e-03 9.99476352e-01 -8.81143416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35592 meters Centerline goodness [0,1] 0.9998011533107973 Centerline is valid? [True, True] Translation: X:150.66, Y:36.66, Z:-0.88 [[ 9.91302548e-01 1.28094684e-01 3.01829471e-02 1.50662755e+02] [-1.27990197e-01 9.91760859e-01 -5.37669905e-03 3.66629121e+01] [-3.06229921e-02 1.46681411e-03 9.99529930e-01 -8.81821427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38592 meters Centerline goodness [0,1] 0.999453931691819 Centerline is valid? [True, True] Translation: X:150.69, Y:36.66, Z:-0.88 [[ 9.91588348e-01 1.25965997e-01 2.97509046e-02 1.50693525e+02] [-1.25863475e-01 9.92033407e-01 -5.30142978e-03 3.66585234e+01] [-3.01816911e-02 1.51228376e-03 9.99543285e-01 -8.81955305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41592 meters Centerline goodness [0,1] 0.9994021224652484 Centerline is valid? [True, True] Translation: X:150.72, Y:36.65, Z:-0.88 [[ 9.92064477e-01 1.22788235e-01 2.70392885e-02 1.50723827e+02] [-1.22702326e-01 9.92431814e-01 -4.82009918e-03 3.66528970e+01] [-2.74265016e-02 1.46406560e-03 9.99622751e-01 -8.80933030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44592 meters Centerline goodness [0,1] 0.9995027349577325 Centerline is valid? [True, True] Translation: X:150.75, Y:36.65, Z:-0.88 [[ 9.92130553e-01 1.22139958e-01 2.75462606e-02 1.50753519e+02] [-1.22050545e-01 9.92511739e-01 -4.91053355e-03 3.66462214e+01] [-2.79397593e-02 1.50985425e-03 9.99608468e-01 -8.81196681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47592 meters Centerline goodness [0,1] 0.9995032536883414 Centerline is valid? [True, True] Translation: X:150.78, Y:36.64, Z:-0.88 [[ 9.92052604e-01 1.22615951e-01 2.82304858e-02 1.50783935e+02] [-1.22522187e-01 9.92453007e-01 -5.03406809e-03 3.66380688e+01] [-2.86346875e-02 1.53519949e-03 9.99588764e-01 -8.81407363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50592 meters Centerline goodness [0,1] 0.999652052887961 Centerline is valid? [True, True] Translation: X:150.81, Y:36.63, Z:-0.88 [[ 9.91903565e-01 1.23894856e-01 2.78815947e-02 1.50814326e+02] [-1.23803855e-01 9.92294246e-01 -4.97344838e-03 3.66296209e+01] [-2.82829306e-02 1.48133228e-03 9.99598860e-01 -8.80342552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53592 meters Centerline goodness [0,1] 0.9995531502904523 Centerline is valid? [True, True] Translation: X:150.85, Y:36.62, Z:-0.88 [[ 9.91824353e-01 1.24524677e-01 2.78936763e-02 1.50845459e+02] [-1.24433778e-01 9.92215428e-01 -4.97797587e-03 3.66228022e+01] [-2.82964168e-02 1.46636216e-03 9.99598501e-01 -8.79890251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56592 meters Centerline goodness [0,1] 0.9996023263906149 Centerline is valid? [True, True] Translation: X:150.88, Y:36.62, Z:-0.88 [[ 9.91643357e-01 1.26056730e-01 2.74436262e-02 1.50876134e+02] [-1.25969282e-01 9.92022045e-01 -4.89926773e-03 3.66158287e+01] [-2.78422679e-02 1.40127241e-03 9.99611347e-01 -8.79233654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59592 meters Centerline goodness [0,1] 0.9995508757922053 Centerline is valid? [True, True] Translation: X:150.91, Y:36.61, Z:-0.88 [[ 9.91586430e-01 1.26601902e-01 2.69872402e-02 1.50906022e+02] [-1.26517551e-01 9.91952671e-01 -4.81739199e-03 3.66085708e+01] [-2.73799560e-02 1.36250098e-03 9.99624170e-01 -8.78566328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62592 meters Centerline goodness [0,1] 0.9993538125062134 Centerline is valid? [True, True] Translation: X:150.94, Y:36.60, Z:-0.88 [[ 9.91498180e-01 1.27372347e-01 2.66015792e-02 1.50936368e+02] [-1.27290667e-01 9.91854091e-01 -4.74853467e-03 3.66038705e+01] [-2.69897171e-02 1.32203072e-03 9.99634837e-01 -8.78768688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65592 meters Centerline goodness [0,1] 0.9991043439319302 Centerline is valid? [True, True] Translation: X:150.97, Y:36.60, Z:-0.88 [[ 9.91466550e-01 1.27646850e-01 2.64643539e-02 1.50965962e+02] [-1.27566108e-01 9.91818820e-01 -4.72403917e-03 3.65973193e+01] [-2.68508530e-02 1.30777219e-03 9.99638595e-01 -8.78953393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68592 meters Centerline goodness [0,1] 0.9994038451984699 Centerline is valid? [True, True] Translation: X:151.00, Y:36.59, Z:-0.88 [[ 9.91366375e-01 1.27967505e-01 2.85837135e-02 1.50996174e+02] [-1.27873442e-01 9.91777369e-01 -5.10235703e-03 3.65905717e+01] [-2.90016161e-02 1.40320736e-03 9.99578380e-01 -8.79774498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71592 meters Centerline goodness [0,1] 0.9990541616885703 Centerline is valid? [True, True] Translation: X:151.03, Y:36.59, Z:-0.88 [[ 9.91441354e-01 1.27516526e-01 2.79924385e-02 1.51026961e+02] [-1.27426092e-01 9.91835474e-01 -4.99838559e-03 3.65851056e+01] [-2.84012703e-02 1.38863914e-03 9.99595638e-01 -8.80188266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74592 meters Centerline goodness [0,1] 0.999651133815101 Centerline is valid? [True, True] Translation: X:151.06, Y:36.58, Z:-0.88 [[ 9.91440162e-01 1.27409820e-01 2.85156613e-02 1.51058279e+02] [-1.27315880e-01 9.91849143e-01 -5.09346817e-03 3.65798318e+01] [-2.89321921e-02 1.41937239e-03 9.99580369e-01 -8.79558809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77592 meters Centerline goodness [0,1] 0.9991551115749714 Centerline is valid? [True, True] Translation: X:151.09, Y:36.58, Z:-0.88 [[ 9.91643828e-01 1.26416651e-01 2.57167138e-02 1.51089664e+02] [-1.26339880e-01 9.91976371e-01 -4.59501528e-03 3.65756743e+01] [-2.60912589e-02 1.30757202e-03 9.99658710e-01 -8.78882655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80592000000001 meters Centerline goodness [0,1] 0.9991055011678179 Centerline is valid? [True, True] Translation: X:151.12, Y:36.57, Z:-0.88 [[ 9.91893531e-01 1.24448313e-01 2.56873634e-02 1.51119569e+02] [-1.24371057e-01 9.92225163e-01 -4.58982053e-03 3.65680190e+01] [-2.60588438e-02 1.35784875e-03 9.99659488e-01 -8.78069199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83592000000002 meters Centerline goodness [0,1] 0.9990564163686929 Centerline is valid? [True, True] Translation: X:151.15, Y:36.56, Z:-0.88 [[ 9.92174515e-01 1.22120358e-01 2.60067159e-02 1.51148705e+02] [-1.22040372e-01 9.92514259e-01 -4.64688247e-03 3.65585824e+01] [-2.63795153e-02 1.43664908e-03 9.99650968e-01 -8.78184631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86592000000002 meters Centerline goodness [0,1] 0.9990558067882522 Centerline is valid? [True, True] Translation: X:151.18, Y:36.55, Z:-0.88 [[ 9.92370691e-01 1.20957697e-01 2.38672840e-02 1.51179015e+02] [-1.20889965e-01 9.92656747e-01 -4.26594654e-03 3.65506583e+01] [-2.42080196e-02 1.34808520e-03 9.99706034e-01 -8.77474144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89592000000002 meters Centerline goodness [0,1] 0.9990560413354531 Centerline is valid? [True, True] Translation: X:151.21, Y:36.54, Z:-0.88 [[ 9.92485685e-01 1.19687427e-01 2.54378690e-02 1.51208669e+02] [-1.19610067e-01 9.92810535e-01 -4.54671952e-03 3.65428468e+01] [-2.57991695e-02 1.46992881e-03 9.99666065e-01 -8.77803392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92592000000002 meters Centerline goodness [0,1] 0.9991548595575441 Centerline is valid? [True, True] Translation: X:151.24, Y:36.53, Z:-0.88 [[ 9.92658868e-01 1.18532273e-01 2.40514634e-02 1.51238498e+02] [-1.18462748e-01 9.92949186e-01 -4.30024823e-03 3.65332987e+01] [-2.43915992e-02 1.41947710e-03 9.99701473e-01 -8.77916591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95592000000002 meters Centerline goodness [0,1] 0.9989055815341757 Centerline is valid? [True, True] Translation: X:151.27, Y:36.53, Z:-0.88 [[ 9.92599982e-01 1.18998489e-01 2.41792275e-02 1.51268401e+02] [-1.18928326e-01 9.92893424e-01 -4.32446851e-03 3.65250296e+01] [-2.45220012e-02 1.41687231e-03 9.99698286e-01 -8.78768203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98592000000002 meters Centerline goodness [0,1] 0.9989561586638831 Centerline is valid? [True, True] Translation: X:151.30, Y:36.51, Z:-0.88 [[ 9.92305649e-01 1.21666789e-01 2.29497549e-02 1.51297778e+02] [-1.21604262e-01 9.92570171e-01 -4.10590294e-03 3.65115848e+01] [-2.32787942e-02 1.28352266e-03 9.99728188e-01 -8.78161954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01592 meters Centerline goodness [0,1] 0.9987549800796812 Centerline is valid? [True, True] Translation: X:151.33, Y:36.50, Z:-0.88 [[ 9.92040472e-01 1.24062395e-01 2.15458566e-02 1.51326628e+02] [-1.24007847e-01 9.92273750e-01 -3.85478002e-03 3.65009563e+01] [-2.18576212e-02 1.15224250e-03 9.99760430e-01 -8.75864931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04592 meters Centerline goodness [0,1] 0.9989553278280768 Centerline is valid? [True, True] Translation: X:151.36, Y:36.49, Z:-0.88 [[ 9.91877988e-01 1.25339764e-01 2.16333352e-02 1.51355314e+02] [-1.25285101e-01 9.92113236e-01 -3.86922018e-03 3.64915268e+01] [-2.19476853e-02 1.12745974e-03 9.99758485e-01 -8.76376476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07592 meters Centerline goodness [0,1] 0.9985093908377224 Centerline is valid? [True, True] Translation: X:151.38, Y:36.48, Z:-0.88 [[ 9.91274799e-01 1.30031648e-01 2.15880527e-02 1.51383400e+02] [-1.29978325e-01 9.91509318e-01 -3.86107180e-03 3.64753929e+01] [-2.19068169e-02 1.02140425e-03 9.99759495e-01 -8.75816558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10592 meters Centerline goodness [0,1] 0.9989059080962801 Centerline is valid? [True, True] Translation: X:151.41, Y:36.46, Z:-0.88 [[ 9.91139661e-01 1.30773062e-01 2.32503429e-02 1.51412947e+02] [-1.30711381e-01 9.91411737e-01 -4.15968965e-03 3.64648543e+01] [-2.35946382e-02 1.08374895e-03 9.99721020e-01 -8.75932278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13592 meters Centerline goodness [0,1] 0.998259139517533 Centerline is valid? [True, True] Translation: X:151.44, Y:36.45, Z:-0.88 [[ 9.90987078e-01 1.31933661e-01 2.31974285e-02 1.51442503e+02] [-1.31872546e-01 9.91257987e-01 -4.15159821e-03 3.64521201e+01] [-2.35423718e-02 1.05507623e-03 9.99722283e-01 -8.75674000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16592 meters Centerline goodness [0,1] 0.9987073680023864 Centerline is valid? [True, True] Translation: X:151.47, Y:36.44, Z:-0.88 [[ 9.90917702e-01 1.32584402e-01 2.24384780e-02 1.51473252e+02] [-1.32527342e-01 9.91171207e-01 -4.01774943e-03 3.64432147e+01] [-2.27730642e-02 1.00754718e-03 9.99740152e-01 -8.76046332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19592 meters Centerline goodness [0,1] 0.9987564663748508 Centerline is valid? [True, True] Translation: X:151.50, Y:36.43, Z:-0.88 [[ 9.90749323e-01 1.33845066e-01 2.23892258e-02 1.51503107e+02] [-1.33788547e-01 9.91001787e-01 -4.01029657e-03 3.64345837e+01] [-2.27245212e-02 9.77776637e-04 9.99741287e-01 -8.75795709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22592 meters Centerline goodness [0,1] 0.9984070091596974 Centerline is valid? [True, True] Translation: X:151.53, Y:36.42, Z:-0.87 [[ 9.90147296e-01 1.38263379e-01 2.21713973e-02 1.51533105e+02] [-1.38209029e-01 9.90395114e-01 -3.97261682e-03 3.64213528e+01] [-2.25077110e-02 8.69188504e-04 9.99746292e-01 -8.74437664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25592 meters Centerline goodness [0,1] 0.9982590529247911 Centerline is valid? [True, True] Translation: X:151.56, Y:36.41, Z:-0.87 [[ 9.89825640e-01 1.40604500e-01 2.18077329e-02 1.51564099e+02] [-1.40552443e-01 9.90065517e-01 -3.90942068e-03 3.64136261e+01] [-2.21407665e-02 8.04514703e-04 9.99754539e-01 -8.73925562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28592 meters Centerline goodness [0,1] 0.9980092569551585 Centerline is valid? [True, True] Translation: X:151.59, Y:36.40, Z:-0.87 [[ 9.88924127e-01 1.46842846e-01 2.15928248e-02 1.51594044e+02] [-1.46793263e-01 9.89159615e-01 -3.87225810e-03 3.64035576e+01] [-2.19273636e-02 6.59688243e-04 9.99759349e-01 -8.74909173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31592 meters Centerline goodness [0,1] 0.9980601840338225 Centerline is valid? [True, True] Translation: X:151.62, Y:36.40, Z:-0.87 [[ 9.88573667e-01 1.49333329e-01 2.05344244e-02 1.51623988e+02] [-1.49288999e-01 9.88786744e-01 -3.68371508e-03 3.63952676e+01] [-2.08542681e-02 5.76060051e-04 9.99782360e-01 -8.73963184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34592 meters Centerline goodness [0,1] 0.9976654083051858 Centerline is valid? [True, True] Translation: X:151.65, Y:36.39, Z:-0.87 [[ 9.88363639e-01 1.50645129e-01 2.10561567e-02 1.51654320e+02] [-1.50598787e-01 9.88587744e-01 -3.77861157e-03 3.63883162e+01] [-2.13850879e-02 5.63610635e-04 9.99771154e-01 -8.73851425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37592 meters Centerline goodness [0,1] 0.9982604373757455 Centerline is valid? [True, True] Translation: X:151.69, Y:36.38, Z:-0.87 [[ 9.88172053e-01 1.51810299e-01 2.16708767e-02 1.51685416e+02] [-1.51761462e-01 9.88409492e-01 -3.89026510e-03 3.63827983e+01] [-2.20102826e-02 5.55447314e-04 9.99757590e-01 -8.73582738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40592 meters Centerline goodness [0,1] 0.9989069409251254 Centerline is valid? [True, True] Translation: X:151.72, Y:36.38, Z:-0.88 [[ 9.88163719e-01 1.51760517e-01 2.23877149e-02 1.51716367e+02] [-1.51708351e-01 9.88417125e-01 -4.02034922e-03 3.63774016e+01] [-2.27385310e-02 5.76359943e-04 9.99741280e-01 -8.75307720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43592 meters Centerline goodness [0,1] 0.9994039636417822 Centerline is valid? [True, True] Translation: X:151.75, Y:36.37, Z:-0.88 [[ 9.88606980e-01 1.48691576e-01 2.33891988e-02 1.51747877e+02] [-1.48633711e-01 9.88883388e-01 -4.20304614e-03 3.63706506e+01] [-2.37541477e-02 6.78737343e-04 9.99717600e-01 -8.76322961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46592 meters Centerline goodness [0,1] 0.9994536876086416 Centerline is valid? [True, True] Translation: X:151.78, Y:36.37, Z:-0.88 [[ 9.88879099e-01 1.46757056e-01 2.40934292e-02 1.51779719e+02] [-1.46695006e-01 9.89172282e-01 -4.33258723e-03 3.63653057e+01] [-2.44683901e-02 7.50019222e-04 9.99700323e-01 -8.75592771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49592 meters Centerline goodness [0,1] 0.9994038155802861 Centerline is valid? [True, True] Translation: X:151.81, Y:36.36, Z:-0.87 [[ 9.89430566e-01 1.43203225e-01 2.28033281e-02 1.51811946e+02] [-1.43146634e-01 9.89692984e-01 -4.10340263e-03 3.63608745e+01] [-2.31559144e-02 7.95812311e-04 9.99731549e-01 -8.74509377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52592 meters Centerline goodness [0,1] 0.9998508427385273 Centerline is valid? [True, True] Translation: X:151.84, Y:36.35, Z:-0.87 [[ 9.89530185e-01 1.42713049e-01 2.15174223e-02 1.51843606e+02] [-1.42662489e-01 9.89763811e-01 -3.87462829e-03 3.63541070e+01] [-2.18501259e-02 7.64332624e-04 9.99760965e-01 -8.74652689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55592000000001 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:151.87, Y:36.35, Z:-0.87 [[ 9.89680741e-01 1.41702738e-01 2.12688767e-02 1.51874733e+02] [-1.41653051e-01 9.89908948e-01 -3.83246531e-03 3.63468218e+01] [-2.15973222e-02 7.80115834e-04 9.99766446e-01 -8.73698287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58592000000002 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:151.91, Y:36.34, Z:-0.87 [[ 9.89613408e-01 1.42100464e-01 2.17430448e-02 1.51906241e+02] [-1.42048573e-01 9.89851924e-01 -3.92058962e-03 3.63411741e+01] [-2.20795123e-02 7.91299569e-04 9.99755905e-01 -8.74110106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61592000000002 meters Centerline goodness [0,1] 0.999800945508833 Centerline is valid? [True, True] Translation: X:151.94, Y:36.33, Z:-0.87 [[ 9.89478491e-01 1.42737650e-01 2.36279106e-02 1.51937527e+02] [-1.42676466e-01 9.89760195e-01 -4.26404471e-03 3.63343907e+01] [-2.39946051e-02 8.48033754e-04 9.99711728e-01 -8.74299072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64592000000002 meters Centerline goodness [0,1] 0.9995529061102831 Centerline is valid? [True, True] Translation: X:151.97, Y:36.33, Z:-0.88 [[ 9.89455855e-01 1.42801184e-01 2.41854008e-02 1.51968179e+02] [-1.42737040e-01 9.89751013e-01 -4.36695950e-03 3.63258926e+01] [-2.45611319e-02 8.68761130e-04 9.99697952e-01 -8.77098642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67592000000002 meters Centerline goodness [0,1] 0.9998009356026675 Centerline is valid? [True, True] Translation: X:152.00, Y:36.32, Z:-0.88 [[ 9.89469370e-01 1.42687981e-01 2.43003167e-02 1.51998932e+02] [-1.42623119e-01 9.89767330e-01 -4.39064858e-03 3.63174684e+01] [-2.46781524e-02 8.78625315e-04 9.99695062e-01 -8.76698988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70592000000002 meters Centerline goodness [0,1] 0.9998506571087217 Centerline is valid? [True, True] Translation: X:152.03, Y:36.31, Z:-0.88 [[ 9.89408425e-01 1.42962991e-01 2.51505709e-02 1.52030562e+02] [-1.42893519e-01 9.89727621e-01 -4.54736211e-03 3.63107101e+01] [-2.55423192e-02 9.05344802e-04 9.99673332e-01 -8.76484208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73592000000002 meters Centerline goodness [0,1] 0.9999005173099881 Centerline is valid? [True, True] Translation: X:152.06, Y:36.30, Z:-0.88 [[ 9.89503090e-01 1.42310584e-01 2.51263184e-02 1.52061837e+02] [-1.42240959e-01 9.89821622e-01 -4.54603161e-03 3.63040082e+01] [-2.55175217e-02 9.24320712e-04 9.99673948e-01 -8.75462104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76592 meters Centerline goodness [0,1] 0.9995004745491782 Centerline is valid? [True, True] Translation: X:152.09, Y:36.30, Z:-0.88 [[ 9.89580826e-01 1.41604058e-01 2.60399680e-02 1.52093028e+02] [-1.41528947e-01 9.89922891e-01 -4.71450625e-03 3.62968566e+01] [-2.64451536e-02 9.79975724e-04 9.99649785e-01 -8.75638007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79592 meters Centerline goodness [0,1] 0.9997010761259466 Centerline is valid? [True, True] Translation: X:152.12, Y:36.29, Z:-0.88 [[ 9.89619518e-01 1.41173295e-01 2.68944329e-02 1.52124663e+02] [-1.41092925e-01 9.89984366e-01 -4.87249050e-03 3.62885260e+01] [-2.73129336e-02 1.02729750e-03 9.99626404e-01 -8.76096039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82592 meters Centerline goodness [0,1] 0.9997010761259466 Centerline is valid? [True, True] Translation: X:152.16, Y:36.28, Z:-0.88 [[ 9.89594306e-01 1.41350080e-01 2.68935716e-02 1.52156715e+02] [-1.41269646e-01 9.89959140e-01 -4.87724178e-03 3.62827772e+01] [-2.73129356e-02 1.02724534e-03 9.99626404e-01 -8.76124145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85592 meters Centerline goodness [0,1] 0.9998009653182067 Centerline is valid? [True, True] Translation: X:152.19, Y:36.27, Z:-0.88 [[ 9.89638070e-01 1.40876918e-01 2.77522017e-02 1.52187754e+02] [-1.40790982e-01 9.90026532e-01 -5.03640845e-03 3.62727408e+01] [-2.81849297e-02 1.07696182e-03 9.99602146e-01 -8.77452794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88592 meters Centerline goodness [0,1] 0.9998506868405336 Centerline is valid? [True, True] Translation: X:152.22, Y:36.26, Z:-0.88 [[ 9.89696598e-01 1.40788792e-01 2.60607041e-02 1.52218708e+02] [-1.40712900e-01 9.90039132e-01 -4.73260353e-03 3.62630451e+01] [-2.64674144e-02 1.01676435e-03 9.99649160e-01 -8.78237712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91592 meters Centerline goodness [0,1] 0.9999500873471425 Centerline is valid? [True, True] Translation: X:152.25, Y:36.25, Z:-0.88 [[ 9.89616912e-01 1.41066499e-01 2.75428822e-02 1.52250167e+02] [-1.40981718e-01 9.89999544e-01 -5.00591239e-03 3.62537954e+01] [-2.79736073e-02 1.07089272e-03 9.99608088e-01 -8.78087696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94592 meters Centerline goodness [0,1] 0.9996514812048792 Centerline is valid? [True, True] Translation: X:152.28, Y:36.25, Z:-0.88 [[ 9.89510320e-01 1.41406696e-01 2.95545670e-02 1.52281820e+02] [-1.41309116e-01 9.89950929e-01 -5.37519489e-03 3.62454630e+01] [-3.00176596e-02 1.14248108e-03 9.99548716e-01 -8.79226087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.31, Y:36.24, Z:-0.88 [[ 9.89479775e-01 1.41666413e-01 2.93326041e-02 1.52312516e+02] [-1.41570301e-01 9.89913810e-01 -5.33839204e-03 3.62361381e+01] [-2.97930207e-02 1.12960535e-03 9.99555451e-01 -8.77955908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00592 meters Centerline goodness [0,1] 0.9996514638518224 Centerline is valid? [True, True] Translation: X:152.34, Y:36.23, Z:-0.88 [[ 9.89436673e-01 1.41966339e-01 2.93364743e-02 1.52344626e+02] [-1.41870174e-01 9.89870845e-01 -5.34443061e-03 3.62280419e+01] [-2.97980499e-02 1.12600491e-03 9.99555305e-01 -8.78146610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03592 meters Centerline goodness [0,1] 0.9998007769698177 Centerline is valid? [True, True] Translation: X:152.38, Y:36.22, Z:-0.88 [[ 9.89140390e-01 1.44168759e-01 2.85772239e-02 1.52375390e+02] [-1.44078299e-01 9.89552573e-01 -5.21051621e-03 3.62151221e+01] [-2.90298591e-02 1.03657424e-03 9.99578007e-01 -8.78696667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06592 meters Centerline goodness [0,1] 0.999900457893689 Centerline is valid? [True, True] Translation: X:152.41, Y:36.21, Z:-0.88 [[ 9.88973280e-01 1.45595131e-01 2.70907711e-02 1.52406801e+02] [-1.45514280e-01 9.89343804e-01 -4.94285440e-03 3.62059076e+01] [-2.75217421e-02 9.46256860e-04 9.99620757e-01 -8.79510481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09592 meters Centerline goodness [0,1] 0.999801093983093 Centerline is valid? [True, True] Translation: X:152.44, Y:36.20, Z:-0.88 [[ 9.88800945e-01 1.46874576e-01 2.64679073e-02 1.52437570e+02] [-1.46797749e-01 9.89154720e-01 -4.83328017e-03 3.61963116e+01] [-2.68907414e-02 8.93722788e-04 9.99637979e-01 -8.79076221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12592 meters Centerline goodness [0,1] 0.9996515159058097 Centerline is valid? [True, True] Translation: X:152.47, Y:36.19, Z:-0.88 [[ 9.88258520e-01 1.50378043e-01 2.70470200e-02 1.52468906e+02] [-1.50299032e-01 9.88628228e-01 -4.94247529e-03 3.61867485e+01] [-2.74826873e-02 8.19302394e-04 9.99621944e-01 -8.78720514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15592 meters Centerline goodness [0,1] 0.9999005370996619 Centerline is valid? [True, True] Translation: X:152.50, Y:36.18, Z:-0.88 [[ 9.87781834e-01 1.53773280e-01 2.53145537e-02 1.52499534e+02] [-1.53705100e-01 9.88105922e-01 -4.62910057e-03 3.61770169e+01] [-2.57252924e-02 6.81565450e-04 9.99668818e-01 -8.79224056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18592 meters Centerline goodness [0,1] 0.9998010741993236 Centerline is valid? [True, True] Translation: X:152.53, Y:36.17, Z:-0.88 [[ 9.87581796e-01 1.55187182e-01 2.44772157e-02 1.52530376e+02] [-1.55123794e-01 9.87884885e-01 -4.47910478e-03 3.61692149e+01] [-2.48757711e-02 6.26483775e-04 9.99690354e-01 -8.77887088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21592 meters Centerline goodness [0,1] 0.9998506422383749 Centerline is valid? [True, True] Translation: X:152.56, Y:36.16, Z:-0.88 [[ 9.87336270e-01 1.56548466e-01 2.56840151e-02 1.52562349e+02] [-1.56479005e-01 9.87670079e-01 -4.70482646e-03 3.61615124e+01] [-2.61038666e-02 6.26236680e-04 9.99659040e-01 -8.78577698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24592 meters Centerline goodness [0,1] 0.9999004727544165 Centerline is valid? [True, True] Translation: X:152.59, Y:36.15, Z:-0.88 [[ 9.87025879e-01 1.58413795e-01 2.61722004e-02 1.52593957e+02] [-1.58342232e-01 9.87372635e-01 -4.79764363e-03 3.61529048e+01] [-2.66017274e-02 5.91233786e-04 9.99645937e-01 -8.79125649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:36.15, Z:-0.88 [[ 9.86757873e-01 1.59953514e-01 2.69030525e-02 1.52625586e+02] [-1.59878376e-01 9.87124384e-01 -4.93506422e-03 3.61455831e+01] [-2.73460400e-02 5.68497144e-04 9.99625865e-01 -8.79480013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30592000000001 meters Centerline goodness [0,1] 0.9998508056494927 Centerline is valid? [True, True] Translation: X:152.66, Y:36.14, Z:-0.88 [[ 9.86236786e-01 1.63112908e-01 2.70403468e-02 1.52657245e+02] [-1.63038090e-01 9.86607289e-01 -4.96374173e-03 3.61376072e+01] [-2.74878536e-02 4.86818182e-04 9.99622019e-01 -8.80486273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33592000000002 meters Centerline goodness [0,1] 0.999950104779962 Centerline is valid? [True, True] Translation: X:152.69, Y:36.13, Z:-0.88 [[ 9.86108819e-01 1.63942534e-01 2.66878666e-02 1.52688540e+02] [-1.63869843e-01 9.86469783e-01 -4.90329894e-03 3.61313283e+01] [-2.71306332e-02 4.61849830e-04 9.99631790e-01 -8.79046951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36592000000002 meters Centerline goodness [0,1] 0.999900274245824 Centerline is valid? [True, True] Translation: X:152.72, Y:36.13, Z:-0.88 [[ 9.86033924e-01 1.64406903e-01 2.65983260e-02 1.52720813e+02] [-1.64334727e-01 9.86392501e-01 -4.89206064e-03 3.61253145e+01] [-2.70406778e-02 4.52709112e-04 9.99634232e-01 -8.78922299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39592000000002 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:152.75, Y:36.12, Z:-0.88 [[ 9.86034670e-01 1.64333775e-01 2.70192322e-02 1.52751960e+02] [-1.64259171e-01 9.86404680e-01 -4.97303503e-03 3.61169898e+01] [-2.74691348e-02 4.65428262e-04 9.99622544e-01 -8.80265399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42592000000002 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:152.78, Y:36.11, Z:-0.88 [[ 9.86062035e-01 1.64139404e-01 2.72014649e-02 1.52783821e+02] [-1.64063359e-01 9.86437032e-01 -5.01946935e-03 3.61103026e+01] [-2.76564251e-02 4.86744440e-04 9.99617369e-01 -8.81296256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45592000000002 meters Centerline goodness [0,1] 0.999652052887961 Centerline is valid? [True, True] Translation: X:152.81, Y:36.10, Z:-0.88 [[ 9.85890607e-01 1.64976077e-01 2.83302937e-02 1.52814717e+02] [-1.64893587e-01 9.86297445e-01 -5.23978591e-03 3.61030499e+01] [-2.88065356e-02 4.94371968e-04 9.99584883e-01 -8.81091140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.85, Y:36.10, Z:-0.88 [[ 9.85852823e-01 1.65175809e-01 2.84809357e-02 1.52847121e+02] [-1.65092356e-01 9.86264014e-01 -5.27340815e-03 3.60972403e+01] [-2.89607615e-02 4.96819532e-04 9.99580426e-01 -8.81152675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:152.88, Y:36.09, Z:-0.88 [[ 9.85793312e-01 1.65779985e-01 2.69915292e-02 1.52879009e+02] [-1.65705162e-01 9.86162658e-01 -5.00116967e-03 3.60910860e+01] [-2.74471320e-02 4.57483878e-04 9.99623152e-01 -8.80098346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:152.91, Y:36.09, Z:-0.88 [[ 9.85241216e-01 1.69083202e-01 2.66573911e-02 1.52910904e+02] [-1.69011335e-01 9.85601714e-01 -4.94272162e-03 3.60853354e+01] [-2.71093016e-02 3.64371793e-04 9.99632409e-01 -8.80776613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.94, Y:36.08, Z:-0.88 [[ 9.84888593e-01 1.71184030e-01 2.62771067e-02 1.52942444e+02] [-1.71114856e-01 9.85239024e-01 -4.87563790e-03 3.60785941e+01] [-2.67238623e-02 3.05556841e-04 9.99642807e-01 -8.80559940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:152.97, Y:36.07, Z:-0.88 [[ 9.84151933e-01 1.75364783e-01 2.63090293e-02 1.52973613e+02] [-1.75296839e-01 9.84503507e-01 -4.88504175e-03 3.60705273e+01] [-2.67579959e-02 1.95733603e-04 9.99641922e-01 -8.81088424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:36.06, Z:-0.88 [[ 9.83764897e-01 1.77530918e-01 2.62564227e-02 1.53005375e+02] [-1.77463923e-01 9.84115214e-01 -4.87879050e-03 3.60640513e+01] [-2.67054812e-02 1.40015069e-04 9.99643335e-01 -8.82201966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:36.06, Z:-0.88 [[ 9.83502582e-01 1.79196069e-01 2.47273291e-02 1.53037789e+02] [-1.79137094e-01 9.83813377e-01 -4.59796309e-03 3.60606771e+01] [-2.51510140e-02 9.25267007e-05 9.99683659e-01 -8.81444911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:36.06, Z:-0.88 [[ 9.83343750e-01 1.80034054e-01 2.49561164e-02 1.53070704e+02] [-1.79974125e-01 9.83660375e-01 -4.64552310e-03 3.60564187e+01] [-2.53846951e-02 7.66908993e-05 9.99677754e-01 -8.81355251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:153.10, Y:36.05, Z:-0.88 [[ 9.83365603e-01 1.79945930e-01 2.47296010e-02 1.53103875e+02] [-1.79886930e-01 9.83676499e-01 -4.60836590e-03 3.60520044e+01] [-2.51551841e-02 8.31765010e-05 9.99683555e-01 -8.80562724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.14, Y:36.05, Z:-0.88 [[ 9.83406585e-01 1.79732055e-01 2.46551745e-02 1.53137052e+02] [-1.79673218e-01 9.83715599e-01 -4.59947100e-03 3.60479720e+01] [-2.50803521e-02 9.32755170e-05 9.99685434e-01 -8.80750163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78592 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:153.17, Y:36.04, Z:-0.88 [[ 9.83608016e-01 1.78457042e-01 2.58525516e-02 1.53169215e+02] [-1.78391817e-01 9.83947695e-01 -4.82636044e-03 3.60429464e+01] [-2.62988566e-02 1.35363161e-04 9.99654116e-01 -8.81671986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81592 meters Centerline goodness [0,1] 0.9999501818362975 Centerline is valid? [True, True] Translation: X:153.20, Y:36.04, Z:-0.88 [[ 9.84048438e-01 1.76014796e-01 2.58352957e-02 1.53201272e+02] [-1.75948725e-01 9.84387500e-01 -4.82660407e-03 3.60380715e+01] [-2.62814958e-02 2.03924858e-04 9.99654561e-01 -8.81392376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84592 meters Centerline goodness [0,1] 0.9999004876107075 Centerline is valid? [True, True] Translation: X:153.23, Y:36.03, Z:-0.88 [[ 9.84490457e-01 1.73263592e-01 2.75366685e-02 1.53233505e+02] [-1.73187351e-01 9.84875443e-01 -5.14812131e-03 3.60337271e+01] [-2.80121706e-02 2.99273616e-04 9.99607537e-01 -8.81084203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87592 meters Centerline goodness [0,1] 0.9999005123613391 Centerline is valid? [True, True] Translation: X:153.27, Y:36.03, Z:-0.88 [[ 9.84991449e-01 1.70496944e-01 2.68819284e-02 1.53265887e+02] [-1.70423159e-01 9.85358135e-01 -5.02926252e-03 3.60309226e+01] [-2.73458007e-02 3.72477408e-04 9.99625964e-01 -8.81297406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90592 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:153.30, Y:36.03, Z:-0.88 [[ 9.85178807e-01 1.69549327e-01 2.59950576e-02 1.53297941e+02] [-1.69479913e-01 9.85521625e-01 -4.86670658e-03 3.60265902e+01] [-2.64438382e-02 3.88936096e-04 9.99650225e-01 -8.81251724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:36.02, Z:-0.88 [[ 9.85339108e-01 1.68583097e-01 2.62026957e-02 1.53329606e+02] [-1.68512136e-01 9.85687355e-01 -4.90898585e-03 3.60211858e+01] [-2.66552379e-02 4.21543501e-04 9.99644597e-01 -8.82112731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:36.02, Z:-0.88 [[ 9.85699046e-01 1.66514795e-01 2.58884978e-02 1.53361808e+02] [-1.66444724e-01 9.86038842e-01 -4.85349382e-03 3.60161247e+01] [-2.63352429e-02 4.75080370e-04 9.99653054e-01 -8.82672188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99592 meters Centerline goodness [0,1] 0.9998502994011976 Centerline is valid? [True, True] Translation: X:153.39, Y:36.01, Z:-0.88 [[ 9.85838646e-01 1.65297359e-01 2.82656574e-02 1.53393608e+02] [-1.65213219e-01 9.86243617e-01 -5.30284124e-03 3.60110043e+01] [-2.87533698e-02 5.57885571e-04 9.99586381e-01 -8.83064057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02592 meters Centerline goodness [0,1] 0.9999005667694143 Centerline is valid? [True, True] Translation: X:153.42, Y:36.00, Z:-0.88 [[ 9.86266073e-01 1.62786168e-01 2.79266321e-02 1.53424824e+02] [-1.62702927e-01 9.86661173e-01 -5.24280890e-03 3.60047352e+01] [-2.84075804e-02 6.27059752e-04 9.99596227e-01 -8.82102669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05592000000001 meters Centerline goodness [0,1] 0.9998508130687752 Centerline is valid? [True, True] Translation: X:153.46, Y:36.00, Z:-0.88 [[ 9.86502090e-01 1.61127810e-01 2.91797160e-02 1.53455970e+02] [-1.61036004e-01 9.86933292e-01 -5.48483428e-03 3.59991014e+01] [-2.96821925e-02 7.11815625e-04 9.99559133e-01 -8.82811006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08592000000002 meters Centerline goodness [0,1] 0.9999502413295517 Centerline is valid? [True, True] Translation: X:153.49, Y:35.99, Z:-0.88 [[ 9.86980568e-01 1.58626813e-01 2.65874396e-02 1.53488399e+02] [-1.58549552e-01 9.87338348e-01 -5.00265906e-03 3.59943998e+01] [-2.70443545e-02 7.22100637e-04 9.99633974e-01 -8.82360517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11592000000002 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:153.52, Y:35.99, Z:-0.88 [[ 9.87084182e-01 1.58113895e-01 2.57839798e-02 1.53520537e+02] [-1.58040931e-01 9.87420619e-01 -4.85638466e-03 3.59892342e+01] [-2.62274952e-02 7.18736307e-04 9.99655742e-01 -8.81994003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:35.98, Z:-0.88 [[ 9.87015020e-01 1.58377526e-01 2.67938527e-02 1.53552773e+02] [-1.58298736e-01 9.87378351e-01 -5.05004294e-03 3.59839651e+01] [-2.72554834e-02 7.43035226e-04 9.99628224e-01 -8.82869382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17592000000002 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:153.58, Y:35.98, Z:-0.88 [[ 9.86777837e-01 1.59873179e-01 2.66470972e-02 1.53584804e+02] [-1.59795601e-01 9.87137311e-01 -5.02951389e-03 3.59775093e+01] [-2.71084282e-02 7.04923920e-04 9.99632250e-01 -8.81952802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20592000000002 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:153.62, Y:35.97, Z:-0.88 [[ 9.86639301e-01 1.60533663e-01 2.77818632e-02 1.53616128e+02] [-1.60449274e-01 9.87030098e-01 -5.25511266e-03 3.59723549e+01] [-2.82651576e-02 7.27320902e-04 9.99600196e-01 -8.83320233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23592000000002 meters Centerline goodness [0,1] 0.9998509094523407 Centerline is valid? [True, True] Translation: X:153.65, Y:35.97, Z:-0.88 [[ 9.86551115e-01 1.61353670e-01 2.61130263e-02 1.53647894e+02] [-1.61279311e-01 9.86896424e-01 -4.94296487e-03 3.59663868e+01] [-2.65684178e-02 6.64996621e-04 9.99646776e-01 -8.82141500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26592 meters Centerline goodness [0,1] 0.999751552795031 Centerline is valid? [True, True] Translation: X:153.68, Y:35.96, Z:-0.88 [[ 9.86467831e-01 1.61617613e-01 2.75856205e-02 1.53679753e+02] [-1.61534633e-01 9.86853211e-01 -5.22522081e-03 3.59602727e+01] [-2.80674459e-02 6.98479155e-04 9.99605788e-01 -8.82639332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29592 meters Centerline goodness [0,1] 0.9998506050495494 Centerline is valid? [True, True] Translation: X:153.71, Y:35.95, Z:-0.88 [[ 9.86541378e-01 1.61448342e-01 2.58948421e-02 1.53711448e+02] [-1.61375080e-01 9.86880942e-01 -4.90825170e-03 3.59541123e+01] [-2.63475553e-02 6.63411182e-04 9.99652623e-01 -8.82231959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32592 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:153.74, Y:35.95, Z:-0.88 [[ 9.86604234e-01 1.61457227e-01 2.33162718e-02 1.53742575e+02] [-1.61397763e-01 9.86879528e-01 -4.42247425e-03 3.59477200e+01] [-2.37243918e-02 6.00037699e-04 9.99718357e-01 -8.81465544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35592 meters Centerline goodness [0,1] 0.9999005074121978 Centerline is valid? [True, True] Translation: X:153.77, Y:35.94, Z:-0.88 [[ 9.86292342e-01 1.63307241e-01 2.36254518e-02 1.53773876e+02] [-1.63246647e-01 9.86575098e-01 -4.48415602e-03 3.59414122e+01] [-2.40405776e-02 5.65912956e-04 9.99710823e-01 -8.81896802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:153.81, Y:35.94, Z:-0.88 [[ 9.86076450e-01 1.64422368e-01 2.48700696e-02 1.53806470e+02] [-1.64355451e-01 9.86389861e-01 -4.72522083e-03 3.59360192e+01] [-2.53085165e-02 5.71897466e-04 9.99679525e-01 -8.81589423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:35.93, Z:-0.88 [[ 9.85816435e-01 1.65632948e-01 2.70496503e-02 1.53837857e+02] [-1.65554144e-01 9.86187293e-01 -5.14288019e-03 3.59298253e+01] [-2.75278518e-02 5.91754114e-04 9.99620862e-01 -8.81807628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44592 meters Centerline goodness [0,1] 0.999900423201394 Centerline is valid? [True, True] Translation: X:153.87, Y:35.92, Z:-0.88 [[ 9.85398901e-01 1.68350571e-01 2.54379689e-02 1.53869130e+02] [-1.68281699e-01 9.85727065e-01 -4.83974238e-03 3.59224411e+01] [-2.58896678e-02 4.88332196e-04 9.99664687e-01 -8.80669344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:35.92, Z:-0.88 [[ 9.85149864e-01 1.69513382e-01 2.72939249e-02 1.53901098e+02] [-1.69434439e-01 9.85527761e-01 -5.19638262e-03 3.59165825e+01] [-2.77797771e-02 4.94684789e-04 9.99613945e-01 -8.82608284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:35.91, Z:-0.88 [[ 9.84715535e-01 1.72191143e-01 2.61825331e-02 1.53933085e+02] [-1.72119354e-01 9.85063473e-01 -4.98817004e-03 3.59109096e+01] [-2.66503757e-02 4.05407840e-04 9.99644733e-01 -8.82156637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:153.96, Y:35.90, Z:-0.88 [[ 9.84444695e-01 1.73934195e-01 2.48100350e-02 1.53964947e+02] [-1.73870208e-01 9.84757218e-01 -4.72993046e-03 3.59041272e+01] [-2.52545577e-02 3.42629001e-04 9.99680994e-01 -8.80626380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56592 meters Centerline goodness [0,1] 0.9998014001290899 Centerline is valid? [True, True] Translation: X:154.00, Y:35.90, Z:-0.88 [[ 9.84274898e-01 1.74547024e-01 2.71341231e-02 1.53996282e+02] [-1.74470620e-01 9.84648773e-01 -5.17656169e-03 3.58980859e+01] [-2.76211345e-02 3.61052444e-04 9.99618398e-01 -8.80106007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59592 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:154.03, Y:35.89, Z:-0.88 [[ 9.83555964e-01 1.78540383e-01 2.72212710e-02 1.54027784e+02] [-1.78464916e-01 9.83932552e-01 -5.19675294e-03 3.58936534e+01] [-2.77117250e-02 2.53255500e-04 9.99615924e-01 -8.78259662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62592 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:154.06, Y:35.89, Z:-0.88 [[ 9.83331585e-01 1.79883355e-01 2.64758851e-02 1.54059376e+02] [-1.79812357e-01 9.83687925e-01 -5.05794305e-03 3.58891565e+01] [-2.69538483e-02 2.12943839e-04 9.99636656e-01 -8.78599918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:154.09, Y:35.88, Z:-0.88 [[ 9.82641647e-01 1.83565223e-01 2.68179430e-02 1.54091600e+02] [-1.83493651e-01 9.83007525e-01 -5.12686927e-03 3.58848094e+01] [-2.73033547e-02 1.16952972e-04 9.99627187e-01 -8.79306408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68592 meters Centerline goodness [0,1] 0.9999004033663662 Centerline is valid? [True, True] Translation: X:154.12, Y:35.88, Z:-0.88 [[ 9.82318621e-01 1.85209756e-01 2.73399517e-02 1.54123921e+02] [-1.85135855e-01 9.82699008e-01 -5.23208432e-03 3.58800175e+01] [-2.78359765e-02 7.79685036e-05 9.99612501e-01 -8.79782973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:35.88, Z:-0.88 [[ 9.82112226e-01 1.86250372e-01 2.76834787e-02 1.54156724e+02] [-1.86174859e-01 9.82502313e-01 -5.30340295e-03 3.58765857e+01] [-2.81868426e-02 5.45691379e-05 9.99602671e-01 -8.79149280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.19, Y:35.87, Z:-0.88 [[ 9.82075997e-01 1.86441460e-01 2.76824467e-02 1.54188691e+02] [-1.86365871e-01 9.82466070e-01 -5.30878697e-03 3.58705244e+01] [-2.81868426e-02 5.45689738e-05 9.99602671e-01 -8.79177360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.22, Y:35.87, Z:-0.88 [[ 9.81835592e-01 1.87688000e-01 2.77864020e-02 1.54222394e+02] [-1.87612181e-01 9.82228697e-01 -5.33434446e-03 3.58695157e+01] [-2.82937939e-02 2.43817589e-05 9.99599650e-01 -8.79105812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.25, Y:35.87, Z:-0.88 [[ 9.81754940e-01 1.88201764e-01 2.71539086e-02 1.54254744e+02] [-1.88129452e-01 9.82130386e-01 -5.21664406e-03 3.58653773e+01] [-2.76504603e-02 1.30161396e-05 9.99617653e-01 -8.80556510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.29, Y:35.86, Z:-0.88 [[ 9.81939669e-01 1.87670497e-01 2.39639444e-02 1.54287362e+02] [-1.87613943e-01 9.82232042e-01 -4.60699819e-03 3.58644008e+01] [-2.44027517e-02 2.78241661e-05 9.99702208e-01 -8.79774807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.32, Y:35.86, Z:-0.88 [[ 9.81816876e-01 1.88284601e-01 2.41770744e-02 1.54319751e+02] [-1.88227143e-01 9.82114509e-01 -4.65122144e-03 3.58608565e+01] [-2.46204090e-02 1.58660584e-05 9.99696872e-01 -8.80616416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89592000000002 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:154.35, Y:35.86, Z:-0.88 [[ 9.81730835e-01 1.88649532e-01 2.48177771e-02 1.54351744e+02] [-1.88589020e-01 9.82044477e-01 -4.77779078e-03 3.58573489e+01] [-2.52734889e-02 1.01442607e-05 9.99680574e-01 -8.80877229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.38, Y:35.86, Z:-0.88 [[ 9.81673234e-01 1.88343160e-01 2.90605417e-02 1.54383958e+02] [-1.88259935e-01 9.82103280e-01 -5.59850453e-03 3.58561796e+01] [-2.95948934e-02 2.49663463e-05 9.99561975e-01 -8.82670847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.42, Y:35.86, Z:-0.88 [[ 9.81895154e-01 1.87193096e-01 2.89939922e-02 1.54417951e+02] [-1.87109581e-01 9.82323134e-01 -5.59143185e-03 3.58562222e+01] [-2.95281467e-02 6.51461031e-05 9.99563947e-01 -8.82035524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.45, Y:35.85, Z:-0.88 [[ 9.81796100e-01 1.87852517e-01 2.80686677e-02 1.54450354e+02] [-1.87774411e-01 9.82197246e-01 -5.41673198e-03 3.58533987e+01] [-2.85865148e-02 4.75488065e-05 9.99591321e-01 -8.81897951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01592 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:154.48, Y:35.85, Z:-0.88 [[ 9.81755584e-01 1.88187581e-01 2.72287973e-02 1.54482158e+02] [-1.88114109e-01 9.82133103e-01 -5.25824496e-03 3.58506884e+01] [-2.77318396e-02 4.01904052e-05 9.99615398e-01 -8.81440628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:154.51, Y:35.85, Z:-0.88 [[ 9.81637880e-01 1.88857987e-01 2.68278452e-02 1.54514496e+02] [-1.88786816e-01 9.82004409e-01 -5.18439042e-03 3.58493753e+01] [-2.73241758e-02 2.44505356e-05 9.99626625e-01 -8.82241257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.55, Y:35.85, Z:-0.88 [[ 9.81707345e-01 1.88483014e-01 2.69229096e-02 1.54546932e+02] [-1.88411099e-01 9.82076449e-01 -5.20631812e-03 3.58456030e+01] [-2.74216580e-02 3.85057523e-05 9.99623955e-01 -8.81962761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10592 meters Centerline goodness [0,1] 0.9996523466600447 Centerline is valid? [True, True] Translation: X:154.58, Y:35.84, Z:-0.88 [[ 9.81800857e-01 1.87888424e-01 2.76589495e-02 1.54579122e+02] [-1.87812183e-01 9.82190377e-01 -5.35231171e-03 3.58445662e+01] [-2.81719915e-02 6.02165317e-05 9.99603089e-01 -8.81672115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:154.61, Y:35.84, Z:-0.88 [[ 9.81832695e-01 1.87579323e-01 2.86104186e-02 1.54611515e+02] [-1.87497505e-01 9.82249455e-01 -5.54018816e-03 3.58409797e+01] [-2.91417928e-02 7.51557564e-05 9.99575285e-01 -8.81106151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16592 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:154.64, Y:35.84, Z:-0.88 [[ 9.81873061e-01 1.87356555e-01 2.86847258e-02 1.54643945e+02] [-1.87274106e-01 9.82291970e-01 -5.55835359e-03 3.58383614e+01] [-2.92181698e-02 8.56912683e-05 9.99573054e-01 -8.81567182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19592 meters Centerline goodness [0,1] 0.9998509612996175 Centerline is valid? [True, True] Translation: X:154.68, Y:35.84, Z:-0.88 [[ 9.81953054e-01 1.87214704e-01 2.68114704e-02 1.54676771e+02] [-1.87142526e-01 9.82319015e-01 -5.19884979e-03 3.58383565e+01] [-2.73107183e-02 8.74601237e-05 9.99626989e-01 -8.82287828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:154.71, Y:35.84, Z:-0.88 [[ 9.82172370e-01 1.86038938e-01 2.69619852e-02 1.54707768e+02] [-1.85965454e-01 9.82542365e-01 -5.22984956e-03 3.58354911e+01] [-2.74642483e-02 1.22615919e-04 9.99622779e-01 -8.83089976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25592 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:154.74, Y:35.83, Z:-0.88 [[ 9.82469482e-01 1.84478264e-01 2.68605101e-02 1.54739139e+02] [-1.84404701e-01 9.82836580e-01 -5.21191697e-03 3.58343397e+01] [-2.73609772e-02 1.67345034e-04 9.99625604e-01 -8.81976220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28592 meters Centerline goodness [0,1] 0.9999005667694143 Centerline is valid? [True, True] Translation: X:154.77, Y:35.83, Z:-0.88 [[ 9.82835908e-01 1.82589463e-01 2.63565213e-02 1.54770425e+02] [-1.82517910e-01 9.83189219e-01 -5.11582626e-03 3.58315696e+01] [-2.68475435e-02 2.17480569e-04 9.99639516e-01 -8.81073260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31592 meters Centerline goodness [0,1] 0.9996019900497513 Centerline is valid? [True, True] Translation: X:154.80, Y:35.83, Z:-0.88 [[ 9.82890701e-01 1.82340415e-01 2.60354131e-02 1.54800678e+02] [-1.82270506e-01 9.83235437e-01 -5.05355290e-03 3.58280605e+01] [-2.65204077e-02 2.21602231e-04 9.99648248e-01 -8.80431901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34592 meters Centerline goodness [0,1] 0.9995033030348185 Centerline is valid? [True, True] Translation: X:154.83, Y:35.83, Z:-0.88 [[ 9.83479955e-01 1.79198385e-01 2.55952574e-02 1.54831782e+02] [-1.79129690e-01 9.83812912e-01 -4.97065143e-03 3.58263806e+01] [-2.60716774e-02 3.03665517e-04 9.99660030e-01 -8.80500296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:154.86, Y:35.82, Z:-0.88 [[ 9.83873021e-01 1.77093330e-01 2.51362354e-02 1.54862564e+02] [-1.77026389e-01 9.84193999e-01 -4.88159363e-03 3.58229122e+01] [-2.56034297e-02 3.53091294e-04 9.99672116e-01 -8.80616242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40592 meters Centerline goodness [0,1] 0.999701833722606 Centerline is valid? [True, True] Translation: X:154.89, Y:35.82, Z:-0.88 [[ 9.84457272e-01 1.74080529e-01 2.32346413e-02 1.54892270e+02] [-1.74022529e-01 9.84731340e-01 -4.51086745e-03 3.58229404e+01] [-2.36651337e-02 3.97405217e-04 9.99719863e-01 -8.79421934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43592 meters Centerline goodness [0,1] 0.999801093983093 Centerline is valid? [True, True] Translation: X:154.92, Y:35.82, Z:-0.88 [[ 9.84815441e-01 1.71969909e-01 2.37675958e-02 1.54920799e+02] [-1.71908852e-01 9.85102101e-01 -4.60404510e-03 3.58194626e+01] [-2.42052658e-02 4.48274609e-04 9.99706909e-01 -8.79164667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46592 meters Centerline goodness [0,1] 0.9995531502904523 Centerline is valid? [True, True] Translation: X:154.95, Y:35.82, Z:-0.88 [[ 9.85461270e-01 1.68048952e-01 2.50126855e-02 1.54948831e+02] [-1.67980173e-01 9.85778487e-01 -4.84103689e-03 3.58153924e+01] [-2.54704984e-02 5.69019139e-04 9.99675412e-01 -8.79356090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49592 meters Centerline goodness [0,1] 0.9996524329692155 Centerline is valid? [True, True] Translation: X:154.98, Y:35.81, Z:-0.88 [[ 9.85808861e-01 1.65938096e-01 2.54054581e-02 1.54978520e+02] [-1.65866482e-01 9.86135969e-01 -4.91537791e-03 3.58104903e+01] [-2.58688844e-02 6.31709162e-04 9.99665145e-01 -8.79871686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52592 meters Centerline goodness [0,1] 0.9996024647187438 Centerline is valid? [True, True] Translation: X:155.01, Y:35.81, Z:-0.88 [[ 9.86036890e-01 1.64416195e-01 2.64304252e-02 1.55007913e+02] [-1.64338182e-01 9.86390809e-01 -5.11204554e-03 3.58052459e+01] [-2.69112316e-02 6.97137461e-04 9.99637584e-01 -8.80140455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55592000000001 meters Centerline goodness [0,1] 0.9994037563350889 Centerline is valid? [True, True] Translation: X:155.04, Y:35.80, Z:-0.88 [[ 9.86918306e-01 1.59389969e-01 2.42300449e-02 1.55038599e+02] [-1.59322894e-01 9.87215404e-01 -4.68641045e-03 3.58028282e+01] [-2.46672403e-02 7.64703393e-04 9.99695425e-01 -8.80185225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58592000000002 meters Centerline goodness [0,1] 0.9991052343788835 Centerline is valid? [True, True] Translation: X:155.07, Y:35.80, Z:-0.88 [[ 9.87182804e-01 1.57841472e-01 2.35834988e-02 1.55068130e+02] [-1.57777522e-01 9.87464156e-01 -4.55997169e-03 3.57973933e+01] [-2.40076124e-02 7.80579652e-04 9.99711471e-01 -8.79804984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61592000000002 meters Centerline goodness [0,1] 0.998560436832961 Centerline is valid? [True, True] Translation: X:155.10, Y:35.79, Z:-0.88 [[ 9.87220140e-01 1.57331624e-01 2.53605186e-02 1.55097083e+02] [-1.57257543e-01 9.87545460e-01 -4.90201825e-03 3.57904655e+01] [-2.58159075e-02 8.51238293e-04 9.99666351e-01 -8.79714154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64592000000002 meters Centerline goodness [0,1] 0.9986575178997613 Centerline is valid? [True, True] Translation: X:155.13, Y:35.78, Z:-0.88 [[ 9.87171623e-01 1.57361111e-01 2.70123596e-02 1.55126499e+02] [-1.57277096e-01 9.87540714e-01 -5.22045834e-03 3.57847306e+01] [-2.74973020e-02 9.05062845e-04 9.99621468e-01 -8.80150850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67592000000002 meters Centerline goodness [0,1] 0.9982598319494854 Centerline is valid? [True, True] Translation: X:155.16, Y:35.78, Z:-0.88 [[ 9.87278727e-01 1.56793253e-01 2.63930045e-02 1.55156947e+02] [-1.56712805e-01 9.87631036e-01 -5.10227695e-03 3.57789913e+01] [-2.68665530e-02 9.01247724e-04 9.99638623e-01 -8.79284160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70592000000002 meters Centerline goodness [0,1] 0.9982619922534511 Centerline is valid? [True, True] Translation: X:155.19, Y:35.77, Z:-0.88 [[ 9.87249571e-01 1.57065686e-01 2.58583499e-02 1.55187088e+02] [-1.56988517e-01 9.87587769e-01 -5.00048164e-03 3.57722218e+01] [-2.63227942e-02 8.77259349e-04 9.99653110e-01 -8.79335140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73592000000002 meters Centerline goodness [0,1] 0.9984086727336019 Centerline is valid? [True, True] Translation: X:155.22, Y:35.77, Z:-0.88 [[ 9.87033369e-01 1.57943838e-01 2.86159626e-02 1.55216627e+02] [-1.57849695e-01 9.87447645e-01 -5.53380489e-03 3.57653955e+01] [-2.91307953e-02 9.45029124e-04 9.99575162e-01 -8.80043313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76592 meters Centerline goodness [0,1] 0.9985580747812252 Centerline is valid? [True, True] Translation: X:155.25, Y:35.76, Z:-0.88 [[ 9.86747821e-01 1.59888654e-01 2.76469996e-02 1.55247614e+02] [-1.59801473e-01 9.87134681e-01 -5.34887333e-03 3.57580625e+01] [-2.81465363e-02 8.59957851e-04 9.99603438e-01 -8.78744870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79592 meters Centerline goodness [0,1] 0.998260091469477 Centerline is valid? [True, True] Translation: X:155.28, Y:35.75, Z:-0.88 [[ 9.86451342e-01 1.61751557e-01 2.73894729e-02 1.55278577e+02] [-1.61666655e-01 9.86831187e-01 -5.30102371e-03 3.57506243e+01] [-2.78862349e-02 8.01237473e-04 9.99610782e-01 -8.79075073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82592 meters Centerline goodness [0,1] 0.9981561768076942 Centerline is valid? [True, True] Translation: X:155.31, Y:35.74, Z:-0.88 [[ 9.86210143e-01 1.63029020e-01 2.84796907e-02 1.55309004e+02] [-1.62937704e-01 9.86620952e-01 -5.51379669e-03 3.57427178e+01] [-2.89975684e-02 7.97346826e-04 9.99579164e-01 -8.79676363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85592 meters Centerline goodness [0,1] 0.9980481457384516 Centerline is valid? [True, True] Translation: X:155.34, Y:35.73, Z:-0.88 [[ 9.85755632e-01 1.65615758e-01 2.92789085e-02 1.55339606e+02] [-1.65520275e-01 9.86190076e-01 -5.67213387e-03 3.57332559e+01] [-2.98139638e-02 7.45084921e-04 9.99555187e-01 -8.79947870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88592 meters Centerline goodness [0,1] 0.997861228550112 Centerline is valid? [True, True] Translation: X:155.37, Y:35.73, Z:-0.88 [[ 9.85579921e-01 1.66563582e-01 2.98126118e-02 1.55370710e+02] [-1.66464905e-01 9.86030443e-01 -5.77926108e-03 3.57260186e+01] [-3.03587573e-02 7.33170082e-04 9.99538798e-01 -8.80121612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91592 meters Centerline goodness [0,1] 0.9985093908377224 Centerline is valid? [True, True] Translation: X:155.40, Y:35.72, Z:-0.88 [[ 9.85175537e-01 1.69098353e-01 2.88947723e-02 1.55401943e+02] [-1.69006643e-01 9.85598975e-01 -5.60492490e-03 3.57182583e+01] [-2.94264415e-02 6.38426435e-04 9.99566745e-01 -8.80215045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94592 meters Centerline goodness [0,1] 0.9977598566308243 Centerline is valid? [True, True] Translation: X:155.43, Y:35.71, Z:-0.88 [[ 9.84465470e-01 1.73406841e-01 2.75282933e-02 1.55431796e+02] [-1.73325235e-01 9.84850156e-01 -5.34162052e-03 3.57087291e+01] [-2.80375175e-02 4.87293067e-04 9.99606753e-01 -8.78480219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97592 meters Centerline goodness [0,1] 0.9970192259923494 Centerline is valid? [True, True] Translation: X:155.46, Y:35.70, Z:-0.88 [[ 9.83348555e-01 1.79774354e-01 2.65857305e-02 1.55462210e+02] [-1.79700497e-01 9.83707829e-01 -5.16124433e-03 3.56985381e+01] [-2.70804506e-02 2.97833171e-04 9.99633213e-01 -8.78590050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00592 meters Centerline goodness [0,1] 0.997167701863354 Centerline is valid? [True, True] Translation: X:155.49, Y:35.69, Z:-0.88 [[ 9.82837477e-01 1.82461328e-01 2.71727496e-02 1.55492266e+02] [-1.82385150e-01 9.83213004e-01 -5.27697782e-03 3.56912851e+01] [-2.76794451e-02 2.30505554e-04 9.99616824e-01 -8.79392572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03592 meters Centerline goodness [0,1] 0.9959761549925484 Centerline is valid? [True, True] Translation: X:155.52, Y:35.68, Z:-0.88 [[ 9.82139245e-01 1.86068031e-01 2.79498094e-02 1.55522679e+02] [-1.85988841e-01 9.82536854e-01 -5.42968002e-03 3.56847875e+01] [-2.84720077e-02 1.34349174e-04 9.99594581e-01 -8.78910612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06592 meters Centerline goodness [0,1] 0.9953261734287987 Centerline is valid? [True, True] Translation: X:155.55, Y:35.68, Z:-0.88 [[ 9.81248336e-01 1.90799434e-01 2.73363919e-02 1.55554392e+02] [-1.90725443e-01 9.81629042e-01 -5.31315647e-03 3.56811125e+01] [-2.78479435e-02 -2.19499166e-07 9.99612171e-01 -8.78673315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09592 meters Centerline goodness [0,1] 0.9947266305158947 Centerline is valid? [True, True] Translation: X:155.58, Y:35.68, Z:-0.88 [[ 9.80986222e-01 1.92329806e-01 2.59861009e-02 1.55584497e+02] [-1.92263479e-01 9.81330344e-01 -5.05078991e-03 3.56758791e+01] [-2.64723668e-02 -4.14228627e-05 9.99649545e-01 -8.78354430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12592 meters Centerline goodness [0,1] 0.994635939207311 Centerline is valid? [True, True] Translation: X:155.61, Y:35.67, Z:-0.88 [[ 9.80623226e-01 1.94230576e-01 2.55455035e-02 1.55613506e+02] [-1.94167166e-01 9.80955898e-01 -4.96354206e-03 3.56704551e+01] [-2.60230839e-02 -9.27333890e-05 9.99661338e-01 -8.78567504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15592 meters Centerline goodness [0,1] 0.9948835129899161 Centerline is valid? [True, True] Translation: X:155.64, Y:35.67, Z:-0.88 [[ 9.80797959e-01 1.93285697e-01 2.60000723e-02 1.55642605e+02] [-1.93219724e-01 9.81142515e-01 -5.05016204e-03 3.56663619e+01] [-2.64859004e-02 -7.05381603e-05 9.99649185e-01 -8.78215850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18592 meters Centerline goodness [0,1] 0.9950374671232197 Centerline is valid? [True, True] Translation: X:155.67, Y:35.66, Z:-0.88 [[ 9.80950047e-01 1.92238966e-01 2.79496942e-02 1.55672151e+02] [-1.92162353e-01 9.81348143e-01 -5.42702351e-03 3.56634195e+01] [-2.84716658e-02 -4.72400182e-05 9.99594599e-01 -8.76988985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21592 meters Centerline goodness [0,1] 0.9948738366595332 Centerline is valid? [True, True] Translation: X:155.70, Y:35.66, Z:-0.88 [[ 9.81011535e-01 1.92024624e-01 2.72563944e-02 1.55702524e+02] [-1.91951684e-01 9.81390107e-01 -5.29235087e-03 3.56581948e+01] [-2.77654175e-02 -4.00535613e-05 9.99614466e-01 -8.75765207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24592 meters Centerline goodness [0,1] 0.9951829964741521 Centerline is valid? [True, True] Translation: X:155.73, Y:35.66, Z:-0.88 [[ 9.80951964e-01 1.92427026e-01 2.65534176e-02 1.55732601e+02] [-1.92357993e-01 9.81311285e-01 -5.15415706e-03 3.56550655e+01] [-2.70489674e-02 -5.17816270e-05 9.99634108e-01 -8.76157633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27592 meters Centerline goodness [0,1] 0.9946199063465179 Centerline is valid? [True, True] Translation: X:155.76, Y:35.65, Z:-0.88 [[ 9.80713774e-01 1.93756316e-01 2.56706684e-02 1.55762391e+02] [-1.93692297e-01 9.81049684e-01 -4.98113735e-03 3.56519808e+01] [-2.61493279e-02 -8.71407164e-05 9.99658044e-01 -8.75644241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30592000000001 meters Centerline goodness [0,1] 0.9944850201222238 Centerline is valid? [True, True] Translation: X:155.79, Y:35.65, Z:-0.88 [[ 9.80556707e-01 1.94515935e-01 2.59247925e-02 1.55790509e+02] [-1.94451256e-01 9.80899351e-01 -5.01724552e-03 3.56483495e+01] [-2.64055463e-02 -1.21414702e-04 9.99651305e-01 -8.76372039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33592000000002 meters Centerline goodness [0,1] 0.9949821144674086 Centerline is valid? [True, True] Translation: X:155.82, Y:35.64, Z:-0.87 [[ 9.80337990e-01 1.95898330e-01 2.36911446e-02 1.55819114e+02] [-1.95844982e-01 9.80624199e-01 -4.57413088e-03 3.56438716e+01] [-2.41281743e-02 -1.55597517e-04 9.99708861e-01 -8.74275638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36592000000002 meters Centerline goodness [0,1] 0.994928653109929 Centerline is valid? [True, True] Translation: X:155.85, Y:35.64, Z:-0.87 [[ 9.80348107e-01 1.95673086e-01 2.50924931e-02 1.55847422e+02] [-1.95613461e-01 9.80669167e-01 -4.83314593e-03 3.56397022e+01] [-2.55531508e-02 -1.70263959e-04 9.99673450e-01 -8.73899814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39592000000002 meters Centerline goodness [0,1] 0.9940931202223766 Centerline is valid? [True, True] Translation: X:155.88, Y:35.64, Z:-0.87 [[ 9.80538051e-01 1.94932691e-01 2.33747070e-02 1.55877339e+02] [-1.94880998e-01 9.80816610e-01 -4.49150037e-03 3.56408939e+01] [-2.38018411e-02 -1.51199199e-04 9.99716685e-01 -8.73903052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42592000000002 meters Centerline goodness [0,1] 0.9938863760624286 Centerline is valid? [True, True] Translation: X:155.91, Y:35.64, Z:-0.88 [[ 9.80892342e-01 1.93067109e-01 2.39855316e-02 1.55905618e+02] [-1.93012428e-01 9.81185547e-01 -4.59628445e-03 3.56383258e+01] [-2.44216483e-02 -1.21045465e-04 9.99701740e-01 -8.76049239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45592000000002 meters Centerline goodness [0,1] 0.9943297687142502 Centerline is valid? [True, True] Translation: X:155.93, Y:35.63, Z:-0.88 [[ 9.81301671e-01 1.90852903e-01 2.49439575e-02 1.55933705e+02] [-1.90793342e-01 9.81618644e-01 -4.76837196e-03 3.56344842e+01] [-2.53955114e-02 -7.99296440e-05 9.99677479e-01 -8.77469898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48592000000002 meters Centerline goodness [0,1] 0.9943912244999256 Centerline is valid? [True, True] Translation: X:155.96, Y:35.64, Z:-0.88 [[ 9.82166287e-01 1.86317349e-01 2.52037874e-02 1.55962779e+02] [-1.86255385e-01 9.82489616e-01 -4.80485049e-03 3.56362851e+01] [-2.56576864e-02 2.48210386e-05 9.99670787e-01 -8.77290890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51592 meters Centerline goodness [0,1] 0.9943317422434368 Centerline is valid? [True, True] Translation: X:155.99, Y:35.63, Z:-0.88 [[ 9.82492894e-01 1.84651787e-01 2.47271127e-02 1.55991096e+02] [-1.84591942e-01 9.82804006e-01 -4.70110597e-03 3.56349123e+01] [-2.51699730e-02 5.43774531e-05 9.99683185e-01 -8.76543557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54592 meters Centerline goodness [0,1] 0.9936960190608558 Centerline is valid? [True, True] Translation: X:156.02, Y:35.63, Z:-0.88 [[ 9.83128465e-01 1.80974024e-01 2.65861601e-02 1.56019521e+02] [-1.80903824e-01 9.83487865e-01 -5.04239737e-03 3.56328396e+01] [-2.70597088e-02 1.47786356e-04 9.99633808e-01 -8.78797382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57592 meters Centerline goodness [0,1] 0.993331674545907 Centerline is valid? [True, True] Translation: X:156.05, Y:35.63, Z:-0.88 [[ 9.83543321e-01 1.78760729e-01 2.62133119e-02 1.56047340e+02] [-1.78692056e-01 9.83892557e-01 -4.95828681e-03 3.56290969e+01] [-2.66774294e-02 1.92579285e-04 9.99644075e-01 -8.78923994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60592 meters Centerline goodness [0,1] 0.994142176330421 Centerline is valid? [True, True] Translation: X:156.08, Y:35.63, Z:-0.88 [[ 9.83819944e-01 1.77322671e-01 2.55927451e-02 1.56075148e+02] [-1.77257065e-01 9.84152745e-01 -4.82783747e-03 3.56261721e+01] [-2.60432553e-02 2.13227907e-04 9.99660794e-01 -8.78253786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63592 meters Centerline goodness [0,1] 0.994142176330421 Centerline is valid? [True, True] Translation: X:156.10, Y:35.62, Z:-0.88 [[ 9.83906940e-01 1.76838978e-01 2.55951149e-02 1.56102003e+02] [-1.76773535e-01 9.84239773e-01 -4.81525744e-03 3.56207669e+01] [-2.60432553e-02 2.13226272e-04 9.99660794e-01 -8.78277527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66592 meters Centerline goodness [0,1] 0.994133147715408 Centerline is valid? [True, True] Translation: X:156.13, Y:35.62, Z:-0.88 [[ 9.84150139e-01 1.75381814e-01 2.62625894e-02 1.56131032e+02] [-1.75312708e-01 9.84500461e-01 -4.92908844e-03 3.56205483e+01] [-2.67200039e-02 2.46797393e-04 9.99642926e-01 -8.78090766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69592 meters Centerline goodness [0,1] 0.9936422788456762 Centerline is valid? [True, True] Translation: X:156.16, Y:35.62, Z:-0.88 [[ 9.84358389e-01 1.73990945e-01 2.76715129e-02 1.56159422e+02] [-1.73914022e-01 9.84747210e-01 -5.18119149e-03 3.56167986e+01] [-2.81509255e-02 2.87685222e-04 9.99603643e-01 -8.78557032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72592 meters Centerline goodness [0,1] 0.9934897127522115 Centerline is valid? [True, True] Translation: X:156.19, Y:35.61, Z:-0.88 [[ 9.84649837e-01 1.72539336e-01 2.63605038e-02 1.56188165e+02] [-1.72469322e-01 9.85002582e-01 -4.92409970e-03 3.56125643e+01] [-2.68147652e-02 3.02135767e-04 9.99640374e-01 -8.76949612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75592 meters Centerline goodness [0,1] 0.9944411355965853 Centerline is valid? [True, True] Translation: X:156.22, Y:35.61, Z:-0.88 [[ 9.85146628e-01 1.69033353e-01 3.02298989e-02 1.56218353e+02] [-1.68939689e-01 9.85610227e-01 -5.64462093e-03 3.56128881e+01] [-3.07490268e-02 4.53749538e-04 9.99527034e-01 -8.78172383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78592 meters Centerline goodness [0,1] 0.9937397525711731 Centerline is valid? [True, True] Translation: X:156.25, Y:35.61, Z:-0.88 [[ 9.85498640e-01 1.67172161e-01 2.90843551e-02 1.56246360e+02] [-1.67085071e-01 9.85927604e-01 -5.41657538e-03 3.56099163e+01] [-2.95805691e-02 4.78466123e-04 9.99562285e-01 -8.78081797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81592 meters Centerline goodness [0,1] 0.9929969206317671 Centerline is valid? [True, True] Translation: X:156.27, Y:35.61, Z:-0.88 [[ 9.86212500e-01 1.63268119e-01 2.69893786e-02 1.56274322e+02] [-1.63192032e-01 9.86581588e-01 -5.01301510e-03 3.56094797e+01] [-2.74456895e-02 5.39446623e-04 9.99623151e-01 -8.78165852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84592 meters Centerline goodness [0,1] 0.9939929504046071 Centerline is valid? [True, True] Translation: X:156.30, Y:35.61, Z:-0.88 [[ 9.86496122e-01 1.61372551e-01 2.80053662e-02 1.56302589e+02] [-1.61290209e-01 9.86893377e-01 -5.18956202e-03 3.56065292e+01] [-2.84757633e-02 6.02491428e-04 9.99594302e-01 -8.77638011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87592 meters Centerline goodness [0,1] 0.9945260014929087 Centerline is valid? [True, True] Translation: X:156.33, Y:35.60, Z:-0.88 [[ 9.86851656e-01 1.59140433e-01 2.82512357e-02 1.56330888e+02] [-1.59056075e-01 9.87255735e-01 -5.22292437e-03 3.56035826e+01] [-2.87223729e-02 6.60720893e-04 9.99587209e-01 -8.77450824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90592 meters Centerline goodness [0,1] 0.9966271514309806 Centerline is valid? [True, True] Translation: X:156.36, Y:35.60, Z:-0.88 [[ 9.87307018e-01 1.55994346e-01 2.98432059e-02 1.56359654e+02] [-1.55899166e-01 9.87757639e-01 -5.50429436e-03 3.56004213e+01] [-3.03364933e-02 7.81897535e-04 9.99539437e-01 -8.78798763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93592 meters Centerline goodness [0,1] 0.9976689976689976 Centerline is valid? [True, True] Translation: X:156.39, Y:35.60, Z:-0.88 [[ 9.87837842e-01 1.52676997e-01 2.94301237e-02 1.56388591e+02] [-1.52583338e-01 9.88275769e-01 -5.41559318e-03 3.55988327e+01] [-2.99119146e-02 8.59181388e-04 9.99552169e-01 -8.79336703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96592 meters Centerline goodness [0,1] 0.9977676356781426 Centerline is valid? [True, True] Translation: X:156.42, Y:35.60, Z:-0.88 [[ 9.88125139e-01 1.50815345e-01 2.93843666e-02 1.56417587e+02] [-1.50721524e-01 9.88561540e-01 -5.39477456e-03 3.55959624e+01] [-2.98618695e-02 9.01855842e-04 9.99553628e-01 -8.79303262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99592 meters Centerline goodness [0,1] 0.9983609000149009 Centerline is valid? [True, True] Translation: X:156.44, Y:35.59, Z:-0.88 [[ 9.88117352e-01 1.50755230e-01 2.99492642e-02 1.56444714e+02] [-1.50658176e-01 9.88570705e-01 -5.48415211e-03 3.55913742e+01] [-3.04337298e-02 9.06884347e-04 9.99536375e-01 -8.80057625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02592 meters Centerline goodness [0,1] 0.9992549915565709 Centerline is valid? [True, True] Translation: X:156.47, Y:35.59, Z:-0.88 [[ 9.88278934e-01 1.48937019e-01 3.35039121e-02 1.56473720e+02] [-1.48814588e-01 9.88846100e-01 -6.13264746e-03 3.55858430e+01] [-3.40435910e-02 1.07489542e-03 9.99419771e-01 -8.80740907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05592000000001 meters Centerline goodness [0,1] 0.9995524392063255 Centerline is valid? [True, True] Translation: X:156.50, Y:35.58, Z:-0.88 [[ 9.88432119e-01 1.48162391e-01 3.24014252e-02 1.56503829e+02] [-1.48047474e-01 9.88962472e-01 -5.93079605e-03 3.55819658e+01] [-3.29225145e-02 1.06524014e-03 9.99457339e-01 -8.80039854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08592000000002 meters Centerline goodness [0,1] 0.9993552546744036 Centerline is valid? [True, True] Translation: X:156.53, Y:35.58, Z:-0.88 [[ 9.88562860e-01 1.47072624e-01 3.33633738e-02 1.56533164e+02] [-1.46950296e-01 9.89125051e-01 -6.10284994e-03 3.55806428e+01] [-3.38981110e-02 1.13029312e-03 9.99424655e-01 -8.81207921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11592000000002 meters Centerline goodness [0,1] 0.9991040318566451 Centerline is valid? [True, True] Translation: X:156.56, Y:35.58, Z:-0.88 [[ 9.88794338e-01 1.45688572e-01 3.25667971e-02 1.56562796e+02] [-1.45571334e-01 9.89329835e-01 -5.95515568e-03 3.55759490e+01] [-3.30869022e-02 1.14763214e-03 9.99451820e-01 -8.81317971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14592000000002 meters Centerline goodness [0,1] 0.999502784407319 Centerline is valid? [True, True] Translation: X:156.59, Y:35.57, Z:-0.88 [[ 9.89085937e-01 1.43606701e-01 3.29564180e-02 1.56592174e+02] [-1.43485551e-01 9.89634075e-01 -6.02444780e-03 3.55706243e+01] [-3.34799453e-02 1.22992679e-03 9.99438633e-01 -8.82355153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17592000000002 meters Centerline goodness [0,1] 0.9991039872567077 Centerline is valid? [True, True] Translation: X:156.62, Y:35.57, Z:-0.88 [[ 9.89321261e-01 1.41290155e-01 3.57845614e-02 1.56621606e+02] [-1.41145874e-01 9.89967211e-01 -6.53932176e-03 3.55661956e+01] [-3.63494842e-02 1.41864688e-03 9.99338132e-01 -8.82087610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20592000000002 meters Centerline goodness [0,1] 0.9993027888446215 Centerline is valid? [True, True] Translation: X:156.65, Y:35.56, Z:-0.88 [[ 9.89403473e-01 1.40603850e-01 3.62122349e-02 1.56652338e+02] [-1.40455564e-01 9.90064855e-01 -6.61949988e-03 3.55617406e+01] [-3.67831882e-02 1.46314627e-03 9.99322198e-01 -8.80911994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23592000000002 meters Centerline goodness [0,1] 0.9995040174585854 Centerline is valid? [True, True] Translation: X:156.68, Y:35.56, Z:-0.88 [[ 9.89696505e-01 1.38527112e-01 3.62086613e-02 1.56682815e+02] [-1.38377391e-01 9.90357441e-01 -6.62096682e-03 3.55558431e+01] [-3.67767005e-02 1.54228765e-03 9.99322318e-01 -8.82532570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26592 meters Centerline goodness [0,1] 0.9992056793923447 Centerline is valid? [True, True] Translation: X:156.71, Y:35.55, Z:-0.88 [[ 9.89779209e-01 1.37741653e-01 3.69371656e-02 1.56714629e+02] [-1.37585137e-01 9.90466887e-01 -6.75845633e-03 3.55493359e+01] [-3.75159604e-02 1.60737456e-03 9.99294736e-01 -8.83878231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29592 meters Centerline goodness [0,1] 0.9989059080962801 Centerline is valid? [True, True] Translation: X:156.75, Y:35.54, Z:-0.88 [[ 9.89965886e-01 1.36598313e-01 3.61724470e-02 1.56745775e+02] [-1.36447298e-01 9.90625194e-01 -6.62272490e-03 3.55424269e+01] [-3.67379904e-02 1.62063906e-03 9.99323618e-01 -8.83772784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32592 meters Centerline goodness [0,1] 0.9989579198094481 Centerline is valid? [True, True] Translation: X:156.78, Y:35.54, Z:-0.88 [[ 9.90175203e-01 1.35109860e-01 3.60332107e-02 1.56777128e+02] [-1.34958869e-01 9.90829211e-01 -6.60141361e-03 3.55359090e+01] [-3.65946738e-02 1.67355468e-03 9.99328789e-01 -8.84521535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35592 meters Centerline goodness [0,1] 0.9990563695058357 Centerline is valid? [True, True] Translation: X:156.81, Y:35.53, Z:-0.88 [[ 9.90176039e-01 1.35149259e-01 3.58621019e-02 1.56808248e+02] [-1.34999573e-01 9.90823846e-01 -6.57423610e-03 3.55297876e+01] [-3.64215289e-02 1.66828261e-03 9.99335124e-01 -8.84074838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38592 meters Centerline goodness [0,1] 0.9994026284348865 Centerline is valid? [True, True] Translation: X:156.84, Y:35.52, Z:-0.89 [[ 9.90023725e-01 1.35683952e-01 3.79853727e-02 1.56839541e+02] [-1.35516230e-01 9.90750625e-01 -6.96787288e-03 3.55214611e+01] [-3.85794602e-02 1.75072497e-03 9.99254002e-01 -8.86074979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41592 meters Centerline goodness [0,1] 0.9992056793923447 Centerline is valid? [True, True] Translation: X:156.87, Y:35.51, Z:-0.89 [[ 9.89902413e-01 1.36740272e-01 3.73538522e-02 1.56870786e+02] [-1.36578669e-01 9.90605501e-01 -6.85634836e-03 3.55144211e+01] [-3.79404703e-02 1.68537637e-03 9.99278580e-01 -8.85767626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44592 meters Centerline goodness [0,1] 0.9992548064980873 Centerline is valid? [True, True] Translation: X:156.90, Y:35.51, Z:-0.89 [[ 9.89818045e-01 1.37294411e-01 3.75563990e-02 1.56902452e+02] [-1.37131282e-01 9.90528864e-01 -6.89788899e-03 3.55077636e+01] [-3.81477388e-02 1.67749787e-03 9.99270702e-01 -8.87955198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47592 meters Centerline goodness [0,1] 0.9995035249726939 Centerline is valid? [True, True] Translation: X:156.93, Y:35.50, Z:-0.89 [[ 9.89968742e-01 1.36639283e-01 3.59387803e-02 1.56934122e+02] [-1.36489327e-01 9.90619522e-01 -6.60494978e-03 3.55010446e+01] [-3.65041530e-02 1.63343389e-03 9.99332166e-01 -8.86776477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50592 meters Centerline goodness [0,1] 0.9992552874590408 Centerline is valid? [True, True] Translation: X:156.97, Y:35.49, Z:-0.89 [[ 9.89960930e-01 1.36613665e-01 3.62500043e-02 1.56965630e+02] [-1.36460926e-01 9.90623024e-01 -6.66638011e-03 3.54944095e+01] [-3.68208075e-02 1.65274668e-03 9.99320517e-01 -8.87886167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53592 meters Centerline goodness [0,1] 0.9993042095323295 Centerline is valid? [True, True] Translation: X:157.00, Y:35.48, Z:-0.89 [[ 9.89964985e-01 1.36843535e-01 3.52587038e-02 1.56996770e+02] [-1.36699038e-01 9.90591377e-01 -6.48816542e-03 3.54842864e+01] [-3.58148314e-02 1.60322568e-03 9.99357157e-01 -8.86962196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56592 meters Centerline goodness [0,1] 0.9996519317786287 Centerline is valid? [True, True] Translation: X:157.03, Y:35.48, Z:-0.89 [[ 9.89972299e-01 1.36847157e-01 3.50385918e-02 1.57028114e+02] [-1.36704316e-01 9.90590887e-01 -6.45175454e-03 3.54766294e+01] [-3.55918139e-02 1.59713154e-03 9.99365134e-01 -8.87905594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59592 meters Centerline goodness [0,1] 0.9996026818971939 Centerline is valid? [True, True] Translation: X:157.06, Y:35.47, Z:-0.89 [[ 9.89775346e-01 1.38378180e-01 3.45867475e-02 1.57059904e+02] [-1.38239790e-01 9.90378286e-01 -6.37261493e-03 3.54697752e+01] [-3.51357945e-02 1.52619243e-03 9.99381382e-01 -8.87324796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62592 meters Centerline goodness [0,1] 0.9992551025475492 Centerline is valid? [True, True] Translation: X:157.09, Y:35.46, Z:-0.89 [[ 9.89522332e-01 1.40318200e-01 3.40052480e-02 1.57091542e+02] [-1.40185431e-01 9.90105418e-01 -6.26946525e-03 3.54633463e+01] [-3.45485003e-02 1.43673552e-03 9.99401990e-01 -8.87708925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65592 meters Centerline goodness [0,1] 0.9994541484716157 Centerline is valid? [True, True] Translation: X:157.12, Y:35.46, Z:-0.89 [[ 9.89331467e-01 1.41988747e-01 3.25951446e-02 1.57121917e+02] [-1.41867605e-01 9.89867388e-01 -6.01143774e-03 3.54564109e+01] [-3.31184272e-02 1.32310941e-03 9.99450559e-01 -8.86802043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68592 meters Centerline goodness [0,1] 0.9996525537300839 Centerline is valid? [True, True] Translation: X:157.15, Y:35.45, Z:-0.89 [[ 9.88920422e-01 1.45137995e-01 3.11666708e-02 1.57152178e+02] [-1.45028744e-01 9.89410735e-01 -5.74983670e-03 3.54480143e+01] [-3.16711584e-02 1.16606781e-03 9.99497663e-01 -8.86779200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71592 meters Centerline goodness [0,1] 0.9997519102907612 Centerline is valid? [True, True] Translation: X:157.18, Y:35.44, Z:-0.89 [[ 9.88536827e-01 1.47254741e-01 3.33314125e-02 1.57181939e+02] [-1.47130980e-01 9.89097903e-01 -6.14925673e-03 3.54431234e+01] [-3.38735375e-02 1.17468335e-03 9.99425437e-01 -8.87386469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74592 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:157.21, Y:35.44, Z:-0.89 [[ 9.88177504e-01 1.49882580e-01 3.22557523e-02 1.57212451e+02] [-1.49768079e-01 9.88703247e-01 -5.95080997e-03 3.54390170e+01] [-3.27832898e-02 1.04957449e-03 9.99461932e-01 -8.85310533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77592 meters Centerline goodness [0,1] 0.9997021001936349 Centerline is valid? [True, True] Translation: X:157.24, Y:35.43, Z:-0.89 [[ 9.88113260e-01 1.50401696e-01 3.18043174e-02 1.57242378e+02] [-1.50290646e-01 9.88624445e-01 -5.86752550e-03 3.54332993e+01] [-3.23250115e-02 1.01788832e-03 9.99476892e-01 -8.85057546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80592000000001 meters Centerline goodness [0,1] 0.9998511609446319 Centerline is valid? [True, True] Translation: X:157.27, Y:35.43, Z:-0.89 [[ 9.87837344e-01 1.52075754e-01 3.24090598e-02 1.57272074e+02] [-1.51961339e-01 9.88368353e-01 -5.97909341e-03 3.54262013e+01] [-3.29413642e-02 9.81447627e-04 9.99456804e-01 -8.85224107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83592000000002 meters Centerline goodness [0,1] 0.9992552135054618 Centerline is valid? [True, True] Translation: X:157.30, Y:35.42, Z:-0.88 [[ 9.87906174e-01 1.52139474e-01 2.99160859e-02 1.57301706e+02] [-1.52042019e-01 9.88358621e-01 -5.51916882e-03 3.54209705e+01] [-3.04075049e-02 9.03918847e-04 9.99537176e-01 -8.84793763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86592000000002 meters Centerline goodness [0,1] 0.9996516373046681 Centerline is valid? [True, True] Translation: X:157.33, Y:35.42, Z:-0.88 [[ 9.87823550e-01 1.52698542e-01 2.97957918e-02 1.57329715e+02] [-1.52602324e-01 9.88272425e-01 -5.49035606e-03 3.54160516e+01] [-3.02847288e-02 8.76595953e-04 9.99540928e-01 -8.83252668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89592000000002 meters Centerline goodness [0,1] 0.9995039682539683 Centerline is valid? [True, True] Translation: X:157.36, Y:35.41, Z:-0.88 [[ 9.87599361e-01 1.54391749e-01 2.84726341e-02 1.57358708e+02] [-1.54304937e-01 9.88009406e-01 -5.23459785e-03 3.54134972e+01] [-2.89394090e-02 7.76217486e-04 9.99580866e-01 -8.83324295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92592000000002 meters Centerline goodness [0,1] 0.9996527261001141 Centerline is valid? [True, True] Translation: X:157.39, Y:35.41, Z:-0.88 [[ 9.87598338e-01 1.54358071e-01 2.86898849e-02 1.57386197e+02] [-1.54270317e-01 9.88014673e-01 -5.26074945e-03 3.54089620e+01] [-2.91580663e-02 7.69509783e-04 9.99574517e-01 -8.83035394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95592000000002 meters Centerline goodness [0,1] 0.9998510648860647 Centerline is valid? [True, True] Translation: X:157.41, Y:35.40, Z:-0.88 [[ 9.87464903e-01 1.55314031e-01 2.81179164e-02 1.57414613e+02] [-1.55230473e-01 9.87864890e-01 -5.14383783e-03 3.54041557e+01] [-2.85756126e-02 7.14601867e-04 9.99591378e-01 -8.82157715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98592000000002 meters Centerline goodness [0,1] 0.999602721358693 Centerline is valid? [True, True] Translation: X:157.44, Y:35.40, Z:-0.88 [[ 9.87499122e-01 1.54987891e-01 2.87095391e-02 1.57443697e+02] [-1.54901001e-01 9.87916102e-01 -5.23974539e-03 3.54020367e+01] [-2.91747131e-02 7.27107630e-04 9.99574063e-01 -8.81682700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01592 meters Centerline goodness [0,1] 0.9996031746031746 Centerline is valid? [True, True] Translation: X:157.47, Y:35.40, Z:-0.88 [[ 9.87564660e-01 1.54967527e-01 2.64784500e-02 1.57472359e+02] [-1.54893918e-01 9.87919344e-01 -4.82123413e-03 3.53974458e+01] [-2.69057077e-02 6.59929586e-04 9.99637758e-01 -8.80419424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04592 meters Centerline goodness [0,1] 0.999702380952381 Centerline is valid? [True, True] Translation: X:157.50, Y:35.39, Z:-0.88 [[ 9.87872935e-01 1.52645909e-01 2.83952671e-02 1.57500834e+02] [-1.52560644e-01 9.88280650e-01 -5.15815228e-03 3.53936295e+01] [-2.88498639e-02 7.63598795e-04 9.99583464e-01 -8.81540937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07592 meters Centerline goodness [0,1] 0.9992557308722834 Centerline is valid? [True, True] Translation: X:157.53, Y:35.39, Z:-0.88 [[ 9.88062241e-01 1.51587344e-01 2.74642650e-02 1.57528824e+02] [-1.51507539e-01 9.88443578e-01 -4.97584474e-03 3.53891407e+01] [-2.79011515e-02 7.55401098e-04 9.99610402e-01 -8.81190307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10592 meters Centerline goodness [0,1] 0.9995531724754245 Centerline is valid? [True, True] Translation: X:157.56, Y:35.39, Z:-0.88 [[ 9.88298853e-01 1.50336340e-01 2.57752025e-02 1.57557131e+02] [-1.50265911e-01 9.88634639e-01 -4.65897793e-03 3.53852547e+01] [-2.61826717e-02 7.31328261e-04 9.99656908e-01 -8.80027887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13592 meters Centerline goodness [0,1] 0.9993057277460947 Centerline is valid? [True, True] Translation: X:157.59, Y:35.38, Z:-0.88 [[ 9.88571432e-01 1.48509724e-01 2.59111080e-02 1.57586078e+02] [-1.48438210e-01 9.88910645e-01 -4.67263216e-03 3.53831845e+01] [-2.63177018e-02 7.73032180e-04 9.99653330e-01 -8.79941805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16592 meters Centerline goodness [0,1] 0.9994045846978268 Centerline is valid? [True, True] Translation: X:157.61, Y:35.38, Z:-0.88 [[ 9.88553248e-01 1.48588138e-01 2.61541744e-02 1.57613152e+02] [-1.48515636e-01 9.88898872e-01 -4.70394414e-03 3.53776649e+01] [-2.65627838e-02 7.65795413e-04 9.99646854e-01 -8.79436655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19592 meters Centerline goodness [0,1] 0.9994047619047619 Centerline is valid? [True, True] Translation: X:157.64, Y:35.37, Z:-0.88 [[ 9.88264801e-01 1.50525842e-01 2.59740839e-02 1.57641563e+02] [-1.50455294e-01 9.88605828e-01 -4.66055703e-03 3.53726329e+01] [-2.63796650e-02 6.97926037e-04 9.99651752e-01 -8.78224938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22592 meters Centerline goodness [0,1] 0.9993557658952377 Centerline is valid? [True, True] Translation: X:157.67, Y:35.37, Z:-0.88 [[ 9.88249430e-01 1.50266063e-01 2.79852489e-02 1.57669764e+02] [-1.50184397e-01 9.88645311e-01 -5.00954332e-03 3.53691267e+01] [-2.84202495e-02 7.47730596e-04 9.99595783e-01 -8.78490730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25592 meters Centerline goodness [0,1] 0.9994046142396428 Centerline is valid? [True, True] Translation: X:157.70, Y:35.37, Z:-0.88 [[ 9.88255961e-01 1.50163382e-01 2.83039577e-02 1.57696928e+02] [-1.50080195e-01 9.88660914e-01 -5.05299006e-03 3.53653094e+01] [-2.87417907e-02 7.45784063e-04 9.99586591e-01 -8.78134714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28592 meters Centerline goodness [0,1] 0.9995038205815223 Centerline is valid? [True, True] Translation: X:157.73, Y:35.36, Z:-0.88 [[ 9.88426040e-01 1.49226894e-01 2.73001394e-02 1.57725030e+02] [-1.49149513e-01 9.88802709e-01 -4.86058133e-03 3.53617013e+01] [-2.77197813e-02 7.32522643e-04 9.99615465e-01 -8.78336853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31592 meters Centerline goodness [0,1] 0.9989067779765454 Centerline is valid? [True, True] Translation: X:157.75, Y:35.36, Z:-0.88 [[ 9.88526187e-01 1.48635844e-01 2.68954120e-02 1.57752310e+02] [-1.48560879e-01 9.88891733e-01 -4.77549404e-03 3.53564705e+01] [-2.73064602e-02 7.25094885e-04 9.99626846e-01 -8.78668697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34592 meters Centerline goodness [0,1] 0.9990087232355274 Centerline is valid? [True, True] Translation: X:157.78, Y:35.35, Z:-0.88 [[ 9.88737299e-01 1.47131512e-01 2.74020544e-02 1.57780863e+02] [-1.47053443e-01 9.89116639e-01 -4.85377709e-03 3.53521937e+01] [-2.78179715e-02 7.69544009e-04 9.99612709e-01 -8.78179399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37592 meters Centerline goodness [0,1] 0.999207253629292 Centerline is valid? [True, True] Translation: X:157.81, Y:35.35, Z:-0.88 [[ 9.88821208e-01 1.46456733e-01 2.79829406e-02 1.57808995e+02] [-1.46375383e-01 9.89216759e-01 -4.94485795e-03 3.53472655e+01] [-2.84054015e-02 7.93566766e-04 9.99596170e-01 -8.78332529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40592 meters Centerline goodness [0,1] 0.9996528466574093 Centerline is valid? [True, True] Translation: X:157.84, Y:35.34, Z:-0.88 [[ 9.88977187e-01 1.45006735e-01 2.99528053e-02 1.57837443e+02] [-1.44913245e-01 9.89430275e-01 -5.28030848e-03 3.53422823e+01] [-3.04018927e-02 8.81546408e-04 9.99537367e-01 -8.77919928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43592 meters Centerline goodness [0,1] 0.9992056399563102 Centerline is valid? [True, True] Translation: X:157.87, Y:35.34, Z:-0.88 [[ 9.89037843e-01 1.44516154e-01 3.03187607e-02 1.57865119e+02] [-1.44420528e-01 9.89502037e-01 -5.33204709e-03 3.53363098e+01] [-3.07710424e-02 8.94944932e-04 9.99526059e-01 -8.77205626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46592 meters Centerline goodness [0,1] 0.9992055610724926 Centerline is valid? [True, True] Translation: X:157.89, Y:35.33, Z:-0.88 [[ 9.89143821e-01 1.43831664e-01 3.01156897e-02 1.57892585e+02] [-1.43737445e-01 9.89601764e-01 -5.28172634e-03 3.53310015e+01] [-3.05622191e-02 8.95634693e-04 9.99532465e-01 -8.78124620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49592 meters Centerline goodness [0,1] 0.998906397574191 Centerline is valid? [True, True] Translation: X:157.92, Y:35.33, Z:-0.88 [[ 9.89277260e-01 1.43067609e-01 2.93625998e-02 1.57919949e+02] [-1.42978131e-01 9.89712524e-01 -5.13550019e-03 3.53255259e+01] [-2.97952565e-02 8.82223929e-04 9.99555633e-01 -8.78558344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52592 meters Centerline goodness [0,1] 0.9988087556460019 Centerline is valid? [True, True] Translation: X:157.95, Y:35.32, Z:-0.88 [[ 9.89221589e-01 1.43041490e-01 3.13014364e-02 1.57948342e+02] [-1.42940209e-01 9.89716258e-01 -5.46133006e-03 3.53197727e+01] [-3.17607372e-02 9.28231741e-04 9.99495070e-01 -8.79104029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55592000000001 meters Centerline goodness [0,1] 0.9988087556460019 Centerline is valid? [True, True] Translation: X:157.98, Y:35.31, Z:-0.88 [[ 9.89229844e-01 1.42984306e-01 3.13018039e-02 1.57977081e+02] [-1.42883063e-01 9.89724521e-01 -5.45922292e-03 3.53147378e+01] [-3.17607461e-02 9.27928601e-04 9.99495070e-01 -8.79129312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58592000000002 meters Centerline goodness [0,1] 0.9987596745385989 Centerline is valid? [True, True] Translation: X:158.01, Y:35.31, Z:-0.88 [[ 9.89440540e-01 1.41159323e-01 3.28856137e-02 1.58006440e+02] [-1.41046630e-01 9.89986351e-01 -5.73348848e-03 3.53089867e+01] [-3.33656440e-02 1.03454095e-03 9.99442676e-01 -8.79819711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61592000000002 meters Centerline goodness [0,1] 0.9990568847413879 Centerline is valid? [True, True] Translation: X:158.04, Y:35.30, Z:-0.88 [[ 9.89493454e-01 1.40676713e-01 3.33581719e-02 1.58035587e+02] [-1.40560517e-01 9.90055013e-01 -5.81486233e-03 3.53029524e+01] [-3.38444410e-02 1.06492632e-03 9.99426545e-01 -8.80786297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64592000000002 meters Centerline goodness [0,1] 0.9991063449508489 Centerline is valid? [True, True] Translation: X:158.07, Y:35.30, Z:-0.88 [[ 9.89701105e-01 1.39316205e-01 3.29046681e-02 1.58065818e+02] [-1.39202398e-01 9.90247339e-01 -5.73578451e-03 3.52981859e+01] [-3.33828478e-02 1.09630355e-03 9.99442036e-01 -8.81438913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67592000000002 meters Centerline goodness [0,1] 0.9992547694753577 Centerline is valid? [True, True] Translation: X:158.10, Y:35.29, Z:-0.88 [[ 9.89861362e-01 1.37962477e-01 3.37763020e-02 1.58096029e+02] [-1.37841772e-01 9.90436763e-01 -5.88772356e-03 3.52924194e+01] [-3.42655761e-02 1.17224476e-03 9.99412075e-01 -8.82249696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70592000000002 meters Centerline goodness [0,1] 0.9988078680707332 Centerline is valid? [True, True] Translation: X:158.13, Y:35.29, Z:-0.88 [[ 9.90065597e-01 1.36266250e-01 3.46644414e-02 1.58126579e+02] [-1.36138002e-01 9.90671443e-01 -6.04453277e-03 3.52862553e+01] [-3.51647380e-02 1.26533615e-03 9.99380728e-01 -8.81923616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73592000000002 meters Centerline goodness [0,1] 0.9991072757030204 Centerline is valid? [True, True] Translation: X:158.16, Y:35.28, Z:-0.88 [[ 9.90111593e-01 1.35558163e-01 3.60973366e-02 1.58157801e+02] [-1.35418540e-01 9.90768476e-01 -6.29652132e-03 3.52809983e+01] [-3.66176480e-02 1.34601013e-03 9.99328443e-01 -8.83707139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76592 meters Centerline goodness [0,1] 0.9990069020308854 Centerline is valid? [True, True] Translation: X:158.19, Y:35.28, Z:-0.89 [[ 9.90146956e-01 1.35075793e-01 3.69260904e-02 1.58188987e+02] [-1.34929226e-01 9.90834282e-01 -6.44433305e-03 3.52756218e+01] [-3.74581096e-02 1.39842796e-03 9.99297220e-01 -8.85229833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79592 meters Centerline goodness [0,1] 0.999304658786133 Centerline is valid? [True, True] Translation: X:158.22, Y:35.27, Z:-0.88 [[ 9.90116611e-01 1.35405446e-01 3.65302970e-02 1.58220508e+02] [-1.35262071e-01 9.90789319e-01 -6.37953435e-03 3.52691056e+01] [-3.70576517e-02 1.37531932e-03 9.99312183e-01 -8.84627792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82592 meters Centerline goodness [0,1] 0.9993053832795832 Centerline is valid? [True, True] Translation: X:158.25, Y:35.26, Z:-0.89 [[ 9.89872583e-01 1.37191232e-01 3.64806092e-02 1.58252582e+02] [-1.37049257e-01 9.90543712e-01 -6.37625011e-03 3.52629958e+01] [-3.70104037e-02 1.31203477e-03 9.99314019e-01 -8.85579182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85592 meters Centerline goodness [0,1] 0.9990075919217982 Centerline is valid? [True, True] Translation: X:158.28, Y:35.26, Z:-0.89 [[ 9.89755285e-01 1.37620660e-01 3.80135455e-02 1.58284691e+02] [-1.37466640e-01 9.90484083e-01 -6.64869171e-03 3.52576450e+01] [-3.85668091e-02 1.35498340e-03 9.99255105e-01 -8.85156126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88592 meters Centerline goodness [0,1] 0.9991566205288486 Centerline is valid? [True, True] Translation: X:158.32, Y:35.25, Z:-0.89 [[ 9.89704145e-01 1.37850332e-01 3.85096349e-02 1.58316657e+02] [-1.37692259e-01 9.90452126e-01 -6.74000157e-03 3.52520985e+01] [-3.90710612e-02 1.36812886e-03 9.99235498e-01 -8.85380097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91592 meters Centerline goodness [0,1] 0.999253545658124 Centerline is valid? [True, True] Translation: X:158.35, Y:35.24, Z:-0.89 [[ 9.89915505e-01 1.36326128e-01 3.85029737e-02 1.58348138e+02] [-1.36166781e-01 9.90662977e-01 -6.74338209e-03 3.52449414e+01] [-3.90627697e-02 1.43255251e-03 9.99235732e-01 -8.86890413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94592 meters Centerline goodness [0,1] 0.9991553214747093 Centerline is valid? [True, True] Translation: X:158.38, Y:35.24, Z:-0.89 [[ 9.89917271e-01 1.36894924e-01 3.63809900e-02 1.58380011e+02] [-1.36752890e-01 9.90584672e-01 -6.37602444e-03 3.52386235e+01] [-3.69112965e-02 1.33653118e-03 9.99317652e-01 -8.85489919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97592 meters Centerline goodness [0,1] 0.999055900621118 Centerline is valid? [True, True] Translation: X:158.41, Y:35.23, Z:-0.88 [[ 9.89891930e-01 1.37128537e-01 3.61902185e-02 1.58411290e+02] [-1.36987988e-01 9.90552375e-01 -6.34686705e-03 3.52324592e+01] [-3.67186435e-02 1.32508726e-03 9.99324765e-01 -8.84973012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00592 meters Centerline goodness [0,1] 0.9995529727313366 Centerline is valid? [True, True] Translation: X:158.44, Y:35.23, Z:-0.89 [[ 9.89852799e-01 1.36857529e-01 3.82289480e-02 1.58443022e+02] [-1.36700313e-01 9.90589731e-01 -6.70895033e-03 3.52273959e+01] [-3.87873737e-02 1.41496413e-03 9.99246485e-01 -8.85545823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03592 meters Centerline goodness [0,1] 0.9990560413354531 Centerline is valid? [True, True] Translation: X:158.47, Y:35.22, Z:-0.88 [[ 9.89788247e-01 1.37808372e-01 3.64428142e-02 1.58474964e+02] [-1.37665994e-01 9.90458034e-01 -6.39979225e-03 3.52212963e+01] [-3.69770231e-02 1.31750290e-03 9.99315248e-01 -8.84424430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06592 meters Centerline goodness [0,1] 0.999203940494552 Centerline is valid? [True, True] Translation: X:158.51, Y:35.21, Z:-0.88 [[ 9.89716051e-01 1.38108827e-01 3.72570898e-02 1.58506506e+02] [-1.37960058e-01 9.90416153e-01 -6.54719489e-03 3.52141358e+01] [-3.78042490e-02 1.33987360e-03 9.99284266e-01 -8.84919629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09592 meters Centerline goodness [0,1] 0.9990560413354531 Centerline is valid? [True, True] Translation: X:158.54, Y:35.21, Z:-0.88 [[ 9.89696343e-01 1.38377367e-01 3.67811488e-02 1.58538227e+02] [-1.38232399e-01 9.90378700e-01 -6.46791083e-03 3.52075251e+01] [-3.73222788e-02 1.31692126e-03 9.99302413e-01 -8.84244789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12592 meters Centerline goodness [0,1] 0.9990064580228515 Centerline is valid? [True, True] Translation: X:158.57, Y:35.20, Z:-0.88 [[ 9.89945059e-01 1.36821294e-01 3.58986534e-02 1.58569947e+02] [-1.36682025e-01 9.90594831e-01 -6.31698228e-03 3.52011145e+01] [-3.64253182e-02 1.34676474e-03 9.99335470e-01 -8.84306891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15592 meters Centerline goodness [0,1] 0.9998013113451222 Centerline is valid? [True, True] Translation: X:158.60, Y:35.19, Z:-0.89 [[ 9.89871886e-01 1.37258325e-01 3.62463997e-02 1.58601958e+02] [-1.37116477e-01 9.90534369e-01 -6.38250046e-03 3.51949405e+01] [-3.67793559e-02 1.34787914e-03 9.99322502e-01 -8.85073413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18592 meters Centerline goodness [0,1] 0.9994037563350889 Centerline is valid? [True, True] Translation: X:158.63, Y:35.19, Z:-0.88 [[ 9.89910507e-01 1.37218364e-01 3.53314169e-02 1.58633336e+02] [-1.37083415e-01 9.90539943e-01 -6.22555986e-03 3.51884368e+01] [-3.58514408e-02 1.31939582e-03 9.99356259e-01 -8.84289158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21592 meters Centerline goodness [0,1] 0.999553261193289 Centerline is valid? [True, True] Translation: X:158.66, Y:35.18, Z:-0.88 [[ 9.89617449e-01 1.39738062e-01 3.36240875e-02 1.58663932e+02] [-1.39617227e-01 9.90187812e-01 -5.92677061e-03 3.51806940e+01] [-3.41223571e-02 1.17073376e-03 9.99416977e-01 -8.83387177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24592 meters Centerline goodness [0,1] 0.9997516145057128 Centerline is valid? [True, True] Translation: X:158.69, Y:35.17, Z:-0.88 [[ 9.89415668e-01 1.41061580e-01 3.40333238e-02 1.58694300e+02] [-1.40938496e-01 9.90000166e-01 -6.00092589e-03 3.51747944e+01] [-3.45394963e-02 1.14080462e-03 9.99402682e-01 -8.83694163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27592 meters Centerline goodness [0,1] 0.9997022332506204 Centerline is valid? [True, True] Translation: X:158.72, Y:35.17, Z:-0.88 [[ 9.89070956e-01 1.43554150e-01 3.36281038e-02 1.58724430e+02] [-1.43435351e-01 9.89641914e-01 -5.93147132e-03 3.51651199e+01] [-3.41312684e-02 1.04318713e-03 9.99416814e-01 -8.84078620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30592000000001 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:158.75, Y:35.16, Z:-0.88 [[ 9.89013319e-01 1.43978376e-01 3.35094410e-02 1.58754671e+02] [-1.43860589e-01 9.89580301e-01 -5.91253165e-03 3.51581445e+01] [-3.40115595e-02 1.02688462e-03 9.99420912e-01 -8.84693116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33592000000002 meters Centerline goodness [0,1] 0.9997513674788663 Centerline is valid? [True, True] Translation: X:158.79, Y:35.15, Z:-0.88 [[ 9.88899981e-01 1.44810801e-01 3.32664867e-02 1.58785813e+02] [-1.44695120e-01 9.89458865e-01 -5.87164548e-03 3.51516576e+01] [-3.37660979e-02 9.92971819e-04 9.99429269e-01 -8.84108198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36592000000002 meters Centerline goodness [0,1] 0.9994035488841394 Centerline is valid? [True, True] Translation: X:158.82, Y:35.15, Z:-0.88 [[ 9.88930295e-01 1.45252098e-01 3.03100574e-02 1.58816626e+02] [-1.45156222e-01 9.89394275e-01 -5.35164574e-03 3.51466160e+01] [-3.07659350e-02 8.92711194e-04 9.99526218e-01 -8.84296299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39592000000002 meters Centerline goodness [0,1] 0.9989571953520707 Centerline is valid? [True, True] Translation: X:158.85, Y:35.14, Z:-0.88 [[ 9.88889335e-01 1.45818559e-01 2.88934338e-02 1.58845604e+02] [-1.45731728e-01 9.89311000e-01 -5.09988878e-03 3.51408636e+01] [-2.93282503e-02 8.32535598e-04 9.99569488e-01 -8.83435773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42592000000002 meters Centerline goodness [0,1] 0.9996517759426923 Centerline is valid? [True, True] Translation: X:158.87, Y:35.13, Z:-0.88 [[ 9.89075400e-01 1.44469525e-01 2.92986364e-02 1.58873950e+02] [-1.44379726e-01 9.89508857e-01 -5.16879894e-03 3.51340245e+01] [-2.97379941e-02 8.82202771e-04 9.99557339e-01 -8.83354075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45592000000002 meters Centerline goodness [0,1] 0.999453904582237 Centerline is valid? [True, True] Translation: X:158.90, Y:35.13, Z:-0.88 [[ 9.89062206e-01 1.44752930e-01 2.83291609e-02 1.58902889e+02] [-1.44669144e-01 9.89467472e-01 -4.99602959e-03 3.51279199e+01] [-2.87539732e-02 8.43028587e-04 9.99586164e-01 -8.82284542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48592000000002 meters Centerline goodness [0,1] 0.999502784407319 Centerline is valid? [True, True] Translation: X:158.93, Y:35.12, Z:-0.88 [[ 9.89070489e-01 1.44447409e-01 2.95721910e-02 1.58932143e+02] [-1.44356025e-01 9.89512081e-01 -5.21344376e-03 3.51225362e+01] [-3.00151087e-02 8.87539426e-04 9.99549051e-01 -8.83909754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51592 meters Centerline goodness [0,1] 0.9993539730656463 Centerline is valid? [True, True] Translation: X:158.96, Y:35.12, Z:-0.88 [[ 9.89254339e-01 1.43102422e-01 2.99591328e-02 1.58961469e+02] [-1.43008068e-01 9.89707439e-01 -5.27986592e-03 3.51164282e+01] [-3.04063382e-02 9.38732565e-04 9.99537180e-01 -8.84557017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54592 meters Centerline goodness [0,1] 0.9987568373943312 Centerline is valid? [True, True] Translation: X:158.99, Y:35.11, Z:-0.88 [[ 9.89450051e-01 1.41799934e-01 2.96879568e-02 1.58990535e+02] [-1.41706697e-01 9.89894862e-01 -5.23202466e-03 3.51069937e+01] [-3.01298567e-02 9.69844771e-04 9.99545522e-01 -8.84996835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57592 meters Centerline goodness [0,1] 0.9993049004518147 Centerline is valid? [True, True] Translation: X:159.02, Y:35.10, Z:-0.88 [[ 9.89716504e-01 1.40509601e-01 2.68009861e-02 1.59021492e+02] [-1.40433105e-01 9.90078896e-01 -4.72478759e-03 3.50998962e+01] [-2.71989687e-02 9.12454561e-04 9.99629623e-01 -8.82492788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60592 meters Centerline goodness [0,1] 0.9989552758569226 Centerline is valid? [True, True] Translation: X:159.05, Y:35.09, Z:-0.88 [[ 9.89637998e-01 1.40951545e-01 2.73732343e-02 1.59050524e+02] [-1.40871958e-01 9.90016070e-01 -4.82413123e-03 3.50934684e+01] [-2.77799106e-02 9.18022466e-04 9.99613642e-01 -8.83677974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63592 meters Centerline goodness [0,1] 0.9988546387132115 Centerline is valid? [True, True] Translation: X:159.08, Y:35.09, Z:-0.88 [[ 9.89553174e-01 1.41396713e-01 2.81333344e-02 1.59079496e+02] [-1.41312871e-01 9.89952578e-01 -4.95641004e-03 3.50852055e+01] [-2.85514870e-02 9.29029027e-04 9.99591891e-01 -8.83442938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66592 meters Centerline goodness [0,1] 0.9990562757661551 Centerline is valid? [True, True] Translation: X:159.11, Y:35.08, Z:-0.88 [[ 9.89531176e-01 1.41324454e-01 2.92480831e-02 1.59108707e+02] [-1.41233805e-01 9.89962859e-01 -5.15274903e-03 3.50773570e+01] [-2.96827254e-02 9.67987760e-04 9.99558902e-01 -8.83674958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69592 meters Centerline goodness [0,1] 0.9988569724679456 Centerline is valid? [True, True] Translation: X:159.14, Y:35.07, Z:-0.88 [[ 9.89231324e-01 1.42912732e-01 3.15806801e-02 1.59138859e+02] [-1.42807791e-01 9.89734793e-01 -5.56552822e-03 3.50679408e+01] [-3.20518827e-02 9.95627683e-04 9.99485711e-01 -8.82387511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72592 meters Centerline goodness [0,1] 0.9990555251777103 Centerline is valid? [True, True] Translation: X:159.17, Y:35.06, Z:-0.88 [[ 9.89179587e-01 1.43609709e-01 2.99999434e-02 1.59170502e+02] [-1.43515225e-01 9.89633968e-01 -5.29052055e-03 3.50601506e+01] [-3.04487332e-02 9.27826311e-04 9.99535899e-01 -8.82511841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75592 meters Centerline goodness [0,1] 0.9994042595442586 Centerline is valid? [True, True] Translation: X:159.20, Y:35.05, Z:-0.88 [[ 9.88862797e-01 1.46317116e-01 2.72336380e-02 1.59200518e+02] [-1.46240215e-01 9.89237439e-01 -4.80512232e-03 3.50480669e+01] [-2.76436060e-02 7.68953606e-04 9.99617547e-01 -8.82978155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78592 meters Centerline goodness [0,1] 0.9991544812493783 Centerline is valid? [True, True] Translation: X:159.23, Y:35.04, Z:-0.88 [[ 9.88611640e-01 1.47778860e-01 2.84329823e-02 1.59230066e+02] [-1.47695636e-01 9.89020137e-01 -5.01681450e-03 3.50394401e+01] [-2.88621712e-02 7.60253785e-04 9.99583112e-01 -8.83243089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81592 meters Centerline goodness [0,1] 0.9992542136926366 Centerline is valid? [True, True] Translation: X:159.26, Y:35.03, Z:-0.88 [[ 9.88418237e-01 1.48949988e-01 2.90394441e-02 1.59260753e+02] [-1.48863630e-01 9.88844451e-01 -5.12553319e-03 3.50320228e+01] [-2.94789413e-02 7.43253421e-04 9.99565125e-01 -8.81952759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84592 meters Centerline goodness [0,1] 0.9991995997998999 Centerline is valid? [True, True] Translation: X:159.29, Y:35.02, Z:-0.88 [[ 9.87715604e-01 1.53414652e-01 2.96956068e-02 1.59290883e+02] [-1.53326306e-01 9.88161704e-01 -5.24316707e-03 3.50239040e+01] [-3.01484401e-02 6.25640225e-04 9.99545237e-01 -8.80436625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87592 meters Centerline goodness [0,1] 0.9996018513910317 Centerline is valid? [True, True] Translation: X:159.32, Y:35.02, Z:-0.88 [[ 9.87261398e-01 1.56229440e-01 3.01213126e-02 1.59320907e+02] [-1.56139794e-01 9.87720639e-01 -5.32019080e-03 3.50161898e+01] [-3.05826126e-02 5.49283472e-04 9.99532092e-01 -8.81345441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90592 meters Centerline goodness [0,1] 0.999751552795031 Centerline is valid? [True, True] Translation: X:159.35, Y:35.01, Z:-0.88 [[ 9.86697326e-01 1.60107344e-01 2.81784361e-02 1.59351642e+02] [-1.60030397e-01 9.87099526e-01 -4.97965546e-03 3.50073719e+01] [-2.86122004e-02 4.04006408e-04 9.99590506e-01 -8.82072901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93592 meters Centerline goodness [0,1] 0.9998009157873781 Centerline is valid? [True, True] Translation: X:159.38, Y:35.00, Z:-0.88 [[ 9.86546289e-01 1.60706333e-01 2.99982392e-02 1.59381910e+02] [-1.60619312e-01 9.87002180e-01 -5.30412367e-03 3.50015070e+01] [-3.04607337e-02 4.14466977e-04 9.99535878e-01 -8.83835348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96592 meters Centerline goodness [0,1] 0.9996521220554617 Centerline is valid? [True, True] Translation: X:159.41, Y:35.00, Z:-0.88 [[ 9.86417256e-01 1.61367302e-01 3.06853503e-02 1.59412895e+02] [-1.61276507e-01 9.86894336e-01 -5.42756406e-03 3.49956287e+01] [-3.11590297e-02 4.05016745e-04 9.99514357e-01 -8.83298004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99592 meters Centerline goodness [0,1] 0.9994520001992726 Centerline is valid? [True, True] Translation: X:159.44, Y:34.99, Z:-0.88 [[ 9.86398130e-01 1.61526483e-01 3.04618629e-02 1.59443797e+02] [-1.61437023e-01 9.86868297e-01 -5.38993427e-03 3.49900388e+01] [-3.09324639e-02 3.98948625e-04 9.99521397e-01 -8.83151099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02592 meters Centerline goodness [0,1] 0.9998009256955158 Centerline is valid? [True, True] Translation: X:159.47, Y:34.99, Z:-0.88 [[ 9.86468527e-01 1.61348994e-01 2.90920640e-02 1.59474765e+02] [-1.61267270e-01 9.86897336e-01 -5.14938775e-03 3.49852621e+01] [-2.95417290e-02 3.88111217e-04 9.99563473e-01 -8.82367217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05592000000001 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:159.51, Y:34.98, Z:-0.88 [[ 9.86569645e-01 1.60408136e-01 3.08150097e-02 1.59506020e+02] [-1.60315923e-01 9.87050674e-01 -5.45629957e-03 3.49814681e+01] [-3.12912109e-02 4.42882822e-04 9.99510212e-01 -8.83937281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08592000000002 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:159.54, Y:34.98, Z:-0.89 [[ 9.86538849e-01 1.60295001e-01 3.23513896e-02 1.59536896e+02] [-1.60193233e-01 9.87069041e-01 -5.73037292e-03 3.49762034e+01] [-3.28516053e-02 4.70761811e-04 9.99460129e-01 -8.85078864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11592000000002 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:159.57, Y:34.97, Z:-0.88 [[ 9.86449511e-01 1.60888432e-01 3.21290201e-02 1.59568779e+02] [-1.60788244e-01 9.86972496e-01 -5.69494506e-03 3.49703663e+01] [-3.26267099e-02 4.51807053e-04 9.99467505e-01 -8.84211652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14592000000002 meters Centerline goodness [0,1] 0.9998506868405336 Centerline is valid? [True, True] Translation: X:159.60, Y:34.96, Z:-0.88 [[ 9.86396066e-01 1.61149712e-01 3.24587531e-02 1.59600792e+02] [-1.61047464e-01 9.86929869e-01 -5.75743860e-03 3.49647738e+01] [-3.29623225e-02 4.51714906e-04 9.99456493e-01 -8.83325704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17592000000002 meters Centerline goodness [0,1] 0.9998013113451222 Centerline is valid? [True, True] Translation: X:159.63, Y:34.96, Z:-0.88 [[ 9.86572764e-01 1.60002267e-01 3.27636323e-02 1.59632271e+02] [-1.59897318e-01 9.87116521e-01 -5.81565116e-03 3.49591866e+01] [-3.32720401e-02 4.98746112e-04 9.99446208e-01 -8.84581752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20592000000002 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:159.66, Y:34.95, Z:-0.89 [[ 9.87073101e-01 1.57354790e-01 3.04329453e-02 1.59663236e+02] [-1.57262870e-01 9.87541983e-01 -5.40573696e-03 3.49520908e+01] [-3.09044297e-02 5.49885225e-04 9.99522193e-01 -8.85379967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23592000000002 meters Centerline goodness [0,1] 0.9996027016289233 Centerline is valid? [True, True] Translation: X:159.70, Y:34.95, Z:-0.89 [[ 9.87167448e-01 1.56907271e-01 2.96738524e-02 1.59695095e+02] [-1.56819567e-01 9.87613184e-01 -5.27461651e-03 3.49460996e+01] [-3.01339136e-02 5.53489044e-04 9.99545717e-01 -8.85192959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26592 meters Centerline goodness [0,1] 0.9996524847341508 Centerline is valid? [True, True] Translation: X:159.73, Y:34.94, Z:-0.88 [[ 9.87604408e-01 1.53885441e-01 3.09322430e-02 1.59726216e+02] [-1.53788595e-01 9.88088465e-01 -5.50026223e-03 3.49410349e+01] [-3.14102028e-02 6.75057045e-04 9.99506350e-01 -8.84381219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29592 meters Centerline goodness [0,1] 0.9999501545209849 Centerline is valid? [True, True] Translation: X:159.76, Y:34.93, Z:-0.89 [[ 9.87838551e-01 1.51847566e-01 3.34262313e-02 1.59757676e+02] [-1.51733164e-01 9.88403597e-01 -5.94777830e-03 3.49343549e+01] [-3.39417629e-02 8.03576876e-04 9.99423489e-01 -8.85211012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:159.79, Y:34.93, Z:-0.88 [[ 9.87945972e-01 1.51005233e-01 3.40613660e-02 1.59788924e+02] [-1.50885795e-01 9.88532596e-01 -6.06499160e-03 3.49267954e+01] [-3.45866160e-02 8.52507752e-04 9.99401340e-01 -8.84945148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35592 meters Centerline goodness [0,1] 0.9997514045642122 Centerline is valid? [True, True] Translation: X:159.82, Y:34.92, Z:-0.89 [[ 9.88400410e-01 1.48279349e-01 3.28308470e-02 1.59820288e+02] [-1.48166750e-01 9.88945091e-01 -5.84990986e-03 3.49187574e+01] [-3.33353258e-02 9.17613391e-04 9.99443802e-01 -8.87125104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38592 meters Centerline goodness [0,1] 0.9994027176347619 Centerline is valid? [True, True] Translation: X:159.85, Y:34.91, Z:-0.89 [[ 9.88699376e-01 1.46776022e-01 3.05015236e-02 1.59851918e+02] [-1.46678008e-01 9.89169340e-01 -5.43859060e-03 3.49124095e+01] [-3.09694266e-02 9.03228406e-04 9.99519924e-01 -8.86759409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41592 meters Centerline goodness [0,1] 0.9989538185622477 Centerline is valid? [True, True] Translation: X:159.88, Y:34.90, Z:-0.89 [[ 9.89007778e-01 1.44726693e-01 3.02952110e-02 1.59883303e+02] [-1.44628927e-01 9.89471199e-01 -5.40549885e-03 3.49026052e+01] [-3.07585587e-02 9.64516552e-04 9.99526378e-01 -8.87219424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44592 meters Centerline goodness [0,1] 0.9989538185622477 Centerline is valid? [True, True] Translation: X:159.91, Y:34.90, Z:-0.89 [[ 9.88990827e-01 1.44842614e-01 3.02945773e-02 1.59914538e+02] [-1.44744793e-01 9.89454237e-01 -5.40904896e-03 3.48970724e+01] [-3.07585587e-02 9.64517465e-04 9.99526378e-01 -8.87246797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47592 meters Centerline goodness [0,1] 0.9990054699154649 Centerline is valid? [True, True] Translation: X:159.95, Y:34.89, Z:-0.89 [[ 9.89063260e-01 1.43920830e-01 3.22592903e-02 1.59945547e+02] [-1.43809289e-01 9.89588636e-01 -5.76374605e-03 3.48881850e+01] [-3.27529502e-02 1.06152387e-03 9.99462914e-01 -8.87224023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50592 meters Centerline goodness [0,1] 0.9994036674452119 Centerline is valid? [True, True] Translation: X:159.98, Y:34.88, Z:-0.89 [[ 9.89152172e-01 1.43423672e-01 3.17432051e-02 1.59977817e+02] [-1.43315230e-01 9.89660807e-01 -5.67730845e-03 3.48797647e+01] [-3.22292664e-02 1.06643727e-03 9.99479933e-01 -8.86710699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53592 meters Centerline goodness [0,1] 0.9990058653941744 Centerline is valid? [True, True] Translation: X:160.01, Y:34.87, Z:-0.89 [[ 9.89630373e-01 1.40279534e-01 3.08768004e-02 1.60009082e+02] [-1.40175286e-01 9.90111282e-01 -5.52612435e-03 3.48695173e+01] [-3.13466706e-02 1.14065618e-03 9.99507922e-01 -8.86083451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56592 meters Centerline goodness [0,1] 0.9995022151426154 Centerline is valid? [True, True] Translation: X:160.04, Y:34.86, Z:-0.89 [[ 9.89793802e-01 1.38733164e-01 3.25782028e-02 1.60039643e+02] [-1.38616171e-01 9.90328999e-01 -5.83360927e-03 3.48604537e+01] [-3.30724541e-02 1.25820458e-03 9.99452165e-01 -8.87858905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59592 meters Centerline goodness [0,1] 0.9990547733943584 Centerline is valid? [True, True] Translation: X:160.07, Y:34.85, Z:-0.89 [[ 9.89957850e-01 1.37672933e-01 3.20876699e-02 1.60069672e+02] [-1.37558756e-01 9.90476921e-01 -5.74963343e-03 3.48478592e+01] [-3.25736654e-02 1.27795477e-03 9.99468520e-01 -8.88130254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62592 meters Centerline goodness [0,1] 0.9990536434726304 Centerline is valid? [True, True] Translation: X:160.10, Y:34.84, Z:-0.89 [[ 9.89905662e-01 1.38271635e-01 3.11084339e-02 1.60101228e+02] [-1.38164410e-01 9.90393584e-01 -5.58074871e-03 3.48387240e+01] [-3.15812526e-02 1.22633633e-03 9.99500436e-01 -8.86634014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65592 meters Centerline goodness [0,1] 0.9995507861242825 Centerline is valid? [True, True] Translation: X:160.13, Y:34.83, Z:-0.89 [[ 9.89834301e-01 1.38862927e-01 3.07432081e-02 1.60132501e+02] [-1.38758372e-01 9.90310888e-01 -5.51902569e-03 3.48300654e+01] [-3.12117218e-02 1.19704342e-03 9.99512079e-01 -8.86333259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68592 meters Centerline goodness [0,1] 0.999403578528827 Centerline is valid? [True, True] Translation: X:160.16, Y:34.82, Z:-0.89 [[ 9.89496447e-01 1.41356933e-01 3.02489346e-02 1.60162788e+02] [-1.41256765e-01 9.89958079e-01 -5.43393913e-03 3.48164106e+01] [-3.07133021e-02 1.10399684e-03 9.99527626e-01 -8.86280572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71592 meters Centerline goodness [0,1] 0.9996520701824146 Centerline is valid? [True, True] Translation: X:160.19, Y:34.81, Z:-0.89 [[ 9.89143105e-01 1.43588680e-01 3.12763217e-02 1.60193871e+02] [-1.43482584e-01 9.89636872e-01 -5.62227711e-03 3.48061529e+01] [-3.17594965e-02 1.07362920e-03 9.99494963e-01 -8.86091483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74592 meters Centerline goodness [0,1] 0.999204494605479 Centerline is valid? [True, True] Translation: X:160.22, Y:34.80, Z:-0.88 [[ 9.88630008e-01 1.47645530e-01 2.84869208e-02 1.60224486e+02] [-1.47559124e-01 9.89039966e-01 -5.12347033e-03 3.47955103e+01] [-2.89311606e-02 8.61711433e-04 9.99581035e-01 -8.83808464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77592 meters Centerline goodness [0,1] 0.9991539342059423 Centerline is valid? [True, True] Translation: X:160.26, Y:34.79, Z:-0.88 [[ 9.88484448e-01 1.48484639e-01 2.91686134e-02 1.60257020e+02] [-1.48394254e-01 9.88914338e-01 -5.25139825e-03 3.47876667e+01] [-2.96250120e-02 8.62470866e-04 9.99560711e-01 -8.84791497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80592000000001 meters Centerline goodness [0,1] 0.9992520195472225 Centerline is valid? [True, True] Translation: X:160.29, Y:34.78, Z:-0.88 [[ 9.88431416e-01 1.49184396e-01 2.73377533e-02 1.60288306e+02] [-1.49105177e-01 9.88809076e-01 -4.92518222e-03 3.47793090e+01] [-2.77665789e-02 7.92004286e-04 9.99614120e-01 -8.83897584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83592000000002 meters Centerline goodness [0,1] 0.9991535972118496 Centerline is valid? [True, True] Translation: X:160.32, Y:34.77, Z:-0.88 [[ 9.88503643e-01 1.48586928e-01 2.79726997e-02 1.60319674e+02] [-1.48503648e-01 9.88899001e-01 -5.04303727e-03 3.47693962e+01] [-2.84115042e-02 8.31012756e-04 9.99595966e-01 -8.83456722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86592000000002 meters Centerline goodness [0,1] 0.9994520001992726 Centerline is valid? [True, True] Translation: X:160.35, Y:34.76, Z:-0.88 [[ 9.88442185e-01 1.49137864e-01 2.72019221e-02 1.60350899e+02] [-1.49059227e-01 9.88816092e-01 -4.90745382e-03 3.47624480e+01] [-2.76295855e-02 7.96036893e-04 9.99617913e-01 -8.83364153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89592000000002 meters Centerline goodness [0,1] 0.9987070465960515 Centerline is valid? [True, True] Translation: X:160.38, Y:34.76, Z:-0.88 [[ 9.88289425e-01 1.50148322e-01 2.71936176e-02 1.60382618e+02] [-1.50070022e-01 9.88663182e-01 -4.90933528e-03 3.47550626e+01] [-2.76224569e-02 7.70897375e-04 9.99618130e-01 -8.84272811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92592000000002 meters Centerline goodness [0,1] 0.9991048338969565 Centerline is valid? [True, True] Translation: X:160.41, Y:34.75, Z:-0.89 [[ 9.88136488e-01 1.51126409e-01 2.73329267e-02 1.60413694e+02] [-1.51047583e-01 9.88514160e-01 -4.93787366e-03 3.47469787e+01] [-2.77652282e-02 7.50720628e-04 9.99614190e-01 -8.85895620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95592000000002 meters Centerline goodness [0,1] 0.9991541867754614 Centerline is valid? [True, True] Translation: X:160.45, Y:34.74, Z:-0.89 [[ 9.88007915e-01 1.51952895e-01 2.73985069e-02 1.60445127e+02] [-1.51873913e-01 9.88387465e-01 -4.95313255e-03 3.47390040e+01] [-2.78329836e-02 7.32615709e-04 9.99612319e-01 -8.85810347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98592 meters Centerline goodness [0,1] 0.9991035856573706 Centerline is valid? [True, True] Translation: X:160.48, Y:34.73, Z:-0.89 [[ 9.87372349e-01 1.55632771e-01 2.95683197e-02 1.60476386e+02] [-1.55542316e-01 9.87814747e-01 -5.34912503e-03 3.47318733e+01] [-3.00405214e-02 6.82453220e-04 9.99548449e-01 -8.86162691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01592 meters Centerline goodness [0,1] 0.9991041656298213 Centerline is valid? [True, True] Translation: X:160.51, Y:34.72, Z:-0.89 [[ 9.87032112e-01 1.57980665e-01 2.84555792e-02 1.60508016e+02] [-1.57897763e-01 9.87442028e-01 -5.15139978e-03 3.47238358e+01] [-2.89120564e-02 5.91524700e-04 9.99581784e-01 -8.86777089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04592 meters Centerline goodness [0,1] 0.9995030068088068 Centerline is valid? [True, True] Translation: X:160.54, Y:34.72, Z:-0.89 [[ 9.86925284e-01 1.58728185e-01 2.79972714e-02 1.60539318e+02] [-1.58648133e-01 9.87322159e-01 -5.07193262e-03 3.47169870e+01] [-2.84473851e-02 5.63903698e-04 9.99595132e-01 -8.86099908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07592 meters Centerline goodness [0,1] 0.999552171965965 Centerline is valid? [True, True] Translation: X:160.57, Y:34.71, Z:-0.89 [[ 9.86987101e-01 1.58513081e-01 2.70197449e-02 1.60571085e+02] [-1.58438349e-01 9.87356722e-01 -4.89824556e-03 3.47108875e+01] [-2.74545627e-02 5.53541429e-04 9.99622899e-01 -8.86059998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10592 meters Centerline goodness [0,1] 0.9997512314045475 Centerline is valid? [True, True] Translation: X:160.60, Y:34.71, Z:-0.88 [[ 9.86919088e-01 1.59070477e-01 2.62163318e-02 1.60603071e+02] [-1.59000233e-01 9.87267090e-01 -4.75590879e-03 3.47052392e+01] [-2.66390462e-02 5.25294312e-04 9.99644980e-01 -8.84922403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13592 meters Centerline goodness [0,1] 0.9995519713261649 Centerline is valid? [True, True] Translation: X:160.63, Y:34.70, Z:-0.89 [[ 9.86848311e-01 1.59101943e-01 2.85829029e-02 1.60634891e+02] [-1.59018348e-01 9.87261992e-01 -5.18886426e-03 3.47012312e+01] [-2.90443721e-02 5.75415923e-04 9.99577958e-01 -8.85344864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16592 meters Centerline goodness [0,1] 0.9995023390066686 Centerline is valid? [True, True] Translation: X:160.67, Y:34.70, Z:-0.89 [[ 9.86783312e-01 1.59692019e-01 2.75164476e-02 1.60666666e+02] [-1.59614678e-01 9.87166737e-01 -4.99877130e-03 3.46964948e+01] [-2.79615857e-02 5.40675168e-04 9.99608852e-01 -8.85534819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19592 meters Centerline goodness [0,1] 0.999602286850609 Centerline is valid? [True, True] Translation: X:160.70, Y:34.69, Z:-0.89 [[ 9.87002679e-01 1.58052020e-01 2.90735319e-02 1.60698099e+02] [-1.57964882e-01 9.87430590e-01 -5.28444127e-03 3.46918122e+01] [-2.95433113e-02 6.23160654e-04 9.99563307e-01 -8.85994241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22592 meters Centerline goodness [0,1] 0.9996519663898971 Centerline is valid? [True, True] Translation: X:160.73, Y:34.69, Z:-0.89 [[ 9.87073421e-01 1.57591677e-01 2.91706116e-02 1.60730062e+02] [-1.57503646e-01 9.87504152e-01 -5.30575603e-03 3.46862262e+01] [-2.96422431e-02 6.42693063e-04 9.99560366e-01 -8.85947788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25592 meters Centerline goodness [0,1] 0.9993538767395627 Centerline is valid? [True, True] Translation: X:160.76, Y:34.68, Z:-0.88 [[ 9.87335755e-01 1.56020115e-01 2.87372746e-02 1.60762574e+02] [-1.55933909e-01 9.87753642e-01 -5.23058478e-03 3.46828213e+01] [-2.92014241e-02 6.83227809e-04 9.99573314e-01 -8.84891843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28592 meters Centerline goodness [0,1] 0.9995026854983091 Centerline is valid? [True, True] Translation: X:160.79, Y:34.68, Z:-0.88 [[ 9.87293928e-01 1.55966255e-01 3.04175555e-02 1.60794421e+02] [-1.55869527e-01 9.87762115e-01 -5.54023672e-03 3.46777120e+01] [-3.09093990e-02 7.28672076e-04 9.99521925e-01 -8.84174611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31592 meters Centerline goodness [0,1] 0.9992033856111526 Centerline is valid? [True, True] Translation: X:160.83, Y:34.67, Z:-0.88 [[ 9.87499401e-01 1.54863557e-01 2.93634391e-02 1.60827178e+02] [-1.54772768e-01 9.87935589e-01 -5.35372174e-03 3.46725972e+01] [-2.98382829e-02 7.42136254e-04 9.99554464e-01 -8.83918631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34592 meters Centerline goodness [0,1] 0.9989043279047761 Centerline is valid? [True, True] Translation: X:160.86, Y:34.67, Z:-0.88 [[ 9.87323115e-01 1.56282834e-01 2.77261883e-02 1.60858827e+02] [-1.56202349e-01 9.87712122e-01 -5.05873919e-03 3.46670976e+01] [-2.81760864e-02 6.63714393e-04 9.99602755e-01 -8.83921898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37592 meters Centerline goodness [0,1] 0.9991057233704292 Centerline is valid? [True, True] Translation: X:160.89, Y:34.66, Z:-0.88 [[ 9.87183854e-01 1.57063051e-01 2.82707616e-02 1.60891043e+02] [-1.56979540e-01 9.87588357e-01 -5.16338765e-03 3.46622161e+01] [-2.87308524e-02 6.59281764e-04 9.99586966e-01 -8.84434928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40592 meters Centerline goodness [0,1] 0.9990547733943584 Centerline is valid? [True, True] Translation: X:160.92, Y:34.66, Z:-0.89 [[ 9.86907238e-01 1.58651358e-01 2.90490963e-02 1.60922865e+02] [-1.58563763e-01 9.87334465e-01 -5.30924879e-03 3.46582847e+01] [-2.95234934e-02 6.33602050e-04 9.99563886e-01 -8.85191577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43592 meters Centerline goodness [0,1] 0.9993043823909371 Centerline is valid? [True, True] Translation: X:160.95, Y:34.65, Z:-0.89 [[ 9.86702609e-01 1.59656408e-01 3.04596890e-02 1.60954762e+02] [-1.59560456e-01 9.87172440e-01 -5.57089537e-03 3.46519996e+01] [-3.09583946e-02 6.36655141e-04 9.99520471e-01 -8.85632987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46592 meters Centerline goodness [0,1] 0.9996021286119262 Centerline is valid? [True, True] Translation: X:160.99, Y:34.65, Z:-0.88 [[ 9.86538754e-01 1.60892257e-01 2.92398376e-02 1.60987056e+02] [-1.60804271e-01 9.86971807e-01 -5.35148185e-03 3.46479019e+01] [-2.97199073e-02 5.77553474e-04 9.99558099e-01 -8.84850964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49592 meters Centerline goodness [0,1] 0.9994029256642452 Centerline is valid? [True, True] Translation: X:161.02, Y:34.64, Z:-0.88 [[ 9.86463529e-01 1.61441741e-01 2.87449048e-02 1.61019154e+02] [-1.61356837e-01 9.86882088e-01 -5.26452087e-03 3.46441878e+01] [-2.92177451e-02 5.55070924e-04 9.99572916e-01 -8.84973408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52592 meters Centerline goodness [0,1] 0.9994511251933537 Centerline is valid? [True, True] Translation: X:161.05, Y:34.64, Z:-0.88 [[ 9.86322491e-01 1.62554778e-01 2.72743242e-02 1.61050822e+02] [-1.62478646e-01 9.86699394e-01 -4.99948413e-03 3.46403530e+01] [-2.77242492e-02 4.99608369e-04 9.99615484e-01 -8.84080739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55592000000001 meters Centerline goodness [0,1] 0.9996020098502562 Centerline is valid? [True, True] Translation: X:161.08, Y:34.64, Z:-0.88 [[ 9.85820935e-01 1.65166492e-01 2.96161123e-02 1.61083571e+02] [-1.65077783e-01 9.86265589e-01 -5.43260791e-03 3.46387212e+01] [-3.01066372e-02 4.66616451e-04 9.99546584e-01 -8.84892821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58592000000002 meters Centerline goodness [0,1] 0.9995523278949463 Centerline is valid? [True, True] Translation: X:161.12, Y:34.63, Z:-0.88 [[ 9.85709130e-01 1.65927854e-01 2.90767605e-02 1.61115802e+02] [-1.65842569e-01 9.86137797e-01 -5.33737808e-03 3.46347617e+01] [-2.95593123e-02 4.38937638e-04 9.99562932e-01 -8.84920307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61592000000002 meters Centerline goodness [0,1] 0.9996025437201908 Centerline is valid? [True, True] Translation: X:161.15, Y:34.63, Z:-0.89 [[ 9.85393827e-01 1.67776824e-01 2.91537951e-02 1.61148184e+02] [-1.67691784e-01 9.85824927e-01 -5.35524886e-03 3.46318680e+01] [-2.96390245e-02 3.88177250e-04 9.99560592e-01 -8.86118444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64592000000002 meters Centerline goodness [0,1] 0.9997515898251192 Centerline is valid? [True, True] Translation: X:161.18, Y:34.63, Z:-0.89 [[ 9.85299170e-01 1.68351905e-01 2.90376078e-02 1.61180001e+02] [-1.68267682e-01 9.85726888e-01 -5.33761126e-03 3.46272437e+01] [-2.95217478e-02 3.73052982e-04 9.99564069e-01 -8.86712163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67592000000002 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:161.21, Y:34.62, Z:-0.89 [[ 9.84884650e-01 1.70719027e-01 2.92786653e-02 1.61212616e+02] [-1.70634334e-01 9.85319704e-01 -5.38566113e-03 3.46242825e+01] [-2.97682807e-02 3.08309416e-04 9.99556779e-01 -8.85657558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70592000000002 meters Centerline goodness [0,1] 0.999552706127926 Centerline is valid? [True, True] Translation: X:161.24, Y:34.62, Z:-0.88 [[ 9.84709758e-01 1.71700605e-01 2.94209876e-02 1.61244668e+02] [-1.71615411e-01 9.85149137e-01 -5.41564694e-03 3.46210170e+01] [-2.99139304e-02 2.83745514e-04 9.99552438e-01 -8.84998146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73592 meters Centerline goodness [0,1] 0.9993532338308457 Centerline is valid? [True, True] Translation: X:161.28, Y:34.62, Z:-0.89 [[ 9.84500404e-01 1.72669932e-01 3.07253816e-02 1.61276899e+02] [-1.72577361e-01 9.84979706e-01 -5.65972142e-03 3.46173679e+01] [-3.12411411e-02 2.69492748e-04 9.99511840e-01 -8.85787239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76592 meters Centerline goodness [0,1] 0.9992534342026678 Centerline is valid? [True, True] Translation: X:161.31, Y:34.61, Z:-0.89 [[ 9.84380666e-01 1.73489552e-01 2.99345967e-02 1.61309128e+02] [-1.73401948e-01 9.84835680e-01 -5.51790985e-03 3.46142987e+01] [-3.04379586e-02 2.41006405e-04 9.99536629e-01 -8.87007621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79592 meters Centerline goodness [0,1] 0.9992045341553147 Centerline is valid? [True, True] Translation: X:161.34, Y:34.61, Z:-0.89 [[ 9.84414526e-01 1.73416875e-01 2.92340312e-02 1.61340895e+02] [-1.73333180e-01 9.84848480e-01 -5.39254486e-03 3.46099119e+01] [-2.97262495e-02 2.41271895e-04 9.99558048e-01 -8.86818339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82592 meters Centerline goodness [0,1] 0.9993542297948438 Centerline is valid? [True, True] Translation: X:161.37, Y:34.61, Z:-0.89 [[ 9.84498700e-01 1.72805200e-01 3.00112192e-02 1.61373366e+02] [-1.72716592e-01 9.84955984e-01 -5.53977769e-03 3.46059516e+01] [-3.05170323e-02 2.70468439e-04 9.99534210e-01 -8.87374356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85592 meters Centerline goodness [0,1] 0.9995028091284244 Centerline is valid? [True, True] Translation: X:161.41, Y:34.61, Z:-0.89 [[ 9.84618596e-01 1.71764931e-01 3.19848222e-02 1.61405834e+02] [-1.71663600e-01 9.85137910e-01 -5.90819121e-03 3.46054261e+01] [-3.25242809e-02 3.26685231e-04 9.99470892e-01 -8.85845316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88592 meters Centerline goodness [0,1] 0.9989563661663851 Centerline is valid? [True, True] Translation: X:161.44, Y:34.60, Z:-0.89 [[ 9.84781695e-01 1.70802329e-01 3.21181686e-02 1.61438257e+02] [-1.70699506e-01 9.85305248e-01 -5.93690077e-03 3.46012588e+01] [-3.26602366e-02 3.63995678e-04 9.99466446e-01 -8.85532992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91592 meters Centerline goodness [0,1] 0.9992554722787512 Centerline is valid? [True, True] Translation: X:161.47, Y:34.60, Z:-0.89 [[ 9.85162365e-01 1.68578865e-01 3.21913152e-02 1.61470337e+02] [-1.68474252e-01 9.85688069e-01 -5.95451430e-03 3.45975338e+01] [-3.27344006e-02 4.42755650e-04 9.99463988e-01 -8.86792283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94592 meters Centerline goodness [0,1] 0.9993032052558232 Centerline is valid? [True, True] Translation: X:161.50, Y:34.59, Z:-0.89 [[ 9.85462851e-01 1.66995867e-01 3.12305871e-02 1.61502168e+02] [-1.66896486e-01 9.85957477e-01 -5.78076074e-03 3.45932856e+01] [-3.17573940e-02 4.84449714e-04 9.99495489e-01 -8.86590983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97592 meters Centerline goodness [0,1] 0.9991525846169184 Centerline is valid? [True, True] Translation: X:161.53, Y:34.59, Z:-0.89 [[ 9.85589690e-01 1.66489245e-01 2.99047410e-02 1.61534100e+02] [-1.66397777e-01 9.86043152e-01 -5.53915624e-03 3.45884050e+01] [-3.04095751e-02 4.83252870e-04 9.99537405e-01 -8.87003974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00592 meters Centerline goodness [0,1] 0.9992524668593641 Centerline is valid? [True, True] Translation: X:161.57, Y:34.58, Z:-0.89 [[ 9.86007125e-01 1.64059694e-01 2.95696781e-02 1.61566087e+02] [-1.63969060e-01 9.86450256e-01 -5.48082636e-03 3.45841595e+01] [-3.00681992e-02 5.55621536e-04 9.99547695e-01 -8.87159327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03592 meters Centerline goodness [0,1] 0.9989080802064721 Centerline is valid? [True, True] Translation: X:161.60, Y:34.58, Z:-0.89 [[ 9.86098636e-01 1.63574038e-01 2.92064063e-02 1.61597767e+02] [-1.63485295e-01 9.86530898e-01 -5.41715452e-03 3.45794758e+01] [-2.96991281e-02 5.67030721e-04 9.99558723e-01 -8.86515413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06592 meters Centerline goodness [0,1] 0.9994043186895011 Centerline is valid? [True, True] Translation: X:161.63, Y:34.58, Z:-0.89 [[ 9.86213444e-01 1.62648765e-01 3.04700098e-02 1.61629557e+02] [-1.62551615e-01 9.86683835e-01 -5.65534767e-03 3.45754998e+01] [-3.09841014e-02 6.24430591e-04 9.99519682e-01 -8.88293392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09592 meters Centerline goodness [0,1] 0.9993543580829402 Centerline is valid? [True, True] Translation: X:161.66, Y:34.57, Z:-0.89 [[ 9.86336838e-01 1.61993326e-01 2.99633716e-02 1.61661211e+02] [-1.61898965e-01 9.86791647e-01 -5.56504093e-03 3.45691944e+01] [-3.04691043e-02 6.37966026e-04 9.99535505e-01 -8.88690310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12592 meters Centerline goodness [0,1] 0.9992047318455192 Centerline is valid? [True, True] Translation: X:161.69, Y:34.56, Z:-0.89 [[ 9.86478601e-01 1.61211027e-01 2.95122624e-02 1.61692585e+02] [-1.61119027e-01 9.86919741e-01 -5.48492544e-03 3.45629051e+01] [-3.00104648e-02 6.55774583e-04 9.99549369e-01 -8.87934210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15592 meters Centerline goodness [0,1] 0.9995530615285295 Centerline is valid? [True, True] Translation: X:161.72, Y:34.56, Z:-0.89 [[ 9.86479201e-01 1.61337804e-01 2.87906055e-02 1.61724662e+02] [-1.61250198e-01 9.86899034e-01 -5.35438685e-03 3.45583126e+01] [-2.92772857e-02 6.39500424e-04 9.99571124e-01 -8.88555198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18592 meters Centerline goodness [0,1] 0.999403222597971 Centerline is valid? [True, True] Translation: X:161.76, Y:34.55, Z:-0.89 [[ 9.86461382e-01 1.61516962e-01 2.83938900e-02 1.61756664e+02] [-1.61431727e-01 9.86869736e-01 -5.28412637e-03 3.45528472e+01] [-2.88745467e-02 6.28911890e-04 9.99582846e-01 -8.88174446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21592 meters Centerline goodness [0,1] 0.9996523293930665 Centerline is valid? [True, True] Translation: X:161.79, Y:34.55, Z:-0.89 [[ 9.86578385e-01 1.60919696e-01 2.77117557e-02 1.61788297e+02] [-1.60838175e-01 9.86967299e-01 -5.16063945e-03 3.45455525e+01] [-2.81810452e-02 6.34267131e-04 9.99602634e-01 -8.89549144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24592 meters Centerline goodness [0,1] 0.9996521393430403 Centerline is valid? [True, True] Translation: X:161.82, Y:34.54, Z:-0.89 [[ 9.86485397e-01 1.61336882e-01 2.85827062e-02 1.61820160e+02] [-1.61250227e-01 9.86899181e-01 -5.32640172e-03 3.45385661e+01] [-2.90675944e-02 6.45449652e-04 9.99577240e-01 -8.90084299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27592 meters Centerline goodness [0,1] 0.9996020494453565 Centerline is valid? [True, True] Translation: X:161.85, Y:34.53, Z:-0.89 [[ 9.86343914e-01 1.61976305e-01 2.98221511e-02 1.61851963e+02] [-1.61882147e-01 9.86794429e-01 -5.56112613e-03 3.45321400e+01] [-3.03291032e-02 6.57509059e-04 9.99539751e-01 -8.90318428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30592000000001 meters Centerline goodness [0,1] 0.9993543580829402 Centerline is valid? [True, True] Translation: X:161.88, Y:34.52, Z:-0.89 [[ 9.86216634e-01 1.62619349e-01 3.05237385e-02 1.61883042e+02] [-1.62520896e-01 9.86688662e-01 -5.69580125e-03 3.45247765e+01] [-3.10436742e-02 6.56548615e-04 9.99517813e-01 -8.88333705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33592000000002 meters Centerline goodness [0,1] 0.9992543990456307 Centerline is valid? [True, True] Translation: X:161.91, Y:34.52, Z:-0.89 [[ 9.86104152e-01 1.63235189e-01 3.08686564e-02 1.61914008e+02] [-1.63134678e-01 9.86586972e-01 -5.76401705e-03 3.45164239e+01] [-3.13955047e-02 6.48172840e-04 9.99506829e-01 -8.88867508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36592000000002 meters Centerline goodness [0,1] 0.9992543990456307 Centerline is valid? [True, True] Translation: X:161.95, Y:34.51, Z:-0.89 [[ 9.86084523e-01 1.63353854e-01 3.08679628e-02 1.61945189e+02] [-1.63253285e-01 9.86567331e-01 -5.76773014e-03 3.45106428e+01] [-3.13955047e-02 6.48173079e-04 9.99506829e-01 -8.88894873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39592000000002 meters Centerline goodness [0,1] 0.9994037267080745 Centerline is valid? [True, True] Translation: X:161.98, Y:34.50, Z:-0.89 [[ 9.85887346e-01 1.64869258e-01 2.90563211e-02 1.61976540e+02] [-1.64780675e-01 9.86315266e-01 -5.43370732e-03 3.45004549e+01] [-2.95545443e-02 5.69103087e-04 9.99563007e-01 -8.88405359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42592000000002 meters Centerline goodness [0,1] 0.9996521911954686 Centerline is valid? [True, True] Translation: X:162.01, Y:34.49, Z:-0.89 [[ 9.85680329e-01 1.66128385e-01 2.89075983e-02 1.62008356e+02] [-1.66041140e-01 9.86103989e-01 -5.40956910e-03 3.44935281e+01] [-2.94045810e-02 5.32255284e-04 9.99567450e-01 -8.88549064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45592000000002 meters Centerline goodness [0,1] 0.9994023309094532 Centerline is valid? [True, True] Translation: X:162.04, Y:34.48, Z:-0.89 [[ 9.85287146e-01 1.68312915e-01 2.96648496e-02 1.62038916e+02] [-1.68221913e-01 9.85733498e-01 -5.55504907e-03 3.44835923e+01] [-3.01766224e-02 4.83040703e-04 9.99544465e-01 -8.89558580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48592 meters Centerline goodness [0,1] 0.9994531444195873 Centerline is valid? [True, True] Translation: X:162.07, Y:34.47, Z:-0.89 [[ 9.85046286e-01 1.69870053e-01 2.87746237e-02 1.62070174e+02] [-1.69784989e-01 9.85466379e-01 -5.39200900e-03 3.44742369e+01] [-2.92723651e-02 4.25879273e-04 9.99571382e-01 -8.89044365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51592 meters Centerline goodness [0,1] 0.9994040228457909 Centerline is valid? [True, True] Translation: X:162.10, Y:34.47, Z:-0.89 [[ 9.84703019e-01 1.71812751e-01 2.89886647e-02 1.62100948e+02] [-1.71727148e-01 9.85129554e-01 -5.43582366e-03 3.44655458e+01] [-2.94915342e-02 3.74531243e-04 9.99564960e-01 -8.88259801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54592 meters Centerline goodness [0,1] 0.999700733203651 Centerline is valid? [True, True] Translation: X:162.13, Y:34.46, Z:-0.89 [[ 9.83906453e-01 1.76066721e-01 3.04729658e-02 1.62132241e+02] [-1.75974041e-01 9.84378200e-01 -5.71810285e-03 3.44578271e+01] [-3.10036909e-02 2.63627361e-04 9.99519235e-01 -8.88015719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57592 meters Centerline goodness [0,1] 0.9996519490851233 Centerline is valid? [True, True] Translation: X:162.16, Y:34.45, Z:-0.89 [[ 9.83595581e-01 1.78018612e-01 2.91394363e-02 1.62164098e+02] [-1.77934612e-01 9.84027101e-01 -5.47164695e-03 3.44516720e+01] [-2.96480500e-02 1.96973470e-04 9.99560381e-01 -8.87463478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60592 meters Centerline goodness [0,1] 0.9997513798418776 Centerline is valid? [True, True] Translation: X:162.20, Y:34.44, Z:-0.89 [[ 9.82777946e-01 1.82752980e-01 2.73652549e-02 1.62195768e+02] [-1.82680634e-01 9.83158861e-01 -5.14205741e-03 3.44438093e+01] [-2.78441192e-02 5.43985056e-05 9.99612276e-01 -8.87302437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63592 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:162.23, Y:34.44, Z:-0.89 [[ 9.82381877e-01 1.85249066e-01 2.46704535e-02 1.62227801e+02] [-1.85190955e-01 9.82691601e-01 -4.63969692e-03 3.44375461e+01] [-2.51029470e-02 -1.07906775e-05 9.99684871e-01 -8.86037195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66592 meters Centerline goodness [0,1] 0.9997020114228955 Centerline is valid? [True, True] Translation: X:162.26, Y:34.43, Z:-0.89 [[ 9.81753869e-01 1.88581839e-01 2.44178349e-02 1.62258754e+02] [-1.88525900e-01 9.82057473e-01 -4.59387814e-03 3.44322602e+01] [-2.48460393e-02 -9.33366852e-05 9.99691285e-01 -8.85625710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69592 meters Centerline goodness [0,1] 0.999801340948597 Centerline is valid? [True, True] Translation: X:162.29, Y:34.43, Z:-0.89 [[ 9.81669009e-01 1.89154093e-01 2.33813191e-02 1.62289639e+02] [-1.89102929e-01 9.81947411e-01 -4.40040174e-03 3.44270509e+01] [-2.37915798e-02 -1.01737903e-04 9.99716935e-01 -8.85349726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72592 meters Centerline goodness [0,1] 0.9996526744070656 Centerline is valid? [True, True] Translation: X:162.32, Y:34.42, Z:-0.89 [[ 9.81455230e-01 1.90175582e-01 2.40598967e-02 1.62319853e+02] [-1.90121710e-01 9.81750086e-01 -4.52816833e-03 3.44220881e+01] [-2.44819527e-02 -1.30114208e-04 9.99700264e-01 -8.85079558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75592 meters Centerline goodness [0,1] 0.9996025239727729 Centerline is valid? [True, True] Translation: X:162.35, Y:34.42, Z:-0.88 [[ 9.81447314e-01 1.90221195e-01 2.40222028e-02 1.62350072e+02] [-1.90167486e-01 9.81741249e-01 -4.52183873e-03 3.44188868e+01] [-2.44437369e-02 -1.30295449e-04 9.99701199e-01 -8.84393697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78592 meters Centerline goodness [0,1] 0.9994524366568769 Centerline is valid? [True, True] Translation: X:162.38, Y:34.41, Z:-0.88 [[ 9.81645813e-01 1.89349424e-01 2.27660573e-02 1.62380510e+02] [-1.89300951e-01 9.81909764e-01 -4.28541370e-03 3.44145192e+01] [-2.31656546e-02 -1.02877894e-04 9.99731635e-01 -8.84481909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81592 meters Centerline goodness [0,1] 0.9994039340353665 Centerline is valid? [True, True] Translation: X:162.41, Y:34.41, Z:-0.89 [[ 9.82237188e-01 1.85991492e-01 2.48449626e-02 1.62410028e+02] [-1.85932727e-01 9.82551354e-01 -4.67514303e-03 3.44119609e+01] [-2.52809885e-02 -2.73923026e-05 9.99680384e-01 -8.85967371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84592 meters Centerline goodness [0,1] 0.999254880532512 Centerline is valid? [True, True] Translation: X:162.44, Y:34.41, Z:-0.89 [[ 9.82687404e-01 1.83628064e-01 2.46211230e-02 1.62439646e+02] [-1.83569612e-01 9.82995795e-01 -4.63296657e-03 3.44068471e+01] [-2.50532030e-02 3.30678867e-05 9.99686119e-01 -8.85918691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87592 meters Centerline goodness [0,1] 0.9989553278280768 Centerline is valid? [True, True] Translation: X:162.47, Y:34.40, Z:-0.89 [[ 9.83767326e-01 1.77913873e-01 2.34201043e-02 1.62470862e+02] [-1.77859330e-01 9.84046048e-01 -4.40844672e-03 3.44018869e+01] [-2.38307849e-02 1.71401775e-04 9.99715992e-01 -8.86629727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90592 meters Centerline goodness [0,1] 0.9984087518647439 Centerline is valid? [True, True] Translation: X:162.50, Y:34.40, Z:-0.89 [[ 9.84068222e-01 1.76463022e-01 2.16918360e-02 1.62501887e+02] [-1.76415849e-01 9.84307251e-01 -4.08452852e-03 3.43959422e+01] [-2.20721998e-02 1.92671035e-04 9.99756361e-01 -8.85631251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93592 meters Centerline goodness [0,1] 0.9991551535632641 Centerline is valid? [True, True] Translation: X:162.53, Y:34.39, Z:-0.89 [[ 9.84397976e-01 1.74418708e-01 2.32107452e-02 1.62530631e+02] [-1.74364161e-01 9.84671544e-01 -4.36914861e-03 3.43902166e+01] [-2.36170215e-02 2.53858947e-04 9.99721047e-01 -8.85932702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96592 meters Centerline goodness [0,1] 0.9989075922339739 Centerline is valid? [True, True] Translation: X:162.56, Y:34.38, Z:-0.89 [[ 9.85217795e-01 1.69506234e-01 2.47696134e-02 1.62560557e+02] [-1.69442523e-01 9.85529035e-01 -4.66406497e-03 3.43816970e+01] [-2.52017612e-02 3.98094032e-04 9.99682306e-01 -8.87391409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99592 meters Centerline goodness [0,1] 0.9995029326970872 Centerline is valid? [True, True] Translation: X:162.59, Y:34.37, Z:-0.89 [[ 9.85506365e-01 1.67831639e-01 2.46930062e-02 1.62590969e+02] [-1.67767756e-01 9.85815574e-01 -4.65120300e-03 3.43741546e+01] [-2.51233691e-02 4.41099912e-04 9.99684261e-01 -8.86730818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02592 meters Centerline goodness [0,1] 0.9994040524433849 Centerline is valid? [True, True] Translation: X:162.62, Y:34.37, Z:-0.89 [[ 9.86021240e-01 1.64406532e-01 2.70667168e-02 1.62621596e+02] [-1.64328436e-01 9.86392495e-01 -5.10003439e-03 3.43676302e+01] [-2.75368853e-02 5.80910995e-04 9.99620619e-01 -8.88165155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05592000000001 meters Centerline goodness [0,1] 0.9994041412185312 Centerline is valid? [True, True] Translation: X:162.65, Y:34.36, Z:-0.89 [[ 9.86165418e-01 1.63379401e-01 2.80167584e-02 1.62653336e+02] [-1.63295213e-01 9.86563109e-01 -5.28248806e-03 3.43610185e+01] [-2.85033501e-02 6.34404524e-04 9.99593496e-01 -8.88592621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08592000000002 meters Centerline goodness [0,1] 0.9995029574034495 Centerline is valid? [True, True] Translation: X:162.69, Y:34.35, Z:-0.89 [[ 9.86432921e-01 1.62128418e-01 2.57772833e-02 1.62685060e+02] [-1.62056642e-01 9.86769472e-01 -4.86345093e-03 3.43533995e+01] [-2.62247398e-02 6.20088147e-04 9.99655880e-01 -8.87261434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11592000000002 meters Centerline goodness [0,1] 0.9996520874751491 Centerline is valid? [True, True] Translation: X:162.72, Y:34.34, Z:-0.89 [[ 9.86669501e-01 1.60312062e-01 2.79881915e-02 1.62715628e+02] [-1.60226612e-01 9.87066113e-01 -5.28410652e-03 3.43430568e+01] [-2.84733014e-02 7.29213639e-04 9.99594287e-01 -8.88748619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14592000000002 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:162.75, Y:34.34, Z:-0.89 [[ 9.86848675e-01 1.59154778e-01 2.82745259e-02 1.62746607e+02] [-1.59066995e-01 9.87253340e-01 -5.34167956e-03 3.43355750e+01] [-2.87642739e-02 7.73885545e-04 9.99585923e-01 -8.88435542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17592000000002 meters Centerline goodness [0,1] 0.9998008563178333 Centerline is valid? [True, True] Translation: X:162.78, Y:34.32, Z:-0.89 [[ 9.87396591e-01 1.55512090e-01 2.93932243e-02 1.62777060e+02] [-1.55415498e-01 9.87833562e-01 -5.55668370e-03 3.43249018e+01] [-2.98997450e-02 9.18487949e-04 9.99552481e-01 -8.87561308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20592000000002 meters Centerline goodness [0,1] 0.9996519144704127 Centerline is valid? [True, True] Translation: X:162.81, Y:34.32, Z:-0.89 [[ 9.87582618e-01 1.54151985e-01 3.02941978e-02 1.62808118e+02] [-1.54048624e-01 9.88046649e-01 -5.73076219e-03 3.43152541e+01] [-3.08154890e-02 9.92821643e-04 9.99524597e-01 -8.87499300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23592 meters Centerline goodness [0,1] 0.9998012126031209 Centerline is valid? [True, True] Translation: X:162.84, Y:34.31, Z:-0.89 [[ 9.87816257e-01 1.52693186e-01 3.00638058e-02 1.62839118e+02] [-1.52590603e-01 9.88273101e-01 -5.69089048e-03 3.43064925e+01] [-3.05802108e-02 1.03409986e-03 9.99531781e-01 -8.87672237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26592 meters Centerline goodness [0,1] 0.999950206642434 Centerline is valid? [True, True] Translation: X:162.87, Y:34.30, Z:-0.89 [[ 9.88089545e-01 1.51010337e-01 2.95792030e-02 1.62870261e+02] [-1.50910174e-01 9.88531602e-01 -5.60277633e-03 3.42959677e+01] [-3.00860541e-02 1.07224203e-03 9.99546737e-01 -8.87354755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29592 meters Centerline goodness [0,1] 0.9998012916045703 Centerline is valid? [True, True] Translation: X:162.90, Y:34.29, Z:-0.89 [[ 9.88034312e-01 1.51491001e-01 2.89598888e-02 1.62901258e+02] [-1.51395091e-01 9.88458091e-01 -5.48899687e-03 3.42873389e+01] [-2.94571700e-02 1.03893224e-03 9.99565503e-01 -8.87796493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32592 meters Centerline goodness [0,1] 0.9998509835088416 Centerline is valid? [True, True] Translation: X:162.93, Y:34.27, Z:-0.89 [[ 9.87835235e-01 1.52729744e-01 2.92433563e-02 1.62931764e+02] [-1.52632382e-01 9.88267471e-01 -5.54632226e-03 3.42731649e+01] [-2.97473461e-02 1.01536942e-03 9.99556934e-01 -8.89930705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.96, Y:34.26, Z:-0.89 [[ 9.87667160e-01 1.53328071e-01 3.16872880e-02 1.62962776e+02] [-1.53213931e-01 9.88174745e-01 -6.01372791e-03 3.42622459e+01] [-3.22346510e-02 1.08462760e-03 9.99479740e-01 -8.90609932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.99, Y:34.25, Z:-0.89 [[ 9.87374881e-01 1.55441222e-01 3.04773956e-02 1.62994239e+02] [-1.55336495e-01 9.87844655e-01 -5.78878002e-03 3.42529724e+01] [-3.10067474e-02 9.81444161e-04 9.99518693e-01 -8.90526059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.03, Y:34.24, Z:-0.89 [[ 9.86927602e-01 1.58292967e-01 3.02860686e-02 1.63025482e+02] [-1.58190747e-01 9.87391788e-01 -5.75713149e-03 3.42424532e+01] [-3.08155289e-02 8.90896146e-04 9.99524692e-01 -8.90535282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.06, Y:34.23, Z:-0.89 [[ 9.86885547e-01 1.58452121e-01 3.08195050e-02 1.63056166e+02] [-1.58346223e-01 9.87366247e-01 -5.86242301e-03 3.42334905e+01] [-3.13590524e-02 9.05388320e-04 9.99507774e-01 -8.91280232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.09, Y:34.22, Z:-0.89 [[ 9.86719150e-01 1.59556894e-01 3.04453106e-02 1.63086375e+02] [-1.59453960e-01 9.87188357e-01 -5.79505611e-03 3.42222014e+01] [-3.09798973e-02 8.63467499e-04 9.99519635e-01 -8.89821138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50592 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:163.12, Y:34.22, Z:-0.89 [[ 9.86707011e-01 1.59715657e-01 3.00030433e-02 1.63117642e+02] [-1.59615650e-01 9.87162695e-01 -5.71466363e-03 3.42160781e+01] [-3.05306063e-02 8.49743401e-04 9.99533471e-01 -8.91427655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.15, Y:34.21, Z:-0.89 [[ 9.86441888e-01 1.61453666e-01 2.94128403e-02 1.63149238e+02] [-1.61358217e-01 9.86879982e-01 -5.60593900e-03 3.42086508e+01] [-2.99320428e-02 7.83929561e-04 9.99551629e-01 -8.91738566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56592 meters Centerline goodness [0,1] 0.999900423201394 Centerline is valid? [True, True] Translation: X:163.18, Y:34.20, Z:-0.89 [[ 9.85996751e-01 1.64374154e-01 2.81344148e-02 1.63179584e+02] [-1.64287663e-01 9.86397830e-01 -5.37444670e-03 3.41974358e+01] [-2.86351459e-02 6.77049731e-04 9.99589701e-01 -8.92055786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:163.21, Y:34.19, Z:-0.89 [[ 9.85772509e-01 1.65535639e-01 2.91635427e-02 1.63211958e+02] [-1.65443037e-01 9.86203579e-01 -5.57688178e-03 3.41885712e+01] [-2.96843629e-02 6.72631679e-04 9.99559096e-01 -8.91875041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62592 meters Centerline goodness [0,1] 0.9999501619735859 Centerline is valid? [True, True] Translation: X:163.24, Y:34.18, Z:-0.89 [[ 9.85407703e-01 1.67150442e-01 3.21307983e-02 1.63243322e+02] [-1.67038753e-01 9.85931159e-01 -6.14846644e-03 3.41814301e+01] [-3.27064742e-02 6.91657688e-04 9.99464761e-01 -8.91127443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.28, Y:34.17, Z:-0.89 [[ 9.85101493e-01 1.68795919e-01 3.29087511e-02 1.63276228e+02] [-1.68679118e-01 9.85650795e-01 -6.31382956e-03 3.41749765e+01] [-3.35022854e-02 6.68743808e-04 9.99438417e-01 -8.91591179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.31, Y:34.17, Z:-0.89 [[ 9.84751523e-01 1.70991468e-01 3.20367775e-02 1.63307351e+02] [-1.70881469e-01 9.85272331e-01 -6.16088511e-03 3.41652212e+01] [-3.26184093e-02 5.92449384e-04 9.99467703e-01 -8.89946403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.34, Y:34.16, Z:-0.89 [[ 9.84510881e-01 1.72215074e-01 3.28678044e-02 1.63339308e+02] [-1.72099407e-01 9.85059201e-01 -6.33762594e-03 3.41586318e+01] [-3.34681678e-02 5.82932052e-04 9.99439614e-01 -8.90720448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.37, Y:34.15, Z:-0.89 [[ 9.84513144e-01 1.72324995e-01 3.22174798e-02 1.63371534e+02] [-1.72213373e-01 9.85039976e-01 -6.22891178e-03 3.41531016e+01] [-3.28089027e-02 5.84164668e-04 9.99461472e-01 -8.90257261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.40, Y:34.15, Z:-0.89 [[ 9.84628889e-01 1.71323866e-01 3.39718141e-02 1.63402831e+02] [-1.71198662e-01 9.85214540e-01 -6.58240576e-03 3.41475175e+01] [-3.45972484e-02 6.65297765e-04 9.99401115e-01 -8.90843265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.44, Y:34.14, Z:-0.89 [[ 9.84691652e-01 1.70979280e-01 3.38885795e-02 1.63435377e+02] [-1.70853891e-01 9.85274381e-01 -6.58346843e-03 3.41403414e+01] [-3.45151859e-02 6.92690726e-04 9.99403933e-01 -8.91219230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83592000000002 meters Centerline goodness [0,1] 0.999950231423879 Centerline is valid? [True, True] Translation: X:163.47, Y:34.13, Z:-0.89 [[ 9.84655409e-01 1.71392281e-01 3.28391717e-02 1.63466836e+02] [-1.71274279e-01 9.85202636e-01 -6.39426559e-03 3.41348985e+01] [-3.34491663e-02 6.71642756e-04 9.99440194e-01 -8.90225764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86592000000002 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:163.50, Y:34.13, Z:-0.89 [[ 9.84687348e-01 1.71321222e-01 3.22469588e-02 1.63500067e+02] [-1.71206859e-01 9.85214991e-01 -6.29542224e-03 3.41300694e+01] [-3.28487267e-02 6.78122093e-04 9.99460105e-01 -8.89409484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89592000000002 meters Centerline goodness [0,1] 0.999850864983098 Centerline is valid? [True, True] Translation: X:163.53, Y:34.13, Z:-0.89 [[ 9.84725414e-01 1.70993561e-01 3.28186052e-02 1.63531949e+02] [-1.70874429e-01 9.85271886e-01 -6.42182855e-03 3.41251381e+01] [-3.34333404e-02 7.15877338e-04 9.99440693e-01 -8.90427957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92592000000002 meters Centerline goodness [0,1] 0.9999502289468445 Centerline is valid? [True, True] Translation: X:163.56, Y:34.12, Z:-0.89 [[ 9.85026665e-01 1.69664487e-01 3.06011572e-02 1.63563015e+02] [-1.69559850e-01 9.85501618e-01 -6.00150583e-03 3.41178803e+01] [-3.11757323e-02 7.22915665e-04 9.99513657e-01 -8.89432897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95592000000002 meters Centerline goodness [0,1] 0.9999003984063745 Centerline is valid? [True, True] Translation: X:163.59, Y:34.11, Z:-0.89 [[ 9.85421260e-01 1.67374887e-01 3.05055442e-02 1.63594654e+02] [-1.67269380e-01 9.85892995e-01 -5.99644361e-03 3.41109335e+01] [-3.10788564e-02 8.06379542e-04 9.99516610e-01 -8.90080248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98592 meters Centerline goodness [0,1] 0.999950231423879 Centerline is valid? [True, True] Translation: X:163.63, Y:34.10, Z:-0.89 [[ 9.85755439e-01 1.65555350e-01 2.96249996e-02 1.63625996e+02] [-1.65454632e-01 9.86200132e-01 -5.83646582e-03 3.41044365e+01] [-3.01824367e-02 8.51734525e-04 9.99544044e-01 -8.90534715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.66, Y:34.10, Z:-0.89 [[ 9.85959969e-01 1.64376755e-01 2.93806407e-02 1.63657542e+02] [-1.64277050e-01 9.86397232e-01 -5.79230363e-03 3.40968346e+01] [-2.99331027e-02 8.84414540e-04 9.99551513e-01 -8.91240729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:163.69, Y:34.09, Z:-0.89 [[ 9.86303549e-01 1.62448203e-01 2.85637992e-02 1.63688543e+02] [-1.62352804e-01 9.86716635e-01 -5.64344686e-03 3.40860791e+01] [-2.91011437e-02 9.28738782e-04 9.99576041e-01 -8.92234759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.72, Y:34.08, Z:-0.89 [[ 9.86169007e-01 1.63100609e-01 2.94767786e-02 1.63720051e+02] [-1.62998858e-01 9.86608982e-01 -5.83862809e-03 3.40768546e+01] [-3.00343384e-02 9.53192825e-04 9.99548413e-01 -8.93697855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.75, Y:34.07, Z:-0.89 [[ 9.85749489e-01 1.65449707e-01 3.04029467e-02 1.63750961e+02] [-1.65342157e-01 9.86217797e-01 -6.03556632e-03 3.40652364e+01] [-3.09825098e-02 9.22667638e-04 9.99519501e-01 -8.91769900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.78, Y:34.06, Z:-0.89 [[ 9.85345615e-01 1.67856000e-01 3.03048201e-02 1.63782024e+02] [-1.67749865e-01 9.85811152e-01 -6.02951037e-03 3.40562841e+01] [-3.08869191e-02 8.57522129e-04 9.99522517e-01 -8.91887281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16592 meters Centerline goodness [0,1] 0.9999502091216889 Centerline is valid? [True, True] Translation: X:163.81, Y:34.05, Z:-0.89 [[ 9.85052012e-01 1.69933653e-01 2.81972773e-02 1.63813381e+02] [-1.69842485e-01 9.85455226e-01 -5.61490349e-03 3.40464243e+01] [-2.87413153e-02 7.41876333e-04 9.99586608e-01 -8.91547798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19592 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:163.84, Y:34.03, Z:-0.89 [[ 9.84022726e-01 1.75718421e-01 2.86759800e-02 1.63843272e+02] [-1.75626213e-01 9.84440289e-01 -5.72284735e-03 3.40328187e+01] [-2.92353998e-02 5.95158080e-04 9.99572377e-01 -8.91866670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.87, Y:34.02, Z:-0.89 [[ 9.83098511e-01 1.80640011e-01 2.97742055e-02 1.63874268e+02] [-1.80542445e-01 9.83549163e-01 -5.95559839e-03 3.40230202e+01] [-3.03602143e-02 4.79432041e-04 9.99538907e-01 -8.91638013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.91, Y:34.02, Z:-0.89 [[ 9.83007716e-01 1.81133940e-01 2.97712216e-02 1.63906254e+02] [-1.81036149e-01 9.83458319e-01 -5.97049652e-03 3.40169478e+01] [-3.03602151e-02 4.79376841e-04 9.99538907e-01 -8.91666111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.94, Y:34.01, Z:-0.89 [[ 9.82676194e-01 1.83186891e-01 2.81080238e-02 1.63937552e+02] [-1.83100194e-01 9.83078023e-01 -5.64980621e-03 3.40091445e+01] [-2.86673509e-02 4.05345455e-04 9.99588925e-01 -8.91194471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.97, Y:34.00, Z:-0.89 [[ 9.82435428e-01 1.84477505e-01 2.80834535e-02 1.63969542e+02] [-1.84391065e-01 9.82836662e-01 -5.65959588e-03 3.40015964e+01] [-2.86455158e-02 3.81849618e-04 9.99589560e-01 -8.90974080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.00, Y:33.99, Z:-0.89 [[ 9.82063412e-01 1.86477829e-01 2.78832392e-02 1.64000544e+02] [-1.86393056e-01 9.82459113e-01 -5.63214591e-03 3.39935666e+01] [-2.84444128e-02 3.33882267e-04 9.99595320e-01 -8.91182921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:164.03, Y:33.99, Z:-0.89 [[ 9.81814921e-01 1.87599525e-01 2.90839888e-02 1.64032117e+02] [-1.87507382e-01 9.82245545e-01 -5.88816745e-03 3.39878481e+01] [-2.96722358e-02 3.27628061e-04 9.99559629e-01 -8.92296353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.06, Y:33.98, Z:-0.89 [[ 9.81358819e-01 1.89596079e-01 3.14355537e-02 1.64063906e+02] [-1.89488986e-01 9.81862126e-01 -6.37881799e-03 3.39805217e+01] [-3.20747785e-02 3.03218077e-04 9.99485426e-01 -8.91718604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.10, Y:33.97, Z:-0.89 [[ 9.81268661e-01 1.90120419e-01 3.10811968e-02 1.64096153e+02] [-1.90015465e-01 9.81760733e-01 -6.32344199e-03 3.39724876e+01] [-3.17165140e-02 2.99087380e-04 9.99496860e-01 -8.92045133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.13, Y:33.96, Z:-0.89 [[ 9.81037242e-01 1.91331522e-01 3.09544448e-02 1.64127711e+02] [-1.91227506e-01 9.81525432e-01 -6.31410397e-03 3.39642023e+01] [-3.15906619e-02 2.75029860e-04 9.99500853e-01 -8.91563241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49592 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:164.16, Y:33.96, Z:-0.89 [[ 9.81114010e-01 1.91054204e-01 3.02256574e-02 1.64160530e+02] [-1.90954398e-01 9.81579444e-01 -6.18163267e-03 3.39586321e+01] [-3.08499109e-02 2.93164208e-04 9.99523985e-01 -8.92868065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.19, Y:33.95, Z:-0.89 [[ 9.81444666e-01 1.89118902e-01 3.16292222e-02 1.64192104e+02] [-1.89008126e-01 9.81954119e-01 -6.48349611e-03 3.39516607e+01] [-3.22845967e-02 3.85012669e-04 9.99478642e-01 -8.94266960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55592000000001 meters Centerline goodness [0,1] 0.9999500424639057 Centerline is valid? [True, True] Translation: X:164.22, Y:33.94, Z:-0.89 [[ 9.81492074e-01 1.88850354e-01 3.17624301e-02 1.64223735e+02] [-1.88737957e-01 9.82005791e-01 -6.52758912e-03 3.39430100e+01] [-3.24236278e-02 4.12000836e-04 9.99474131e-01 -8.94762123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.26, Y:33.93, Z:-0.90 [[ 9.81631669e-01 1.88166976e-01 3.15032546e-02 1.64255601e+02] [-1.88055516e-01 9.82136950e-01 -6.49106745e-03 3.39348318e+01] [-3.21619149e-02 4.47476563e-04 9.99482572e-01 -8.95613268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61592000000002 meters Centerline goodness [0,1] 0.9999004430285231 Centerline is valid? [True, True] Translation: X:164.29, Y:33.93, Z:-0.90 [[ 9.81620701e-01 1.88400801e-01 3.04292049e-02 1.64287098e+02] [-1.88296489e-01 9.82092127e-01 -6.28383143e-03 3.39272555e+01] [-3.10681614e-02 4.38626567e-04 9.99517172e-01 -8.95328655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64592000000002 meters Centerline goodness [0,1] 0.9998505008222455 Centerline is valid? [True, True] Translation: X:164.32, Y:33.92, Z:-0.89 [[ 9.81570936e-01 1.88771421e-01 2.97295769e-02 1.64318493e+02] [-1.88671606e-01 9.82020960e-01 -6.15303011e-03 3.39182711e+01] [-3.03565839e-02 4.30508498e-04 9.99539040e-01 -8.94914713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67592000000002 meters Centerline goodness [0,1] 0.999800945508833 Centerline is valid? [True, True] Translation: X:164.35, Y:33.91, Z:-0.89 [[ 9.81309500e-01 1.89960489e-01 3.07681166e-02 1.64350200e+02] [-1.89853649e-01 9.81791645e-01 -6.38425369e-03 3.39064061e+01] [-3.14206357e-02 4.23489606e-04 9.99506160e-01 -8.94652038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70592000000002 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:164.38, Y:33.90, Z:-0.89 [[ 9.81260711e-01 1.89998265e-01 3.20636165e-02 1.64381009e+02] [-1.89881767e-01 9.81784321e-01 -6.66800067e-03 3.38982557e+01] [-3.27464645e-02 4.54750922e-04 9.99463587e-01 -8.94074779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73592 meters Centerline goodness [0,1] 0.9998010741993236 Centerline is valid? [True, True] Translation: X:164.41, Y:33.89, Z:-0.89 [[ 9.80968258e-01 1.91701117e-01 3.08538280e-02 1.64412042e+02] [-1.91593637e-01 9.81453272e-01 -6.43071017e-03 3.38904612e+01] [-3.15143648e-02 3.96925434e-04 9.99503220e-01 -8.93589641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76592 meters Centerline goodness [0,1] 0.9999003735990037 Centerline is valid? [True, True] Translation: X:164.44, Y:33.88, Z:-0.89 [[ 9.80465875e-01 1.94133578e-01 3.16041407e-02 1.64443600e+02] [-1.94021528e-01 9.80975044e-01 -6.60381186e-03 3.38818840e+01] [-3.22848949e-02 3.42928501e-04 9.99478648e-01 -8.94089759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79592 meters Centerline goodness [0,1] 0.9996023659227595 Centerline is valid? [True, True] Translation: X:164.47, Y:33.87, Z:-0.89 [[ 9.79997340e-01 1.96771733e-01 2.97673975e-02 1.64474716e+02] [-1.96673121e-01 9.80449295e-01 -6.23403864e-03 3.38734631e+01] [-3.04121065e-02 2.54894311e-04 9.99537412e-01 -8.92955362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82592 meters Centerline goodness [0,1] 0.9998010840917002 Centerline is valid? [True, True] Translation: X:164.51, Y:33.87, Z:-0.89 [[ 9.79637687e-01 1.98847746e-01 2.77412434e-02 1.64505847e+02] [-1.98762568e-01 9.80030376e-01 -5.82269958e-03 3.38657011e+01] [-2.83450919e-02 1.90215173e-04 9.99598179e-01 -8.92571052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85592 meters Centerline goodness [0,1] 0.999601335525988 Centerline is valid? [True, True] Translation: X:164.54, Y:33.86, Z:-0.89 [[ 9.79197103e-01 2.01196688e-01 2.63234890e-02 1.64537032e+02] [-2.01120510e-01 9.79550854e-01 -5.53754251e-03 3.38594000e+01] [-2.68993313e-02 1.28152070e-04 9.99638139e-01 -8.91702738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88592 meters Centerline goodness [0,1] 0.9996020692399522 Centerline is valid? [True, True] Translation: X:164.57, Y:33.85, Z:-0.89 [[ 9.78765365e-01 2.03293707e-01 2.62683845e-02 1.64569514e+02] [-2.03218219e-01 9.79117798e-01 -5.54021570e-03 3.38535748e+01] [-2.68461338e-02 8.43569196e-05 9.99639574e-01 -8.92215910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91592 meters Centerline goodness [0,1] 0.9996018117565079 Centerline is valid? [True, True] Translation: X:164.60, Y:33.85, Z:-0.89 [[ 9.77951875e-01 2.07286782e-01 2.53440194e-02 1.64601129e+02] [-2.07217537e-01 9.78280221e-01 -5.35746907e-03 3.38472412e+01] [-2.59040854e-02 -1.23783524e-05 9.99664433e-01 -8.92577854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94592 meters Centerline goodness [0,1] 0.9996017522899243 Centerline is valid? [True, True] Translation: X:164.63, Y:33.84, Z:-0.89 [[ 9.77458823e-01 2.09732065e-01 2.42220789e-02 1.64632488e+02] [-2.09669280e-01 9.77758895e-01 -5.13189480e-03 3.38412159e+01] [-2.47596760e-02 -6.24099700e-05 9.99693430e-01 -8.92240592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97592 meters Centerline goodness [0,1] 0.9997512437810945 Centerline is valid? [True, True] Translation: X:164.67, Y:33.84, Z:-0.89 [[ 9.76361004e-01 2.14939238e-01 2.28103930e-02 1.64665601e+02] [-2.14884685e-01 9.76627408e-01 -4.84533493e-03 3.38384894e+01] [-2.33187076e-02 -1.70808039e-04 9.99728067e-01 -8.90332519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00592 meters Centerline goodness [0,1] 0.9995524837153796 Centerline is valid? [True, True] Translation: X:164.70, Y:33.83, Z:-0.89 [[ 9.75808350e-01 2.17480068e-01 2.23714952e-02 1.64698508e+02] [-2.17427981e-01 9.76064738e-01 -4.76439515e-03 3.38344359e+01] [-2.28721886e-02 -2.15052461e-04 9.99738374e-01 -8.89545768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03592 meters Centerline goodness [0,1] 0.9993036904406645 Centerline is valid? [True, True] Translation: X:164.73, Y:33.83, Z:-0.89 [[ 9.75000830e-01 2.21141298e-01 2.16773751e-02 1.64731469e+02] [-2.21093032e-01 9.75241738e-01 -4.62850955e-03 3.38312826e+01] [-2.21642356e-02 -2.79915935e-04 9.99754304e-01 -8.90641560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06592 meters Centerline goodness [0,1] 0.9990047275441652 Centerline is valid? [True, True] Translation: X:164.76, Y:33.83, Z:-0.89 [[ 9.74424445e-01 2.23763756e-01 2.06587361e-02 1.64763671e+02] [-2.23720282e-01 9.74643362e-01 -4.42175492e-03 3.38263251e+01] [-2.11243285e-02 -3.13112193e-04 9.99776807e-01 -8.91060680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09592 meters Centerline goodness [0,1] 0.999601891017666 Centerline is valid? [True, True] Translation: X:164.80, Y:33.82, Z:-0.89 [[ 9.74189792e-01 2.24667725e-01 2.18783617e-02 1.64795817e+02] [-2.24618956e-01 9.74435373e-01 -4.69341802e-03 3.38224528e+01] [-2.23735091e-02 -3.42014836e-04 9.99749623e-01 -8.92006468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12592 meters Centerline goodness [0,1] 0.9995521942481839 Centerline is valid? [True, True] Translation: X:164.83, Y:33.82, Z:-0.89 [[ 9.73942806e-01 2.25794429e-01 2.12670260e-02 1.64829415e+02] [-2.25748363e-01 9.74174910e-01 -4.57389778e-03 3.38222082e+01] [-2.17505638e-02 -3.46281477e-04 9.99763369e-01 -8.91271452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15592 meters Centerline goodness [0,1] 0.9993529441043253 Centerline is valid? [True, True] Translation: X:164.86, Y:33.82, Z:-0.89 [[ 9.73840672e-01 2.26129313e-01 2.23579933e-02 1.64861056e+02] [-2.26078408e-01 9.74097222e-01 -4.81200373e-03 3.38178016e+01] [-2.28669943e-02 -3.68534584e-04 9.99738448e-01 -8.91450779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18592 meters Centerline goodness [0,1] 0.9992504871833309 Centerline is valid? [True, True] Translation: X:164.89, Y:33.81, Z:-0.89 [[ 9.73902562e-01 2.25782445e-01 2.31535750e-02 1.64893608e+02] [-2.25727679e-01 9.74177679e-01 -4.98645633e-03 3.38146533e+01] [-2.36815503e-02 -3.70080144e-04 9.99719484e-01 -8.91883454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21592 meters Centerline goodness [0,1] 0.9992534342026678 Centerline is valid? [True, True] Translation: X:164.93, Y:33.81, Z:-0.89 [[ 9.74021791e-01 2.25251026e-01 2.33136407e-02 1.64926242e+02] [-2.25195048e-01 9.74300700e-01 -5.03349980e-03 3.38105105e+01] [-2.38482975e-02 -3.47377951e-04 9.99715529e-01 -8.92064778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24592 meters Centerline goodness [0,1] 0.9993538446244843 Centerline is valid? [True, True] Translation: X:164.96, Y:33.81, Z:-0.89 [[ 9.74245518e-01 2.24193921e-01 2.41403567e-02 1.64958770e+02] [-2.24133445e-01 9.74544498e-01 -5.21733684e-03 3.38065076e+01] [-2.46955470e-02 -3.27694279e-04 9.99694965e-01 -8.92996809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27592 meters Centerline goodness [0,1] 0.9994528452049344 Centerline is valid? [True, True] Translation: X:164.99, Y:33.80, Z:-0.89 [[ 9.75120657e-01 2.20225432e-01 2.53073895e-02 1.64991626e+02] [-2.20157537e-01 9.75448976e-01 -5.47312113e-03 3.38040044e+01] [-2.58913876e-02 -2.34659073e-04 9.99664734e-01 -8.93726218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30592000000001 meters Centerline goodness [0,1] 0.9995502473639498 Centerline is valid? [True, True] Translation: X:165.02, Y:33.80, Z:-0.89 [[ 9.76166689e-01 2.15580500e-01 2.49728382e-02 1.65023975e+02] [-2.15512567e-01 9.76486067e-01 -5.41251120e-03 3.37997302e+01] [-2.55524604e-02 -9.84473198e-05 9.99673478e-01 -8.94225459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33592000000002 meters Centerline goodness [0,1] 0.9994526001492908 Centerline is valid? [True, True] Translation: X:165.06, Y:33.79, Z:-0.89 [[ 9.76600189e-01 2.13577941e-01 2.52296310e-02 1.65056854e+02] [-2.13507794e-01 9.76926027e-01 -5.47361906e-03 3.37941256e+01] [-2.58165275e-02 -4.11854433e-05 9.99666697e-01 -8.94719133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36592000000002 meters Centerline goodness [0,1] 0.9994034302759135 Centerline is valid? [True, True] Translation: X:165.09, Y:33.79, Z:-0.89 [[ 9.77039358e-01 2.11806631e-01 2.30660593e-02 1.65088125e+02] [-2.11747431e-01 9.77311594e-01 -5.00743842e-03 3.37882079e+01] [-2.36033359e-02 8.28560577e-06 9.99721402e-01 -8.93221537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39592000000002 meters Centerline goodness [0,1] 0.9993524929023261 Centerline is valid? [True, True] Translation: X:165.12, Y:33.78, Z:-0.89 [[ 9.77660190e-01 2.08991868e-01 2.24265792e-02 1.65120449e+02] [-2.08935095e-01 9.77917375e-01 -4.87167427e-03 3.37848481e+01] [-2.29494817e-02 7.71425557e-05 9.99736623e-01 -8.93020404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42592000000002 meters Centerline goodness [0,1] 0.9994022415940225 Centerline is valid? [True, True] Translation: X:165.15, Y:33.78, Z:-0.89 [[ 9.77936197e-01 2.07618092e-01 2.31413464e-02 1.65152290e+02] [-2.07557182e-01 9.78209954e-01 -5.03009254e-03 3.37806233e+01] [-2.36814336e-02 1.15956931e-04 9.99719549e-01 -8.93475226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45592000000002 meters Centerline goodness [0,1] 0.9993528474711271 Centerline is valid? [True, True] Translation: X:165.18, Y:33.77, Z:-0.89 [[ 9.77773315e-01 2.08194968e-01 2.47830738e-02 1.65184099e+02] [-2.08125206e-01 9.78087339e-01 -5.39034937e-03 3.37738192e+01] [-2.53622543e-02 1.12557424e-04 9.99678320e-01 -8.93924902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48592 meters Centerline goodness [0,1] 0.9995522388059701 Centerline is valid? [True, True] Translation: X:165.22, Y:33.77, Z:-0.89 [[ 9.77906732e-01 2.07740815e-01 2.32846866e-02 1.65215290e+02] [-2.07679031e-01 9.78183898e-01 -5.06761647e-03 3.37674843e+01] [-2.38294563e-02 1.19915105e-04 9.99716031e-01 -8.94673336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51592 meters Centerline goodness [0,1] 0.9996517239663665 Centerline is valid? [True, True] Translation: X:165.25, Y:33.76, Z:-0.90 [[ 9.78029620e-01 2.07315971e-01 2.18666643e-02 1.65247111e+02] [-2.07261312e-01 9.78274027e-01 -4.76196152e-03 3.37626603e+01] [-2.23788205e-02 1.25225880e-04 9.99749555e-01 -8.95139531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54592 meters Centerline goodness [0,1] 0.9996018513910317 Centerline is valid? [True, True] Translation: X:165.28, Y:33.76, Z:-0.90 [[ 9.78184026e-01 2.06516233e-01 2.25179252e-02 1.65278564e+02] [-2.06457986e-01 9.78443163e-01 -4.90684403e-03 3.37574768e+01] [-2.30458529e-02 1.50790953e-04 9.99734398e-01 -8.95442578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57592 meters Centerline goodness [0,1] 0.9996025042233926 Centerline is valid? [True, True] Translation: X:165.31, Y:33.75, Z:-0.89 [[ 9.78487731e-01 2.04995182e-01 2.32106861e-02 1.65310228e+02] [-2.04932793e-01 9.78762963e-01 -5.06093506e-03 3.37527950e+01] [-2.37552272e-02 1.95432127e-04 9.99717786e-01 -8.94175718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60592 meters Centerline goodness [0,1] 0.9996021286119262 Centerline is valid? [True, True] Translation: X:165.34, Y:33.75, Z:-0.89 [[ 9.78721250e-01 2.03921047e-01 2.28237233e-02 1.65342983e+02] [-2.03860323e-01 9.78987312e-01 -4.98110905e-03 3.37457783e+01] [-2.33598885e-02 2.22265669e-04 9.99727096e-01 -8.94822674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63592 meters Centerline goodness [0,1] 0.9997011654547265 Centerline is valid? [True, True] Translation: X:165.37, Y:33.74, Z:-0.89 [[ 9.78887398e-01 2.03065864e-01 2.33177354e-02 1.65374213e+02] [-2.03002164e-01 9.79165048e-01 -5.09211968e-03 3.37397423e+01] [-2.38659472e-02 2.51061042e-04 9.99715136e-01 -8.94166754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.41, Y:33.73, Z:-0.89 [[ 9.79133650e-01 2.01865578e-01 2.34004938e-02 1.65405717e+02] [-2.01801007e-01 9.79413195e-01 -5.11333750e-03 3.37344944e+01] [-2.39509592e-02 2.84397614e-04 9.99713094e-01 -8.94382003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69592 meters Centerline goodness [0,1] 0.9999005173099881 Centerline is valid? [True, True] Translation: X:165.44, Y:33.73, Z:-0.89 [[ 9.79208760e-01 2.01402982e-01 2.42289651e-02 1.65437067e+02] [-2.01333534e-01 9.79508419e-01 -5.29762428e-03 3.37280190e+01] [-2.47994326e-02 3.09376931e-04 9.99692399e-01 -8.94843500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.47, Y:33.72, Z:-0.90 [[ 9.79292738e-01 2.00691576e-01 2.66200118e-02 1.65468461e+02] [-2.00607382e-01 9.79654408e-01 -5.82396875e-03 3.37202014e+01] [-2.72472333e-02 3.63199430e-04 9.99628659e-01 -8.96520515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75592 meters Centerline goodness [0,1] 0.9999501843180233 Centerline is valid? [True, True] Translation: X:165.50, Y:33.71, Z:-0.90 [[ 9.79143154e-01 2.01536057e-01 2.57274334e-02 1.65500344e+02] [-2.01457596e-01 9.79481040e-01 -5.63291944e-03 3.37130345e+01] [-2.63347696e-02 3.32447605e-04 9.99653125e-01 -8.95064492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.53, Y:33.71, Z:-0.89 [[ 9.78465483e-01 2.04890498e-01 2.50036488e-02 1.65531916e+02] [-2.04817397e-01 9.78784873e-01 -5.47784576e-03 3.37068149e+01] [-2.55955517e-02 2.38700729e-04 9.99672352e-01 -8.94164056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.56, Y:33.70, Z:-0.89 [[ 9.77956166e-01 2.07359007e-01 2.45759868e-02 1.65563520e+02] [-2.07289082e-01 9.78264899e-01 -5.38746984e-03 3.36998894e+01] [-2.51589656e-02 1.74375601e-04 9.99683448e-01 -8.93418597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84592 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:165.59, Y:33.69, Z:-0.89 [[ 9.77364463e-01 2.10139901e-01 2.44934423e-02 1.65594600e+02] [-2.10071234e-01 9.77671320e-01 -5.37269825e-03 3.36934923e+01] [-2.50755544e-02 1.05716684e-04 9.99685553e-01 -8.92681665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87592 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:165.63, Y:33.69, Z:-0.89 [[ 9.77143556e-01 2.10895922e-01 2.67092100e-02 1.65626321e+02] [-2.10814449e-01 9.77508517e-01 -5.86238572e-03 3.36869739e+01] [-2.73448334e-02 9.77050519e-05 9.99626055e-01 -8.93572650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90592 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:165.66, Y:33.68, Z:-0.89 [[ 9.77011313e-01 2.11640319e-01 2.56372771e-02 1.65658123e+02] [-2.11565398e-01 9.77347619e-01 -5.63143258e-03 3.36794402e+01] [-2.62483699e-02 7.80125981e-05 9.99655449e-01 -8.93100573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93592 meters Centerline goodness [0,1] 0.9999502363772083 Centerline is valid? [True, True] Translation: X:165.69, Y:33.67, Z:-0.89 [[ 9.77441917e-01 2.09680045e-01 2.53293750e-02 1.65690975e+02] [-2.09606121e-01 9.77770045e-01 -5.56895832e-03 3.36734357e+01] [-2.59340035e-02 1.34141265e-04 9.99663648e-01 -8.94002199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.72, Y:33.67, Z:-0.89 [[ 9.77962869e-01 2.07438165e-01 2.36227389e-02 1.65723271e+02] [-2.07373136e-01 9.78248115e-01 -5.19696555e-03 3.36687979e+01] [-2.41869488e-02 1.83717894e-04 9.99707436e-01 -8.94404597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99592 meters Centerline goodness [0,1] 0.9999005123613391 Centerline is valid? [True, True] Translation: X:165.76, Y:33.66, Z:-0.89 [[ 9.77951540e-01 2.07514024e-01 2.34246760e-02 1.65755133e+02] [-2.07449991e-01 9.78232025e-01 -5.15807552e-03 3.36618703e+01] [-2.39851413e-02 1.84899075e-04 9.99712298e-01 -8.94206740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02592 meters Centerline goodness [0,1] 0.9998010049251281 Centerline is valid? [True, True] Translation: X:165.79, Y:33.65, Z:-0.89 [[ 9.77794822e-01 2.08236565e-01 2.35546187e-02 1.65787372e+02] [-2.08171913e-01 9.78078475e-01 -5.19146122e-03 3.36539903e+01] [-2.41193175e-02 1.72773857e-04 9.99709072e-01 -8.93378034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.82, Y:33.64, Z:-0.89 [[ 9.77632787e-01 2.08973364e-01 2.37542944e-02 1.65818800e+02] [-2.08907710e-01 9.77921320e-01 -5.24032658e-03 3.36449174e+01] [-2.43249196e-02 1.60659829e-04 9.99704092e-01 -8.94610714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.85, Y:33.64, Z:-0.89 [[ 9.77471969e-01 2.09853279e-01 2.25865186e-02 1.65850556e+02] [-2.09794069e-01 9.77732879e-01 -4.98655833e-03 3.36372215e+01] [-2.31300275e-02 1.35703352e-04 9.99732456e-01 -8.94013908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11592000000002 meters Centerline goodness [0,1] 0.9999501793543244 Centerline is valid? [True, True] Translation: X:165.88, Y:33.63, Z:-0.89 [[ 9.77484205e-01 2.09656607e-01 2.38482036e-02 1.65881628e+02] [-2.09590458e-01 9.77775068e-01 -5.26838336e-03 3.36299792e+01] [-2.44227303e-02 1.51405602e-04 9.99701709e-01 -8.94509933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.91, Y:33.62, Z:-0.90 [[ 9.77300485e-01 2.10549500e-01 2.35089261e-02 1.65913080e+02] [-2.10485401e-01 9.77583189e-01 -5.19663396e-03 3.36222471e+01] [-2.40760796e-02 1.30387154e-04 9.99710121e-01 -8.95029741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.94, Y:33.62, Z:-0.90 [[ 9.77259467e-01 2.10739916e-01 2.35079255e-02 1.65944853e+02] [-2.10675763e-01 9.77542158e-01 -5.20115841e-03 3.36152848e+01] [-2.40760799e-02 1.30331147e-04 9.99710121e-01 -8.95057821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.98, Y:33.61, Z:-0.89 [[ 9.77049022e-01 2.11743607e-01 2.32347545e-02 1.65975586e+02] [-2.11681144e-01 9.77325244e-01 -5.14391671e-03 3.36074329e+01] [-2.37971036e-02 1.07499359e-04 9.99716803e-01 -8.94805152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.01, Y:33.60, Z:-0.89 [[ 9.77200810e-01 2.11095364e-01 2.27447498e-02 1.66007339e+02] [-2.11035225e-01 9.77465463e-01 -5.04003768e-03 3.35986987e+01] [-2.32961359e-02 1.25185515e-04 9.99728600e-01 -8.94231241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.04, Y:33.59, Z:-0.89 [[ 9.77224669e-01 2.10975273e-01 2.28337334e-02 1.66039171e+02] [-2.10914521e-01 9.77491389e-01 -5.06443444e-03 3.35917834e+01] [-2.33882483e-02 1.33124319e-04 9.99726449e-01 -8.93473879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.07, Y:33.58, Z:-0.89 [[ 9.76950993e-01 2.12123368e-01 2.38837482e-02 1.66070937e+02] [-2.12057160e-01 9.77242889e-01 -5.30066150e-03 3.35844071e+01] [-2.44646172e-02 1.13766716e-04 9.99700690e-01 -8.93237279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.10, Y:33.58, Z:-0.89 [[ 9.76916476e-01 2.12148623e-01 2.50431900e-02 1.66102546e+02] [-2.12075752e-01 9.77237405e-01 -5.56136933e-03 3.35772850e+01] [-2.56529789e-02 1.21939970e-04 9.99670901e-01 -8.93863490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.13, Y:33.57, Z:-0.89 [[ 9.76677652e-01 2.13200834e-01 2.54198609e-02 1.66134189e+02] [-2.13125976e-01 9.77008390e-01 -5.65016856e-03 3.35697093e+01] [-2.60400380e-02 1.00760710e-04 9.99660896e-01 -8.94250150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.17, Y:33.56, Z:-0.89 [[ 9.76475727e-01 2.14240762e-01 2.44141409e-02 1.66165828e+02] [-2.14171951e-01 9.76780882e-01 -5.42999513e-03 3.35626748e+01] [-2.50105924e-02 7.34342431e-05 9.99687184e-01 -8.93152618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.20, Y:33.56, Z:-0.89 [[ 9.76468628e-01 2.14160740e-01 2.53810143e-02 1.66197660e+02] [-2.14086253e-01 9.76798429e-01 -5.64852168e-03 3.35569414e+01] [-2.60018264e-02 8.18779827e-05 9.99661892e-01 -8.93021656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.23, Y:33.55, Z:-0.89 [[ 9.76559451e-01 2.13928052e-01 2.37997165e-02 1.66229002e+02] [-2.13862410e-01 9.76849416e-01 -5.29984405e-03 3.35513473e+01] [-2.43825245e-02 8.57480704e-05 9.99702698e-01 -8.92756516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.26, Y:33.54, Z:-0.89 [[ 9.76479398e-01 2.14091520e-01 2.55500887e-02 1.66259933e+02] [-2.14015830e-01 9.76813602e-01 -5.69314984e-03 3.35440868e+01] [-2.61765292e-02 9.11201029e-05 9.99657332e-01 -8.93777741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.29, Y:33.54, Z:-0.89 [[ 9.76614445e-01 2.13596456e-01 2.45107949e-02 1.66291264e+02] [-2.13526559e-01 9.76921974e-01 -5.46492634e-03 3.35369792e+01] [-2.51124231e-02 1.03420318e-04 9.99684628e-01 -8.93029337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.32, Y:33.53, Z:-0.89 [[ 9.76631814e-01 2.13373177e-01 2.57329876e-02 1.66323311e+02] [-2.13295965e-01 9.76970764e-01 -5.74091470e-03 3.35332529e+01] [-2.63653337e-02 1.18017529e-04 9.99652367e-01 -8.92385141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:166.36, Y:33.53, Z:-0.89 [[ 9.76572390e-01 2.13947701e-01 2.30813340e-02 1.66355192e+02] [-2.13885670e-01 9.76845112e-01 -5.15245853e-03 3.35281005e+01] [-2.36492449e-02 9.49821600e-05 9.99720313e-01 -8.92693626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.39, Y:33.52, Z:-0.89 [[ 9.76445748e-01 2.14440272e-01 2.38552055e-02 1.66386246e+02] [-2.14374079e-01 9.76737100e-01 -5.32844233e-03 3.35213944e+01] [-2.44428968e-02 8.89971447e-05 9.99701224e-01 -8.92237156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.42, Y:33.51, Z:-0.89 [[ 9.76240022e-01 2.15464191e-01 2.30348037e-02 1.66417834e+02] [-2.15402684e-01 9.76511740e-01 -5.14834254e-03 3.35149023e+01] [-2.36030397e-02 6.42594834e-05 9.99721407e-01 -8.92854506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.45, Y:33.51, Z:-0.89 [[ 9.75845258e-01 2.17229011e-01 2.31859704e-02 1.66450825e+02] [-2.17167079e-01 9.76120667e-01 -5.18687209e-03 3.35095970e+01] [-2.37590440e-02 2.63550585e-05 9.99717714e-01 -8.91217607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.48, Y:33.50, Z:-0.89 [[ 9.75764827e-01 2.17588389e-01 2.32012052e-02 1.66483737e+02] [-2.17526363e-01 9.76040620e-01 -5.19507750e-03 3.35037685e+01] [-2.37757073e-02 2.23001048e-05 9.99717318e-01 -8.91351698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.52, Y:33.50, Z:-0.89 [[ 9.76070223e-01 2.16257376e-01 2.27961924e-02 1.66516326e+02] [-2.16197025e-01 9.76336389e-01 -5.10907724e-03 3.34996412e+01] [-2.33616278e-02 5.83491893e-05 9.99727078e-01 -8.90084859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.55, Y:33.49, Z:-0.89 [[ 9.76183994e-01 2.15614401e-01 2.39841556e-02 1.66548294e+02] [-2.15547318e-01 9.76478583e-01 -5.37867737e-03 3.34929993e+01] [-2.45797346e-02 8.08583514e-05 9.99697869e-01 -8.91353648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.58, Y:33.49, Z:-0.89 [[ 9.76542794e-01 2.14134753e-01 2.25937984e-02 1.66579894e+02] [-2.14074757e-01 9.76804123e-01 -5.06992923e-03 3.34874835e+01] [-2.31553635e-02 1.14240957e-04 9.99731872e-01 -8.91671737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.61, Y:33.48, Z:-0.89 [[ 9.76670164e-01 2.13574992e-01 2.23855724e-02 1.66612316e+02] [-2.13515845e-01 9.76926663e-01 -5.02775826e-03 3.34811306e+01] [-2.29428660e-02 1.30787067e-04 9.99736769e-01 -8.91138753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.64, Y:33.48, Z:-0.89 [[ 9.77085382e-01 2.11771599e-01 2.13762763e-02 1.66643919e+02] [-2.11717170e-01 9.77319171e-01 -4.80400880e-03 3.34750790e+01] [-2.19087973e-02 1.68202052e-04 9.99759959e-01 -8.91229907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.68, Y:33.47, Z:-0.89 [[ 9.77411117e-01 2.10108542e-01 2.28453130e-02 1.66675845e+02] [-2.10045847e-01 9.77678041e-01 -5.13722470e-03 3.34684369e+01] [-2.34147357e-02 2.22617398e-04 9.99725813e-01 -8.89754134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.71, Y:33.46, Z:-0.89 [[ 9.77166458e-01 2.11336909e-01 2.19641667e-02 1.66706881e+02] [-2.11279202e-01 9.77413257e-01 -4.94202645e-03 3.34618748e+01] [-2.25125004e-02 1.88610859e-04 9.99746544e-01 -8.87799874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.74, Y:33.45, Z:-0.89 [[ 9.76847881e-01 2.12863569e-01 2.13850189e-02 1.66738206e+02] [-2.12809167e-01 9.77081920e-01 -4.81458900e-03 3.34540648e+01] [-2.19197659e-02 1.52192994e-04 9.99759721e-01 -8.88840847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.77, Y:33.45, Z:-0.89 [[ 9.76571434e-01 2.14209719e-01 2.05531180e-02 1.66769159e+02] [-2.14159708e-01 9.76787685e-01 -4.63007647e-03 3.34462599e+01] [-2.10678399e-02 1.19950678e-04 9.99778041e-01 -8.89396732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.80, Y:33.44, Z:-0.89 [[ 9.76102128e-01 2.16315183e-01 2.07936944e-02 1.66801321e+02] [-2.16264382e-01 9.76323581e-01 -4.68846813e-03 3.34369959e+01] [-2.13155610e-02 7.94882469e-05 9.99772794e-01 -8.91427636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.83, Y:33.43, Z:-0.89 [[ 9.75980213e-01 2.16793509e-01 2.15220547e-02 1.66832365e+02] [-2.16739137e-01 9.76217480e-01 -4.85569570e-03 3.34295374e+01] [-2.20628893e-02 7.43913656e-05 9.99756582e-01 -8.90791972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.86, Y:33.42, Z:-0.89 [[ 9.75948437e-01 2.16757663e-01 2.32543322e-02 1.66863679e+02] [-2.16694098e-01 9.76225439e-01 -5.24971056e-03 3.34234112e+01] [-2.38393856e-02 8.43702758e-05 9.99715798e-01 -8.89882814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.90, Y:33.42, Z:-0.89 [[ 9.75743349e-01 2.17780387e-01 2.22849939e-02 1.66895046e+02] [-2.17722209e-01 9.75997797e-01 -5.03390278e-03 3.34173803e+01] [-2.28463902e-02 5.98590683e-05 9.99738985e-01 -8.89176641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.93, Y:33.41, Z:-0.89 [[ 9.75212342e-01 2.20168437e-01 2.20623638e-02 1.66927697e+02] [-2.20111958e-01 9.75461870e-01 -4.98663160e-03 3.34137428e+01] [-2.26188936e-02 6.83456805e-06 9.99744160e-01 -8.89412410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.96, Y:33.41, Z:-0.89 [[ 9.75058365e-01 2.20988587e-01 2.06210687e-02 1.66959598e+02] [-2.20939371e-01 9.75276394e-01 -4.66368198e-03 3.34090824e+01] [-2.11418620e-02 -8.64383497e-06 9.99776486e-01 -8.89982048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.99, Y:33.40, Z:-0.89 [[ 9.74700353e-01 2.22444955e-01 2.18509602e-02 1.66990926e+02] [-2.22389991e-01 9.74945250e-01 -4.94483693e-03 3.34032925e+01] [-2.24034439e-02 -3.97005565e-05 9.99749011e-01 -8.90479906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.02, Y:33.40, Z:-0.89 [[ 9.74010072e-01 2.25266746e-01 2.36489396e-02 1.67023121e+02] [-2.25203115e-01 9.74297122e-01 -5.35498544e-03 3.33993613e+01] [-2.42473939e-02 -1.10005115e-04 9.99705983e-01 -8.90252829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.06, Y:33.40, Z:-0.89 [[ 9.73799932e-01 2.26242394e-01 2.29798138e-02 1.67056142e+02] [-2.26182493e-01 9.74071026e-01 -5.20736403e-03 3.33971965e+01] [-2.35620973e-02 -1.26700832e-04 9.99722367e-01 -8.89674994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.09, Y:33.39, Z:-0.89 [[ 9.73850643e-01 2.25964538e-01 2.35574122e-02 1.67088095e+02] [-2.25901428e-01 9.74135521e-01 -5.34150761e-03 3.33928789e+01] [-2.41551033e-02 -1.19822442e-04 9.99708216e-01 -8.89653896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.12, Y:33.39, Z:-0.89 [[ 9.74268059e-01 2.24294067e-01 2.22243297e-02 1.67120357e+02] [-2.24237393e-01 9.74521506e-01 -5.04231326e-03 3.33877965e+01] [-2.27890482e-02 -7.09610038e-05 9.99740293e-01 -8.90145209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.15, Y:33.38, Z:-0.89 [[ 9.75119670e-01 2.20538807e-01 2.24558203e-02 1.67152089e+02] [-2.20479878e-01 9.75378201e-01 -5.09794295e-03 3.33843837e+01] [-2.30272119e-02 2.00479157e-05 9.99734838e-01 -8.91682727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:167.18, Y:33.38, Z:-0.89 [[ 9.75585378e-01 2.18464935e-01 2.24998429e-02 1.67184271e+02] [-2.18405153e-01 9.75844797e-01 -5.11098358e-03 3.33790827e+01] [-2.30729253e-02 7.21192238e-05 9.99733782e-01 -8.90243554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.22, Y:33.38, Z:-0.89 [[ 9.76769483e-01 2.12978976e-01 2.36924511e-02 1.67216384e+02] [-2.12910994e-01 9.77056759e-01 -5.38508611e-03 3.33751939e+01] [-2.42957796e-02 2.15604463e-04 9.99704791e-01 -8.89705534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.25, Y:33.37, Z:-0.89 [[ 9.77259611e-01 2.10830145e-01 2.26782418e-02 1.67248261e+02] [-2.10767210e-01 9.77522676e-01 -5.15758999e-03 3.33688444e+01] [-2.32558711e-02 2.60474627e-04 9.99729512e-01 -8.89634286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.28, Y:33.36, Z:-0.89 [[ 9.77836920e-01 2.07965595e-01 2.41923304e-02 1.67279710e+02] [-2.07893019e-01 9.78136077e-01 -5.50514714e-03 3.33618311e+01] [-2.48082724e-02 3.53719523e-04 9.99692165e-01 -8.90944282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.31, Y:33.36, Z:-0.89 [[ 9.78274878e-01 2.05605864e-01 2.65422774e-02 1.67311245e+02] [-2.05517537e-01 9.78634773e-01 -6.04338768e-03 3.33551949e+01] [-2.72177516e-02 4.57190879e-04 9.99629424e-01 -8.92643575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.34, Y:33.35, Z:-0.89 [[ 9.78881637e-01 2.02492561e-01 2.80625076e-02 1.67342574e+02] [-2.02392438e-01 9.79283630e-01 -6.39320336e-03 3.33469823e+01] [-2.87757304e-02 5.78550049e-04 9.99585726e-01 -8.92260266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.37, Y:33.34, Z:-0.89 [[ 9.79127096e-01 2.01306800e-01 2.80303749e-02 1.67373175e+02] [-2.01206316e-01 9.79528046e-01 -6.38952789e-03 3.33383180e+01] [-2.87427938e-02 6.16271418e-04 9.99586651e-01 -8.93044161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.40, Y:33.33, Z:-0.89 [[ 9.79830526e-01 1.98066860e-01 2.64888374e-02 1.67403188e+02] [-1.97975850e-01 9.80188279e-01 -6.04154899e-03 3.33265600e+01] [-2.71606786e-02 6.75544033e-04 9.99630852e-01 -8.92892913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.43, Y:33.32, Z:-0.89 [[ 9.80118507e-01 1.96652382e-01 2.63733226e-02 1.67433815e+02] [-1.96561560e-01 9.80473013e-01 -6.01861034e-03 3.33181291e+01] [-2.70419052e-02 7.14969934e-04 9.99634045e-01 -8.92433934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.46, Y:33.31, Z:-0.89 [[ 9.80307392e-01 1.95702065e-01 2.64219260e-02 1.67464963e+02] [-1.95610470e-01 9.80663115e-01 -6.03310403e-03 3.33093032e+01] [-2.70916991e-02 7.45891112e-04 9.99632674e-01 -8.91536967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64592000000002 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:167.50, Y:33.30, Z:-0.89 [[ 9.80233683e-01 1.95848385e-01 2.80238614e-02 1.67495626e+02] [-1.95745300e-01 9.80633869e-01 -6.40251531e-03 3.33003228e+01] [-2.87350699e-02 7.90422013e-04 9.99586750e-01 -8.91901924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.53, Y:33.29, Z:-0.89 [[ 9.79964511e-01 1.97209356e-01 2.78931328e-02 1.67526253e+02] [-1.97107680e-01 9.80361110e-01 -6.37620466e-03 3.32903738e+01] [-2.86027898e-02 7.50503598e-04 9.99590575e-01 -8.91725893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70592000000002 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:167.56, Y:33.28, Z:-0.89 [[ 9.79278656e-01 2.00690292e-01 2.71425931e-02 1.67556419e+02] [-2.00595253e-01 9.79654533e-01 -6.20812102e-03 3.32774782e+01] [-2.78362740e-02 6.34805076e-04 9.99612294e-01 -8.93025291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.59, Y:33.27, Z:-0.89 [[ 9.78662693e-01 2.03334677e-01 2.95692852e-02 1.67587181e+02] [-2.03222968e-01 9.79109102e-01 -6.76702880e-03 3.32680275e+01] [-3.03275279e-02 6.13480741e-04 9.99539826e-01 -8.94471121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.62, Y:33.26, Z:-0.89 [[ 9.77537815e-01 2.08996651e-01 2.72069720e-02 1.67617439e+02] [-2.08904171e-01 9.77916272e-01 -6.22996183e-03 3.32574538e+01] [-2.79081818e-02 4.06373327e-04 9.99610408e-01 -8.92331672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.65, Y:33.25, Z:-0.89 [[ 9.77171974e-01 2.10838641e-01 2.61151521e-02 1.67648748e+02] [-2.10754001e-01 9.77520818e-01 -5.98342243e-03 3.32488171e+01] [-2.67896415e-02 3.42959912e-04 9.99641034e-01 -8.92102404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.68, Y:33.24, Z:-0.89 [[ 9.76679817e-01 2.13207700e-01 2.52786661e-02 1.67680240e+02] [-2.13129080e-01 9.77006859e-01 -5.79597047e-03 3.32397729e+01] [-2.59331757e-02 2.73188535e-04 9.99663641e-01 -8.91578539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85592 meters Centerline goodness [0,1] 0.9999004727544165 Centerline is valid? [True, True] Translation: X:167.71, Y:33.23, Z:-0.89 [[ 9.76703545e-01 2.13147511e-01 2.48661267e-02 1.67711121e+02] [-2.13071332e-01 9.77019991e-01 -5.70473455e-03 3.32326646e+01] [-2.55106529e-02 2.73575720e-04 9.99674513e-01 -8.90999254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.74, Y:33.23, Z:-0.89 [[ 9.76805232e-01 2.12598119e-01 2.55651995e-02 1.67742987e+02] [-2.12517316e-01 9.77139678e-01 -5.86855437e-03 3.32260549e+01] [-2.62284144e-02 2.99387016e-04 9.99655931e-01 -8.92098868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91592 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:167.77, Y:33.22, Z:-0.89 [[ 9.76987833e-01 2.11711598e-01 2.59417340e-02 1.67774965e+02] [-2.11627993e-01 9.77332129e-01 -5.95845666e-03 3.32194560e+01] [-2.66151645e-02 3.31342567e-04 9.99645699e-01 -8.93077721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.81, Y:33.21, Z:-0.89 [[ 9.76761127e-01 2.12547974e-01 2.75872910e-02 1.67806090e+02] [-2.12453653e-01 9.77150576e-01 -6.34009705e-03 3.32124848e+01] [-2.83045121e-02 3.31739592e-04 9.99599292e-01 -8.94583582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.84, Y:33.21, Z:-0.89 [[ 9.77174513e-01 2.10705904e-01 2.70738529e-02 1.67838365e+02] [-2.10614255e-01 9.77549424e-01 -6.22570508e-03 3.32081202e+01] [-2.77778221e-02 3.81460984e-04 9.99614049e-01 -8.94336188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.87, Y:33.20, Z:-0.89 [[ 9.77242357e-01 2.10398942e-01 2.70122387e-02 1.67871115e+02] [-2.10307444e-01 9.77615533e-01 -6.21686487e-03 3.32019975e+01] [-2.77156059e-02 3.94508790e-04 9.99615771e-01 -8.94981314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.90, Y:33.19, Z:-0.89 [[ 9.77427506e-01 2.09499038e-01 2.73061126e-02 1.67901927e+02] [-2.09404866e-01 9.77808756e-01 -6.29594142e-03 3.31944480e+01] [-2.80191497e-02 4.35793466e-04 9.99607292e-01 -8.94370714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06592 meters Centerline goodness [0,1] 0.9999501942424545 Centerline is valid? [True, True] Translation: X:167.93, Y:33.19, Z:-0.89 [[ 9.77438462e-01 2.09507517e-01 2.68449887e-02 1.67933326e+02] [-2.09416398e-01 9.77806941e-01 -6.19340652e-03 3.31862745e+01] [-2.75467815e-02 4.31892901e-04 9.99620422e-01 -8.94442386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09592 meters Centerline goodness [0,1] 0.9999501942424545 Centerline is valid? [True, True] Translation: X:167.97, Y:33.18, Z:-0.89 [[ 9.77398765e-01 2.09692784e-01 2.68438272e-02 1.67965043e+02] [-2.09601597e-01 9.77767227e-01 -6.19843897e-03 3.31790173e+01] [-2.75467824e-02 4.31837560e-04 9.99620422e-01 -8.94470473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.00, Y:33.17, Z:-0.89 [[ 9.77660066e-01 2.08275129e-01 2.83243066e-02 1.67996072e+02] [-2.08172898e-01 9.78070150e-01 -6.54410542e-03 3.31719404e+01] [-2.90661332e-02 5.01557554e-04 9.99577365e-01 -8.94548816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.03, Y:33.17, Z:-0.90 [[ 9.78451037e-01 2.04803833e-01 2.62480009e-02 1.68027945e+02] [-2.04714458e-01 9.78802872e-01 -6.07687904e-03 3.31652160e+01] [-2.69361868e-02 5.72583316e-04 9.99636991e-01 -8.95452137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:168.06, Y:33.16, Z:-0.90 [[ 9.79094596e-01 2.01754955e-01 2.58594311e-02 1.68058487e+02] [-2.01667047e-01 9.79435815e-01 -5.99055503e-03 3.31552124e+01] [-2.65362771e-02 6.50324958e-04 9.99647639e-01 -8.96785040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21592 meters Centerline goodness [0,1] 0.9999502140794583 Centerline is valid? [True, True] Translation: X:168.09, Y:33.15, Z:-0.90 [[ 9.79087985e-01 2.01577254e-01 2.74468289e-02 1.68089357e+02] [-2.01478051e-01 9.79472369e-01 -6.36182670e-03 3.31459955e+01] [-2.81658101e-02 6.98854490e-04 9.99603021e-01 -8.95827389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24592 meters Centerline goodness [0,1] 0.9999005420458501 Centerline is valid? [True, True] Translation: X:168.12, Y:33.14, Z:-0.90 [[ 9.79086992e-01 2.01478367e-01 2.81980415e-02 1.68119977e+02] [-2.01373511e-01 9.79492697e-01 -6.53960323e-03 3.31372701e+01] [-2.89373643e-02 7.24501817e-04 9.99580964e-01 -8.95692777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.15, Y:33.13, Z:-0.89 [[ 9.78957107e-01 2.02247501e-01 2.71832912e-02 1.68150846e+02] [-2.02150256e-01 9.79334205e-01 -6.30778238e-03 3.31263121e+01] [-2.78972601e-02 6.79939116e-04 9.99610564e-01 -8.93785834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30592000000001 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:168.18, Y:33.12, Z:-0.89 [[ 9.78785371e-01 2.02992851e-01 2.78046642e-02 1.68182674e+02] [-2.02891256e-01 9.79179984e-01 -6.45732511e-03 3.31160176e+01] [-2.85365615e-02 6.79012125e-04 9.99592519e-01 -8.94345483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.21, Y:33.10, Z:-0.89 [[ 9.78296066e-01 2.05553404e-01 2.61649492e-02 1.68212720e+02] [-2.05464042e-01 9.78645728e-01 -6.08818856e-03 3.31035639e+01] [-2.68576637e-02 5.80094694e-04 9.99639100e-01 -8.94063322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.24, Y:33.09, Z:-0.90 [[ 9.78192882e-01 2.05941124e-01 2.69617896e-02 1.68244122e+02] [-2.05846275e-01 9.78564206e-01 -6.27745087e-03 3.30945200e+01] [-2.76766275e-02 5.90573805e-04 9.99616754e-01 -8.95405589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.27, Y:33.08, Z:-0.90 [[ 9.77212037e-01 2.10395588e-01 2.81128269e-02 1.68274807e+02] [-2.10293940e-01 9.77616208e-01 -6.55812206e-03 3.30825823e+01] [-2.88633551e-02 4.96718692e-04 9.99583243e-01 -8.96281640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42592000000002 meters Centerline goodness [0,1] 0.9999501942424545 Centerline is valid? [True, True] Translation: X:168.31, Y:33.07, Z:-0.89 [[ 9.76668455e-01 2.13064890e-01 2.68715695e-02 1.68305294e+02] [-2.12972690e-01 9.77037964e-01 -6.28092122e-03 3.30729654e+01] [-2.75927873e-02 4.11467200e-04 9.99619162e-01 -8.94935923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.34, Y:33.06, Z:-0.89 [[ 9.75872184e-01 2.16914293e-01 2.49333030e-02 1.68336082e+02] [-2.16836058e-01 9.76190611e-01 -5.83228291e-03 3.30634527e+01] [-2.56047618e-02 2.85123512e-04 9.99672104e-01 -8.92853540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:33.06, Z:-0.90 [[ 9.75175680e-01 2.20023960e-01 2.49369361e-02 1.68367285e+02] [-2.19946630e-01 9.75494446e-01 -5.83657682e-03 3.30557790e+01] [-2.56100294e-02 2.06892696e-04 9.99671988e-01 -8.95158557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.40, Y:33.05, Z:-0.90 [[ 9.73731656e-01 2.26368286e-01 2.45776404e-02 1.68398045e+02] [-2.26295029e-01 9.74041784e-01 -5.75873498e-03 3.30457482e+01] [-2.52432436e-02 4.56647204e-05 9.99681338e-01 -8.95812461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54592 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:168.43, Y:33.04, Z:-0.90 [[ 9.72956381e-01 2.29531897e-01 2.59034548e-02 1.68429040e+02] [-2.29451314e-01 9.73301139e-01 -6.08167286e-03 3.30378388e+01] [-2.66078000e-02 -2.63793347e-05 9.99645949e-01 -8.95363498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.46, Y:33.03, Z:-0.89 [[ 9.71647769e-01 2.34992790e-01 2.60576491e-02 1.68461598e+02] [-2.34912844e-01 9.71997100e-01 -6.13139621e-03 3.30342148e+01] [-2.67687932e-02 -1.63718994e-04 9.99641638e-01 -8.94261976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.49, Y:33.03, Z:-0.89 [[ 9.70957299e-01 2.37889980e-01 2.55006016e-02 1.68494782e+02] [-2.37814047e-01 9.71292081e-01 -6.01432220e-03 3.30303372e+01] [-2.61992794e-02 -2.24751226e-04 9.99656715e-01 -8.93673777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63592 meters Centerline goodness [0,1] 0.9998506794086904 Centerline is valid? [True, True] Translation: X:168.53, Y:33.03, Z:-0.89 [[ 9.70402478e-01 2.40365444e-01 2.33127670e-02 1.68526296e+02] [-2.40302612e-01 9.70682432e-01 -5.50186530e-03 3.30255287e+01] [-2.39517517e-02 -2.63095073e-04 9.99713081e-01 -8.94008476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66592 meters Centerline goodness [0,1] 0.9999004479840716 Centerline is valid? [True, True] Translation: X:168.56, Y:33.02, Z:-0.90 [[ 9.69335263e-01 2.44477507e-01 2.48977234e-02 1.68558395e+02] [-2.44407106e-01 9.69654887e-01 -5.87937426e-03 3.30220121e+01] [-2.55795739e-02 -3.86095720e-04 9.99672715e-01 -8.95249925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69592 meters Centerline goodness [0,1] 0.9997505114515244 Centerline is valid? [True, True] Translation: X:168.59, Y:33.02, Z:-0.90 [[ 9.68398704e-01 2.48065313e-01 2.58369930e-02 1.68591549e+02] [-2.47990679e-01 9.68743183e-01 -6.10475566e-03 3.30228053e+01] [-2.65437890e-02 -4.95495965e-04 9.99647529e-01 -8.95080641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72592 meters Centerline goodness [0,1] 0.9997502746978324 Centerline is valid? [True, True] Translation: X:168.62, Y:33.02, Z:-0.89 [[ 9.68502998e-01 2.47701096e-01 2.54186783e-02 1.68623601e+02] [-2.47628642e-01 9.68836386e-01 -6.00944823e-03 3.30202418e+01] [-2.61150874e-02 -4.74224166e-04 9.99658830e-01 -8.94932553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75592 meters Centerline goodness [0,1] 0.9998008563178333 Centerline is valid? [True, True] Translation: X:168.66, Y:33.02, Z:-0.89 [[ 9.68479277e-01 2.47739993e-01 2.59381079e-02 1.68655803e+02] [-2.47664466e-01 9.68826436e-01 -6.13582793e-03 3.30176968e+01] [-2.66496146e-02 -4.81525439e-04 9.99644720e-01 -8.94362942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78592 meters Centerline goodness [0,1] 0.9998007571229328 Centerline is valid? [True, True] Translation: X:168.69, Y:33.02, Z:-0.90 [[ 9.68775736e-01 2.46445914e-01 2.71658867e-02 1.68689635e+02] [-2.46362401e-01 9.69156436e-01 -6.43189479e-03 3.30182763e+01] [-2.79131081e-02 -4.61589448e-04 9.99610247e-01 -8.96185700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81592 meters Centerline goodness [0,1] 0.9998009554140127 Centerline is valid? [True, True] Translation: X:168.72, Y:33.02, Z:-0.90 [[ 9.69355593e-01 2.44395671e-01 2.49096388e-02 1.68722419e+02] [-2.44324668e-01 9.69675525e-01 -5.90199766e-03 3.30150707e+01] [-2.55966898e-02 -3.64904797e-04 9.99672284e-01 -8.95939682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84592 meters Centerline goodness [0,1] 0.9995025618066955 Centerline is valid? [True, True] Translation: X:168.76, Y:33.02, Z:-0.90 [[ 9.70543538e-01 2.39643535e-01 2.48237211e-02 1.68755593e+02] [-2.39571378e-01 9.70860917e-01 -5.88508201e-03 3.30167410e+01] [-2.55107025e-02 -2.35324744e-04 9.99674521e-01 -8.97300937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87592 meters Centerline goodness [0,1] 0.9996514291405239 Centerline is valid? [True, True] Translation: X:168.79, Y:33.01, Z:-0.90 [[ 9.71166552e-01 2.37258710e-01 2.33202329e-02 1.68787532e+02] [-2.37194265e-01 9.71446488e-01 -5.53185213e-03 3.30129597e+01] [-2.39668385e-02 -1.59075765e-04 9.99712741e-01 -8.97204460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90592 meters Centerline goodness [0,1] 0.9995027349577325 Centerline is valid? [True, True] Translation: X:168.82, Y:33.01, Z:-0.90 [[ 9.72207781e-01 2.32783709e-01 2.49754929e-02 1.68820829e+02] [-2.32708222e-01 9.72528530e-01 -5.92798446e-03 3.30132221e+01] [-2.56693176e-02 -4.87699468e-05 9.99670488e-01 -8.98552257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93592 meters Centerline goodness [0,1] 0.9997513056453619 Centerline is valid? [True, True] Translation: X:168.85, Y:33.01, Z:-0.90 [[ 9.72463908e-01 2.31592492e-01 2.60550614e-02 1.68853469e+02] [-2.31509814e-01 9.72812889e-01 -6.18777089e-03 3.30094134e+01] [-2.67797408e-02 -1.46185567e-05 9.99641358e-01 -8.99408977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96592 meters Centerline goodness [0,1] 0.999004132848678 Centerline is valid? [True, True] Translation: X:168.89, Y:33.01, Z:-0.90 [[ 9.73750976e-01 2.26238824e-01 2.50006379e-02 1.68886993e+02] [-2.26160851e-01 9.74071854e-01 -5.94070855e-03 3.30092814e+01] [-2.56964367e-02 1.30605196e-04 9.99669784e-01 -8.98377928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99592 meters Centerline goodness [0,1] 0.999403281949279 Centerline is valid? [True, True] Translation: X:168.92, Y:33.00, Z:-0.90 [[ 9.74316318e-01 2.23691661e-01 2.58795896e-02 1.68918585e+02] [-2.23607116e-01 9.74659939e-01 -6.15305449e-03 3.30037895e+01] [-2.66001862e-02 2.08160996e-04 9.99646131e-01 -8.99884577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02592 meters Centerline goodness [0,1] 0.9991535550687114 Centerline is valid? [True, True] Translation: X:168.95, Y:33.00, Z:-0.90 [[ 9.75016992e-01 2.20636805e-01 2.57150803e-02 1.68950528e+02] [-2.20552179e-01 9.75355994e-01 -6.11735119e-03 3.29985300e+01] [-2.64310705e-02 2.93004352e-04 9.99650595e-01 -8.98705655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05592000000001 meters Centerline goodness [0,1] 0.9993034825870647 Centerline is valid? [True, True] Translation: X:168.98, Y:33.00, Z:-0.90 [[ 9.76074222e-01 2.15878884e-01 2.59888558e-02 1.68983412e+02] [-2.15790667e-01 9.76420054e-01 -6.18590474e-03 3.29960021e+01] [-2.67114462e-02 4.29749640e-04 9.99643093e-01 -8.98958227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08592000000002 meters Centerline goodness [0,1] 0.9984584783689706 Centerline is valid? [True, True] Translation: X:169.01, Y:32.99, Z:-0.90 [[ 9.77527717e-01 2.09359003e-01 2.46651582e-02 1.69014442e+02] [-2.09277426e-01 9.77838674e-01 -5.87247743e-03 3.29909618e+01] [-2.53480016e-02 5.78648655e-04 9.99678520e-01 -8.98566177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11592000000002 meters Centerline goodness [0,1] 0.9980601840338225 Centerline is valid? [True, True] Translation: X:169.05, Y:32.98, Z:-0.90 [[ 9.78284137e-01 2.05884861e-01 2.39075390e-02 1.69045779e+02] [-2.05807108e-01 9.78576006e-01 -5.69510221e-03 3.29830576e+01] [-2.45678793e-02 6.51086690e-04 9.99697952e-01 -8.98108089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14592000000002 meters Centerline goodness [0,1] 0.9979113829628524 Centerline is valid? [True, True] Translation: X:169.08, Y:32.98, Z:-0.90 [[ 9.79091377e-01 2.02000299e-01 2.39990405e-02 1.69076670e+02] [-2.01920744e-01 9.79385170e-01 -5.71847632e-03 3.29758241e+01] [-2.46594383e-02 7.53006747e-04 9.99695626e-01 -8.98332294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17592000000002 meters Centerline goodness [0,1] 0.99746483074017 Centerline is valid? [True, True] Translation: X:169.11, Y:32.97, Z:-0.90 [[ 9.80147269e-01 1.96550113e-01 2.60649838e-02 1.69106913e+02] [-1.96454298e-01 9.80493302e-01 -6.21237503e-03 3.29675142e+01] [-2.67775851e-02 9.68464333e-04 9.99640947e-01 -8.98428849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20592000000002 meters Centerline goodness [0,1] 0.997659595657803 Centerline is valid? [True, True] Translation: X:169.14, Y:32.96, Z:-0.90 [[ 9.80451682e-01 1.95105204e-01 2.54648313e-02 1.69137297e+02] [-1.95013184e-01 9.80781823e-01 -6.07244672e-03 3.29578079e+01] [-2.61602096e-02 9.87762773e-04 9.99657275e-01 -8.98514236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23592 meters Centerline goodness [0,1] 0.9977104175999204 Centerline is valid? [True, True] Translation: X:169.17, Y:32.94, Z:-0.90 [[ 9.80554114e-01 1.94658900e-01 2.49307300e-02 1.69166623e+02] [-1.94570477e-01 9.80870506e-01 -5.94818550e-03 3.29434746e+01] [-2.56116850e-02 9.81733736e-04 9.99671485e-01 -8.98477539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26592 meters Centerline goodness [0,1] 0.9976108705390473 Centerline is valid? [True, True] Translation: X:169.20, Y:32.93, Z:-0.90 [[ 9.80343263e-01 1.95849557e-01 2.38754696e-02 1.69197108e+02] [-1.95768741e-01 9.80633528e-01 -5.69937597e-03 3.29320275e+01] [-2.45293062e-02 9.13274217e-04 9.99698694e-01 -8.97600316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29592 meters Centerline goodness [0,1] 0.9976063431905451 Centerline is valid? [True, True] Translation: X:169.23, Y:32.92, Z:-0.90 [[ 9.79865205e-01 1.98205748e-01 2.40553786e-02 1.69226522e+02] [-1.98124325e-01 9.80160055e-01 -5.74606949e-03 3.29160324e+01] [-2.47170253e-02 8.64417890e-04 9.99694114e-01 -8.97240291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32592 meters Centerline goodness [0,1] 0.9977576240781344 Centerline is valid? [True, True] Translation: X:169.26, Y:32.90, Z:-0.90 [[ 9.79638642e-01 1.99135651e-01 2.55562712e-02 1.69257151e+02] [-1.99043979e-01 9.79971524e-01 -6.10787510e-03 3.29039516e+01] [-2.62607138e-02 8.96688567e-04 9.99654726e-01 -8.99463601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35592 meters Centerline goodness [0,1] 0.9983043239738666 Centerline is valid? [True, True] Translation: X:169.29, Y:32.89, Z:-0.90 [[ 9.79032768e-01 2.01995707e-01 2.63167777e-02 1.69286035e+02] [-2.01899438e-01 9.79386040e-01 -6.29296212e-03 3.28871328e+01] [-2.70454361e-02 8.47673503e-04 9.99633846e-01 -8.98761567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38592 meters Centerline goodness [0,1] 0.9981554414477292 Centerline is valid? [True, True] Translation: X:169.32, Y:32.88, Z:-0.90 [[ 9.78720369e-01 2.03425732e-01 2.69148665e-02 1.69316160e+02] [-2.03325480e-01 9.79090028e-01 -6.43942887e-03 3.28763110e+01] [-2.76620230e-02 8.29922036e-04 9.99616989e-01 -8.98724698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41592 meters Centerline goodness [0,1] 0.9979560297123485 Centerline is valid? [True, True] Translation: X:169.34, Y:32.86, Z:-0.90 [[ 9.78330098e-01 2.05440601e-01 2.57755583e-02 1.69344976e+02] [-2.05349270e-01 9.78669304e-01 -6.17014352e-03 3.28599758e+01] [-2.64933457e-02 7.43445019e-04 9.99648713e-01 -8.98430718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44592 meters Centerline goodness [0,1] 0.9981084175419384 Centerline is valid? [True, True] Translation: X:169.37, Y:32.85, Z:-0.90 [[ 9.77929733e-01 2.07347634e-01 2.56981819e-02 1.69374896e+02] [-2.07257347e-01 9.78267077e-01 -6.15770679e-03 3.28475992e+01] [-2.64164713e-02 6.95667548e-04 9.99650782e-01 -8.97958582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47592 meters Centerline goodness [0,1] 0.9982561036372696 Centerline is valid? [True, True] Translation: X:169.40, Y:32.83, Z:-0.90 [[ 9.76835879e-01 2.12393877e-01 2.60865332e-02 1.69404629e+02] [-2.12302541e-01 9.77183972e-01 -6.25430391e-03 3.28341233e+01] [-2.68197180e-02 5.71191164e-04 9.99640123e-01 -8.98242649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50592 meters Centerline goodness [0,1] 0.9985078338721711 Centerline is valid? [True, True] Translation: X:169.44, Y:32.83, Z:-0.90 [[ 9.76302623e-01 2.14656898e-01 2.74882449e-02 1.69435940e+02] [-2.14556223e-01 9.76689369e-01 -6.59579728e-03 3.28250438e+01] [-2.82633100e-02 5.41720176e-04 9.99600366e-01 -8.99289195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53592 meters Centerline goodness [0,1] 0.9987064676616916 Centerline is valid? [True, True] Translation: X:169.47, Y:32.81, Z:-0.90 [[ 9.75602702e-01 2.17736957e-01 2.81066763e-02 1.69467123e+02] [-2.17632774e-01 9.76007375e-01 -6.75120338e-03 3.28149787e+01] [-2.89023099e-02 4.69558319e-04 9.99582131e-01 -8.99518207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56592 meters Centerline goodness [0,1] 0.9985053061631209 Centerline is valid? [True, True] Translation: X:169.50, Y:32.80, Z:-0.90 [[ 9.74594541e-01 2.22160817e-01 2.84614253e-02 1.69497611e+02] [-2.22055756e-01 9.75009975e-01 -6.84029899e-03 3.28037128e+01] [-2.92698199e-02 3.46494742e-04 9.99571487e-01 -8.97900474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59592 meters Centerline goodness [0,1] 0.998905145814671 Centerline is valid? [True, True] Translation: X:169.53, Y:32.80, Z:-0.90 [[ 9.73831216e-01 2.25431461e-01 2.88689910e-02 1.69528874e+02] [-2.25324410e-01 9.74258993e-01 -6.95154986e-03 3.27958011e+01] [-2.96929721e-02 2.64747901e-04 9.99559031e-01 -8.98669651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62592 meters Centerline goodness [0,1] 0.9985065710872163 Centerline is valid? [True, True] Translation: X:169.56, Y:32.79, Z:-0.90 [[ 9.72721071e-01 2.30315133e-01 2.77246848e-02 1.69560439e+02] [-2.30218008e-01 9.73116090e-01 -6.68916285e-03 3.27877577e+01] [-2.85199523e-02 1.23967942e-04 9.99593216e-01 -8.99126181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65592 meters Centerline goodness [0,1] 0.9987559713375797 Centerline is valid? [True, True] Translation: X:169.59, Y:32.78, Z:-0.90 [[ 9.72220230e-01 2.32451202e-01 2.74638349e-02 1.69591645e+02] [-2.32356633e-01 9.72608058e-01 -6.63029293e-03 3.27795054e+01] [-2.82527666e-02 6.47007228e-05 9.99600809e-01 -8.99564853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68592 meters Centerline goodness [0,1] 0.9985567831193392 Centerline is valid? [True, True] Translation: X:169.62, Y:32.77, Z:-0.90 [[ 9.71592353e-01 2.35219557e-01 2.60779418e-02 1.69622857e+02] [-2.35135193e-01 9.71942262e-01 -6.29929881e-03 3.27706984e+01] [-2.68279720e-02 -1.14913184e-05 9.99640065e-01 -8.99304762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71592 meters Centerline goodness [0,1] 0.9988552657774239 Centerline is valid? [True, True] Translation: X:169.65, Y:32.77, Z:-0.90 [[ 9.71435075e-01 2.35748379e-01 2.71403221e-02 1.69654320e+02] [-2.35657100e-01 9.71814129e-01 -6.55970615e-03 3.27652837e+01] [-2.79217886e-02 -2.34809743e-05 9.99610111e-01 -8.98852859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74592 meters Centerline goodness [0,1] 0.9989557434112382 Centerline is valid? [True, True] Translation: X:169.69, Y:32.76, Z:-0.90 [[ 9.70604298e-01 2.39398391e-01 2.48134581e-02 1.69686763e+02] [-2.39323199e-01 9.70921417e-01 -6.00074671e-03 3.27620332e+01] [-2.55284870e-02 -1.14085633e-04 9.99674089e-01 -8.97316977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77592 meters Centerline goodness [0,1] 0.9987069822956037 Centerline is valid? [True, True] Translation: X:169.72, Y:32.76, Z:-0.90 [[ 9.70132282e-01 2.41247121e-01 2.53610379e-02 1.69718536e+02] [-2.41169113e-01 9.70463704e-01 -6.13668185e-03 3.27562614e+01] [-2.60924236e-02 -1.62905856e-04 9.99659521e-01 -8.97913623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80592000000001 meters Centerline goodness [0,1] 0.9990048265910335 Centerline is valid? [True, True] Translation: X:169.75, Y:32.75, Z:-0.90 [[ 9.69881937e-01 2.42180314e-01 2.60331151e-02 1.69750445e+02] [-2.42098356e-01 9.70231240e-01 -6.30290847e-03 3.27500656e+01] [-2.67845819e-02 -1.89497287e-04 9.99641211e-01 -8.97900871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83592000000002 meters Centerline goodness [0,1] 0.9992038612728268 Centerline is valid? [True, True] Translation: X:169.78, Y:32.75, Z:-0.90 [[ 9.69880488e-01 2.42415899e-01 2.37985412e-02 1.69782882e+02] [-2.42347399e-01 9.70172408e-01 -5.76518695e-03 3.27471379e+01] [-2.44862610e-02 -1.75972213e-04 9.99700151e-01 -8.97823418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86592000000002 meters Centerline goodness [0,1] 0.9993532338308457 Centerline is valid? [True, True] Translation: X:169.81, Y:32.74, Z:-0.90 [[ 9.70517500e-01 2.39878959e-01 2.35344043e-02 1.69814794e+02] [-2.39811146e-01 9.70802799e-01 -5.70444768e-03 3.27438934e+01] [-2.42156425e-02 -1.07546156e-04 9.99706753e-01 -8.98435687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89592000000002 meters Centerline goodness [0,1] 0.9995029079882686 Centerline is valid? [True, True] Translation: X:169.85, Y:32.74, Z:-0.90 [[ 9.70838418e-01 2.38593734e-01 2.33623043e-02 1.69846188e+02] [-2.38526460e-01 9.71119470e-01 -5.66594435e-03 3.27388075e+01] [-2.40394474e-02 -7.18113006e-05 9.99711008e-01 -8.97896213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92592000000002 meters Centerline goodness [0,1] 0.9998010445162895 Centerline is valid? [True, True] Translation: X:169.88, Y:32.73, Z:-0.90 [[ 9.71105222e-01 2.37434903e-01 2.40689568e-02 1.69877936e+02] [-2.37363058e-01 9.71403451e-01 -5.84067254e-03 3.27341222e+01] [-2.47674472e-02 -4.11735654e-05 9.99693239e-01 -8.97696542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95592000000002 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:169.91, Y:32.73, Z:-0.90 [[ 9.71589313e-01 2.35338086e-01 2.51036076e-02 1.69910905e+02] [-2.35259140e-01 9.71913569e-01 -6.09525551e-03 3.27327419e+01] [-2.58329826e-02 1.62319950e-05 9.99666273e-01 -8.98069756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:169.94, Y:32.73, Z:-0.90 [[ 9.71543651e-01 2.35526647e-01 2.51024372e-02 1.69942535e+02] [-2.35447639e-01 9.71867891e-01 -6.10007374e-03 3.27251258e+01] [-2.58329826e-02 1.61783491e-05 9.99666273e-01 -8.98097838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01592 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:169.98, Y:32.72, Z:-0.90 [[ 9.71684355e-01 2.34961390e-01 2.49531417e-02 1.69975544e+02] [-2.34883001e-01 9.72004704e-01 -6.06891911e-03 3.27194670e+01] [-2.56805328e-02 3.60049527e-05 9.99670200e-01 -8.97302459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04592 meters Centerline goodness [0,1] 0.9999502413295517 Centerline is valid? [True, True] Translation: X:170.01, Y:32.71, Z:-0.90 [[ 9.72197194e-01 2.32929646e-01 2.40082364e-02 1.70007098e+02] [-2.32856380e-01 9.72493585e-01 -5.84245250e-03 3.27148452e+01] [-2.47087362e-02 8.95449278e-05 9.99694689e-01 -8.96455973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07592 meters Centerline goodness [0,1] 0.999900502462564 Centerline is valid? [True, True] Translation: X:170.04, Y:32.71, Z:-0.90 [[ 9.72461424e-01 2.31776451e-01 2.44633584e-02 1.70038637e+02] [-2.31699931e-01 9.72769069e-01 -5.95657660e-03 3.27091066e+01] [-2.51777926e-02 1.24382518e-04 9.99682981e-01 -8.96586318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10592 meters Centerline goodness [0,1] 0.999950295740345 Centerline is valid? [True, True] Translation: X:170.07, Y:32.70, Z:-0.90 [[ 9.73047877e-01 2.29358270e-01 2.39293307e-02 1.70070231e+02] [-2.29284243e-01 9.73342052e-01 -5.82978128e-03 3.27046887e+01] [-2.46285324e-02 1.86037814e-04 9.99696654e-01 -8.95294954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13592 meters Centerline goodness [0,1] 0.9996509946652041 Centerline is valid? [True, True] Translation: X:170.10, Y:32.70, Z:-0.90 [[ 9.73450671e-01 2.27532255e-01 2.49572303e-02 1.70101599e+02] [-2.27451043e-01 9.73770513e-01 -6.08360044e-03 3.26992633e+01] [-2.56868302e-02 2.45536877e-04 9.99670009e-01 -8.95528161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16592 meters Centerline goodness [0,1] 0.9997016261375503 Centerline is valid? [True, True] Translation: X:170.13, Y:32.70, Z:-0.90 [[ 9.73997554e-01 2.25139913e-01 2.53137350e-02 1.70133870e+02] [-2.25055467e-01 9.74326393e-01 -6.17391160e-03 3.26959946e+01] [-2.60538340e-02 3.16380349e-04 9.99660491e-01 -8.95466250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.17, Y:32.69, Z:-0.90 [[ 9.74178527e-01 2.24453212e-01 2.44326156e-02 1.70165463e+02] [-2.24374246e-01 9.74484812e-01 -5.96225119e-03 3.26901414e+01] [-2.51474593e-02 3.26247373e-04 9.99683699e-01 -8.96418664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22592 meters Centerline goodness [0,1] 0.9998507091316248 Centerline is valid? [True, True] Translation: X:170.20, Y:32.69, Z:-0.90 [[ 9.74538864e-01 2.23055885e-01 2.28051368e-02 1.70197651e+02] [-2.22986637e-01 9.74805599e-01 -5.56809938e-03 3.26858435e+01] [-2.34725724e-02 3.41088481e-04 9.99724423e-01 -8.95425919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25592 meters Centerline goodness [0,1] 0.9999501867995019 Centerline is valid? [True, True] Translation: X:170.23, Y:32.68, Z:-0.90 [[ 9.74683533e-01 2.22371088e-01 2.33047067e-02 1.70229954e+02] [-2.22298503e-01 9.74962032e-01 -5.69317199e-03 3.26804831e+01] [-2.39872010e-02 3.68439583e-04 9.99712198e-01 -8.96466405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28592 meters Centerline goodness [0,1] 0.9998507314160613 Centerline is valid? [True, True] Translation: X:170.26, Y:32.68, Z:-0.90 [[ 9.75259547e-01 2.19684746e-01 2.46460719e-02 1.70262070e+02] [-2.19602663e-01 9.75570807e-01 -6.02253459e-03 3.26784977e+01] [-2.53670473e-02 4.61191339e-04 9.99678098e-01 -8.95730712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31592 meters Centerline goodness [0,1] 0.9996517239663665 Centerline is valid? [True, True] Translation: X:170.29, Y:32.67, Z:-0.90 [[ 9.75793627e-01 2.17357840e-01 2.41322773e-02 1.70294086e+02] [-2.17278355e-01 9.76091853e-01 -5.90011283e-03 3.26740513e+01] [-2.48377551e-02 5.13870980e-04 9.99691363e-01 -8.96084958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34592 meters Centerline goodness [0,1] 0.9997015519299642 Centerline is valid? [True, True] Translation: X:170.33, Y:32.67, Z:-0.90 [[ 9.76205439e-01 2.15515957e-01 2.39960913e-02 1.70326257e+02] [-2.15436733e-01 9.76500158e-01 -5.86993613e-03 3.26684755e+01] [-2.46972518e-02 5.60624090e-04 9.99694819e-01 -8.95742677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37592 meters Centerline goodness [0,1] 0.9996517759426923 Centerline is valid? [True, True] Translation: X:170.36, Y:32.67, Z:-0.90 [[ 9.77200464e-01 2.11152712e-01 2.22212627e-02 1.70358542e+02] [-2.11083613e-01 9.77452886e-01 -5.43725271e-03 3.26670076e+01] [-2.28683280e-02 6.22741456e-04 9.99738292e-01 -8.95552377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40592 meters Centerline goodness [0,1] 0.9993035172379484 Centerline is valid? [True, True] Translation: X:170.39, Y:32.66, Z:-0.90 [[ 9.77801441e-01 2.08472548e-01 2.10603533e-02 1.70389338e+02] [-2.08409860e-01 9.78028003e-01 -5.15324445e-03 3.26647020e+01] [-2.16719253e-02 6.49664579e-04 9.99764925e-01 -8.96468617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43592 meters Centerline goodness [0,1] 0.999104878412651 Centerline is valid? [True, True] Translation: X:170.42, Y:32.66, Z:-0.90 [[ 9.78110353e-01 2.06978462e-01 2.14488448e-02 1.70418583e+02] [-2.06913108e-01 9.78345253e-01 -5.24700574e-03 3.26598259e+01] [-2.20703927e-02 6.94103493e-04 9.99756178e-01 -8.95714903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46592 meters Centerline goodness [0,1] 0.9991538078646093 Centerline is valid? [True, True] Translation: X:170.45, Y:32.66, Z:-0.89 [[ 9.78501380e-01 2.05154991e-01 2.11300503e-02 1.70448017e+02] [-2.05091171e-01 9.78729231e-01 -5.16767754e-03 3.26568695e+01] [-2.17407728e-02 7.22992849e-04 9.99763380e-01 -8.94038134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49592 meters Centerline goodness [0,1] 0.9990043311594564 Centerline is valid? [True, True] Translation: X:170.48, Y:32.65, Z:-0.89 [[ 9.78848692e-01 2.03604150e-01 2.00146898e-02 1.70477544e+02] [-2.03546592e-01 9.79053031e-01 -4.89363691e-03 3.26514889e+01] [-2.05918075e-02 7.16208195e-04 9.99787710e-01 -8.94141060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52592 meters Centerline goodness [0,1] 0.9983084577114428 Centerline is valid? [True, True] Translation: X:170.51, Y:32.64, Z:-0.89 [[ 9.79685994e-01 1.99538063e-01 1.99978444e-02 1.70506712e+02] [-1.99479781e-01 9.79889750e-01 -4.88827369e-03 3.26449821e+01] [-2.05710794e-02 7.99807654e-04 9.99788073e-01 -8.93649335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55592000000001 meters Centerline goodness [0,1] 0.9981619473422753 Centerline is valid? [True, True] Translation: X:170.53, Y:32.64, Z:-0.89 [[ 9.80124369e-01 1.97230355e-01 2.13637235e-02 1.70534576e+02] [-1.97163363e-01 9.80356757e-01 -5.21887573e-03 3.26395175e+01] [-2.19733914e-02 9.03003709e-04 9.99758148e-01 -8.94189033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58592000000002 meters Centerline goodness [0,1] 0.9982600049714143 Centerline is valid? [True, True] Translation: X:170.56, Y:32.63, Z:-0.89 [[ 9.80807975e-01 1.93776234e-01 2.15983017e-02 1.70563417e+02] [-1.93706957e-01 9.81045255e-01 -5.27477726e-03 3.26332121e+01] [-2.22110379e-02 9.89802304e-04 9.99752814e-01 -8.94871039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61592000000002 meters Centerline goodness [0,1] 0.9983587805241956 Centerline is valid? [True, True] Translation: X:170.59, Y:32.62, Z:-0.89 [[ 9.81891636e-01 1.88362231e-01 2.02110395e-02 1.70591900e+02] [-1.88300437e-01 9.82099072e-01 -4.93534080e-03 3.26237310e+01] [-2.07788749e-02 1.04022229e-03 9.99783555e-01 -8.94746532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64592000000002 meters Centerline goodness [0,1] 0.998308794269797 Centerline is valid? [True, True] Translation: X:170.62, Y:32.62, Z:-0.89 [[ 9.82362940e-01 1.85948997e-01 1.96475269e-02 1.70620201e+02] [-1.85890143e-01 9.82558827e-01 -4.79657369e-03 3.26150492e+01] [-2.01967690e-02 1.05969465e-03 9.99795463e-01 -8.94951795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67592000000002 meters Centerline goodness [0,1] 0.9983070258427525 Centerline is valid? [True, True] Translation: X:170.65, Y:32.61, Z:-0.89 [[ 9.83109359e-01 1.81905565e-01 2.01581951e-02 1.70649032e+02] [-1.81842777e-01 9.83315307e-01 -4.92060929e-03 3.26053596e+01] [-2.07169480e-02 1.17187488e-03 9.99784694e-01 -8.94046614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70592000000002 meters Centerline goodness [0,1] 0.998657050484954 Centerline is valid? [True, True] Translation: X:170.68, Y:32.60, Z:-0.89 [[ 9.83386993e-01 1.80295485e-01 2.10608850e-02 1.70678384e+02] [-1.80226579e-01 9.83611687e-01 -5.14092922e-03 3.25955748e+01] [-2.16426190e-02 1.25979166e-03 9.99764977e-01 -8.93926985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73592 meters Centerline goodness [0,1] 0.9974631914046956 Centerline is valid? [True, True] Translation: X:170.71, Y:32.58, Z:-0.89 [[ 9.83494419e-01 1.79788697e-01 2.03654863e-02 1.70707183e+02] [-1.79724135e-01 9.83704484e-01 -4.97234646e-03 3.25797788e+01] [-2.09275919e-02 1.23010559e-03 9.99780237e-01 -8.94557589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76592 meters Centerline goodness [0,1] 0.9982606967152015 Centerline is valid? [True, True] Translation: X:170.74, Y:32.57, Z:-0.89 [[ 9.83668960e-01 1.78745422e-01 2.11057009e-02 1.70736720e+02] [-1.78675814e-01 9.83894500e-01 -5.15433027e-03 3.25691032e+01] [-2.16870960e-02 1.29907641e-03 9.99763963e-01 -8.94921486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79592 meters Centerline goodness [0,1] 0.9973623967353439 Centerline is valid? [True, True] Translation: X:170.77, Y:32.55, Z:-0.90 [[ 9.83669231e-01 1.78429740e-01 2.36150748e-02 1.70766494e+02] [-1.78342434e-01 9.83951566e-01 -5.76992526e-03 3.25543302e+01] [-2.42656161e-02 1.46412803e-03 9.99704474e-01 -8.95769284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82592 meters Centerline goodness [0,1] 0.9982560167422393 Centerline is valid? [True, True] Translation: X:170.80, Y:32.54, Z:-0.89 [[ 9.83690017e-01 1.78345577e-01 2.33838802e-02 1.70796582e+02] [-1.78259881e-01 9.83966839e-01 -5.71623185e-03 3.25414099e+01] [-2.40284273e-02 1.45459249e-03 9.99710217e-01 -8.94431830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85592 meters Centerline goodness [0,1] 0.9983573099706307 Centerline is valid? [True, True] Translation: X:170.83, Y:32.53, Z:-0.90 [[ 9.83689758e-01 1.78225394e-01 2.42933783e-02 1.70826342e+02] [-1.78132792e-01 9.83988520e-01 -5.94149997e-03 3.25294303e+01] [-2.49633315e-02 1.51714538e-03 9.99687216e-01 -8.95293286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88592 meters Centerline goodness [0,1] 0.9985569985569985 Centerline is valid? [True, True] Translation: X:170.86, Y:32.51, Z:-0.89 [[ 9.83592307e-01 1.78970134e-01 2.27126623e-02 1.70855928e+02] [-1.78889311e-01 9.83853505e-01 -5.55827654e-03 3.25126283e+01] [-2.33406979e-02 1.40402553e-03 9.99726583e-01 -8.94899375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91592 meters Centerline goodness [0,1] 0.9991539342059423 Centerline is valid? [True, True] Translation: X:170.88, Y:32.50, Z:-0.90 [[ 9.82870077e-01 1.82960407e-01 2.21788344e-02 1.70883736e+02] [-1.82884319e-01 9.83119449e-01 -5.42905420e-03 3.24953291e+01] [-2.27977454e-02 1.27989389e-03 9.99739278e-01 -8.95340990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94592 meters Centerline goodness [0,1] 0.999154607389726 Centerline is valid? [True, True] Translation: X:170.91, Y:32.48, Z:-0.90 [[ 9.82540835e-01 1.84713986e-01 2.22317642e-02 1.70914448e+02] [-1.84637921e-01 9.82791531e-01 -5.44467675e-03 3.24839240e+01] [-2.28548976e-02 1.24479052e-03 9.99738018e-01 -8.95600600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97592 meters Centerline goodness [0,1] 0.9995518820952002 Centerline is valid? [True, True] Translation: X:170.94, Y:32.47, Z:-0.90 [[ 9.81902197e-01 1.87797184e-01 2.45008731e-02 1.70944546e+02] [-1.87705657e-01 9.82206973e-01 -6.00411741e-03 3.24707417e+01] [-2.51924848e-02 1.29650359e-03 9.99681778e-01 -8.95735221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00592 meters Centerline goodness [0,1] 0.9995024628090949 Centerline is valid? [True, True] Translation: X:170.97, Y:32.46, Z:-0.89 [[ 9.80303275e-01 1.95993965e-01 2.43280731e-02 1.70972669e+02] [-1.95906218e-01 9.80604508e-01 -5.96259755e-03 3.24572931e+01] [-2.50248513e-02 1.07913310e-03 9.99686247e-01 -8.94008560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.00, Y:32.44, Z:-0.90 [[ 9.78757361e-01 2.03600487e-01 2.41012623e-02 1.71000432e+02] [-2.03516649e-01 9.79053662e-01 -5.90776138e-03 3.24429163e+01] [-2.47992522e-02 8.77256801e-04 9.99692066e-01 -8.95267405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06592 meters Centerline goodness [0,1] 0.9999003189792663 Centerline is valid? [True, True] Translation: X:171.03, Y:32.43, Z:-0.90 [[ 9.77889258e-01 2.07939270e-01 2.22229443e-02 1.71030715e+02] [-2.07869062e-01 9.78141481e-01 -5.44943061e-03 3.24320290e+01] [-2.28703342e-02 7.09477081e-04 9.99738188e-01 -8.95227620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09592 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:171.06, Y:32.42, Z:-0.90 [[ 9.77006802e-01 2.11913278e-01 2.34621308e-02 1.71061390e+02] [-2.11836092e-01 9.77288256e-01 -5.75632648e-03 3.24224888e+01] [-2.41491069e-02 6.53844031e-04 9.99708154e-01 -8.96668492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12592 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:171.09, Y:32.41, Z:-0.90 [[ 9.75339252e-01 2.19475364e-01 2.33218320e-02 1.71091026e+02] [-2.19401199e-01 9.75617931e-01 -5.72421503e-03 3.24130282e+01] [-2.40095216e-02 4.66213710e-04 9.99711621e-01 -8.95706933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.12, Y:32.41, Z:-0.90 [[ 9.74552398e-01 2.22989391e-01 2.28769411e-02 1.71122753e+02] [-2.22918908e-01 9.74820799e-01 -5.61874677e-03 3.24054919e+01] [-2.35538389e-02 3.76060414e-04 9.99722499e-01 -8.95261992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.15, Y:32.40, Z:-0.90 [[ 9.73333073e-01 2.28143997e-01 2.39383718e-02 1.71154350e+02] [-2.28068297e-01 9.73627365e-01 -5.88268503e-03 3.23983283e+01] [-2.46491531e-02 2.66228206e-04 9.99696128e-01 -8.95914985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.19, Y:32.39, Z:-0.90 [[ 9.72760571e-01 2.30542343e-01 2.42301332e-02 1.71185087e+02] [-2.30465377e-01 9.73062271e-01 -5.96050616e-03 3.23905199e+01] [-2.49515775e-02 2.13938583e-04 9.99688638e-01 -8.95577967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24592 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:171.22, Y:32.38, Z:-0.90 [[ 9.72564189e-01 2.31182263e-01 2.59549643e-02 1.71216523e+02] [-2.31094077e-01 9.72910435e-01 -6.38847622e-03 3.23825453e+01] [-2.67287580e-02 2.15164684e-04 9.99642700e-01 -8.96440876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27592 meters Centerline goodness [0,1] 0.9998008166517279 Centerline is valid? [True, True] Translation: X:171.25, Y:32.38, Z:-0.90 [[ 9.72878548e-01 2.29931784e-01 2.52726391e-02 1.71249244e+02] [-2.29847618e-01 9.73206717e-01 -6.22568683e-03 3.23763167e+01] [-2.60269854e-02 2.47981264e-04 9.99661210e-01 -8.97208128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30592000000001 meters Centerline goodness [0,1] 0.9995519267151249 Centerline is valid? [True, True] Translation: X:171.28, Y:32.37, Z:-0.90 [[ 9.73266559e-01 2.28308887e-01 2.50450835e-02 1.71280497e+02] [-2.28225604e-01 9.73588705e-01 -6.17309468e-03 3.23696654e+01] [-2.57929828e-02 2.92137309e-04 9.99667263e-01 -8.96544415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33592000000002 meters Centerline goodness [0,1] 0.9995022894684451 Centerline is valid? [True, True] Translation: X:171.31, Y:32.36, Z:-0.90 [[ 9.73737261e-01 2.26331628e-01 2.46929269e-02 1.71311622e+02] [-2.26249949e-01 9.74050243e-01 -6.08964237e-03 3.23629133e+01] [-2.54304302e-02 3.42938218e-04 9.99676535e-01 -8.96416400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36592000000002 meters Centerline goodness [0,1] 0.9995025618066955 Centerline is valid? [True, True] Translation: X:171.34, Y:32.36, Z:-0.90 [[ 9.74332488e-01 2.23678103e-01 2.53832502e-02 1.71342636e+02] [-2.23590803e-01 9.74662980e-01 -6.26331786e-03 3.23553716e+01] [-2.61410813e-02 4.27092787e-04 9.99658172e-01 -8.96284619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39592000000002 meters Centerline goodness [0,1] 0.9993534268377599 Centerline is valid? [True, True] Translation: X:171.37, Y:32.35, Z:-0.90 [[ 9.74616916e-01 2.22538025e-01 2.44682284e-02 1.71374700e+02] [-2.22456424e-01 9.74923909e-01 -6.04242204e-03 3.23470679e+01] [-2.51993296e-02 4.45932142e-04 9.99682347e-01 -8.95786188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42592000000002 meters Centerline goodness [0,1] 0.9995520828149107 Centerline is valid? [True, True] Translation: X:171.41, Y:32.34, Z:-0.90 [[ 9.74605041e-01 2.22653096e-01 2.38875109e-02 1.71405994e+02] [-2.22575278e-01 9.74897640e-01 -5.90225747e-03 3.23382363e+01] [-2.46020339e-02 4.35600506e-04 9.99697229e-01 -8.95868298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45592000000002 meters Centerline goodness [0,1] 0.9992539169360856 Centerline is valid? [True, True] Translation: X:171.44, Y:32.33, Z:-0.90 [[ 9.75299292e-01 2.19497937e-01 2.47375596e-02 1.71436661e+02] [-2.19413382e-01 9.75612817e-01 -6.11557471e-03 3.23290319e+01] [-2.54766362e-02 5.36764084e-04 9.99675274e-01 -8.95917340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48592 meters Centerline goodness [0,1] 0.9991539763113367 Centerline is valid? [True, True] Translation: X:171.47, Y:32.32, Z:-0.89 [[ 9.75466895e-01 2.18960504e-01 2.28174185e-02 1.71468085e+02] [-2.18888351e-01 9.75733589e-01 -5.64386613e-03 3.23202514e+01] [-2.34995055e-02 5.10937459e-04 9.99723718e-01 -8.94502206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51592 meters Centerline goodness [0,1] 0.9993020589261679 Centerline is valid? [True, True] Translation: X:171.50, Y:32.31, Z:-0.89 [[ 9.75454492e-01 2.18905343e-01 2.38533822e-02 1.71498509e+02] [-2.18826395e-01 9.75745951e-01 -5.90326321e-03 3.23109665e+01] [-2.45670969e-02 5.38615001e-04 9.99698038e-01 -8.94844723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54592 meters Centerline goodness [0,1] 0.9990551964196916 Centerline is valid? [True, True] Translation: X:171.53, Y:32.30, Z:-0.90 [[ 9.75347174e-01 2.19333342e-01 2.43058654e-02 1.71529175e+02] [-2.19251381e-01 9.75649830e-01 -6.02003445e-03 3.22993582e+01] [-2.50344077e-02 5.42529025e-04 9.99686443e-01 -8.95859127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57592 meters Centerline goodness [0,1] 0.9991538078646093 Centerline is valid? [True, True] Translation: X:171.56, Y:32.29, Z:-0.89 [[ 9.75357689e-01 2.19435435e-01 2.29230887e-02 1.71559801e+02] [-2.19362492e-01 9.75626890e-01 -5.68060763e-03 3.22899268e+01] [-2.36109084e-02 5.12158460e-04 9.99721092e-01 -8.94461805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60592 meters Centerline goodness [0,1] 0.9992027505107379 Centerline is valid? [True, True] Translation: X:171.59, Y:32.28, Z:-0.89 [[ 9.75238739e-01 2.20021420e-01 2.23601568e-02 1.71590155e+02] [-2.19952103e-01 9.75494918e-01 -5.54406234e-03 3.22795831e+01] [-2.30320318e-02 4.88620852e-04 9.99734608e-01 -8.94862303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63592 meters Centerline goodness [0,1] 0.999052888689497 Centerline is valid? [True, True] Translation: X:171.62, Y:32.27, Z:-0.89 [[ 9.75113162e-01 2.20615032e-01 2.19847543e-02 1.71620657e+02] [-2.20548107e-01 9.75360850e-01 -5.45390499e-03 3.22701396e+01] [-2.26462820e-02 4.69478588e-04 9.99743430e-01 -8.94364242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66592 meters Centerline goodness [0,1] 0.999102423456667 Centerline is valid? [True, True] Translation: X:171.65, Y:32.26, Z:-0.90 [[ 9.74765194e-01 2.21944623e-01 2.39458024e-02 1.71651619e+02] [-2.21865546e-01 9.75059154e-01 -5.94359741e-03 3.22604629e+01] [-2.46677233e-02 4.80863343e-04 9.99695590e-01 -8.95121505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69592 meters Centerline goodness [0,1] 0.9989053637177828 Centerline is valid? [True, True] Translation: X:171.68, Y:32.25, Z:-0.89 [[ 9.74581403e-01 2.22891430e-01 2.25942333e-02 1.71682774e+02] [-2.22821213e-01 9.74843178e-01 -5.61113911e-03 3.22520208e+01] [-2.32765090e-02 4.34037349e-04 9.99728971e-01 -8.94206118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72592 meters Centerline goodness [0,1] 0.9992032269309298 Centerline is valid? [True, True] Translation: X:171.71, Y:32.24, Z:-0.89 [[ 9.74182420e-01 2.24690921e-01 2.19681983e-02 1.71713757e+02] [-2.24624933e-01 9.74430009e-01 -5.45860654e-03 3.22424796e+01] [-2.26329710e-02 3.83073474e-04 9.99743768e-01 -8.93613555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75592 meters Centerline goodness [0,1] 0.9991004497751125 Centerline is valid? [True, True] Translation: X:171.75, Y:32.23, Z:-0.89 [[ 9.73903701e-01 2.25787579e-01 2.30553674e-02 1.71745111e+02] [-2.25715094e-01 9.74176485e-01 -5.73339299e-03 3.22337001e+01] [-2.37545257e-02 3.79828254e-04 9.99717749e-01 -8.93363684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78592 meters Centerline goodness [0,1] 0.9990533134030892 Centerline is valid? [True, True] Translation: X:171.78, Y:32.23, Z:-0.89 [[ 9.73845208e-01 2.26243235e-01 2.09644718e-02 1.71776276e+02] [-2.26183345e-01 9.74070780e-01 -5.21631982e-03 3.22255963e+01] [-2.16010364e-02 3.38073701e-04 9.99766613e-01 -8.93043771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81592 meters Centerline goodness [0,1] 0.9992516090405628 Centerline is valid? [True, True] Translation: X:171.81, Y:32.22, Z:-0.89 [[ 9.73712845e-01 2.26858846e-01 2.04538170e-02 1.71807470e+02] [-2.26801916e-01 9.73927596e-01 -5.09204246e-03 3.22178904e+01] [-2.10757117e-02 3.19222258e-04 9.99777832e-01 -8.93532997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84592 meters Centerline goodness [0,1] 0.9991525001246323 Centerline is valid? [True, True] Translation: X:171.84, Y:32.21, Z:-0.89 [[ 9.73612082e-01 2.27321065e-01 2.01158621e-02 1.71839271e+02] [-2.27266042e-01 9.73819819e-01 -5.01064513e-03 3.22106847e+01] [-2.07282504e-02 3.06772272e-04 9.99785100e-01 -8.94256032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87592 meters Centerline goodness [0,1] 0.9991530912170578 Centerline is valid? [True, True] Translation: X:171.87, Y:32.20, Z:-0.89 [[ 9.73449628e-01 2.28065843e-01 1.95395281e-02 1.71871074e+02] [-2.28014026e-01 9.73645670e-01 -4.86971972e-03 3.22039788e+01] [-2.01351936e-02 2.85140390e-04 9.99797226e-01 -8.93237656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90592 meters Centerline goodness [0,1] 0.9991530912170578 Centerline is valid? [True, True] Translation: X:171.90, Y:32.20, Z:-0.89 [[ 9.73405632e-01 2.28253629e-01 1.95386022e-02 1.71902645e+02] [-2.28201775e-01 9.73601664e-01 -4.87343309e-03 3.21961687e+01] [-2.01351944e-02 2.85083508e-04 9.99797226e-01 -8.93265735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93592 meters Centerline goodness [0,1] 0.9990042320139407 Centerline is valid? [True, True] Translation: X:171.93, Y:32.19, Z:-0.89 [[ 9.73064583e-01 2.29538844e-01 2.13830705e-02 1.71933769e+02] [-2.29476981e-01 9.73299459e-01 -5.33647557e-03 3.21897898e+01] [-2.20370594e-02 2.85812928e-04 9.99757114e-01 -8.93535280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96592 meters Centerline goodness [0,1] 0.9987546699875467 Centerline is valid? [True, True] Translation: X:171.97, Y:32.18, Z:-0.89 [[ 9.73018403e-01 2.29717765e-01 2.15623748e-02 1.71966711e+02] [-2.29654806e-01 9.73257245e-01 -5.38561666e-03 3.21848463e+01] [-2.22229094e-02 2.88401115e-04 9.99752999e-01 -8.94267691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99592 meters Centerline goodness [0,1] 0.9981581043409 Centerline is valid? [True, True] Translation: X:172.00, Y:32.18, Z:-0.90 [[ 9.73448140e-01 2.27846429e-01 2.20164356e-02 1.71998373e+02] [-2.27780242e-01 9.73697021e-01 -5.50207003e-03 3.21803574e+01] [-2.26909647e-02 3.41070813e-04 9.99742469e-01 -8.95060610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02592 meters Centerline goodness [0,1] 0.998357473495595 Centerline is valid? [True, True] Translation: X:172.03, Y:32.18, Z:-0.90 [[ 9.73780211e-01 2.26420692e-01 2.20401972e-02 1.72030556e+02] [-2.26353929e-01 9.74029531e-01 -5.51100407e-03 3.21753932e+01] [-2.27156083e-02 3.77621479e-04 9.99741896e-01 -8.95930684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05592000000001 meters Centerline goodness [0,1] 0.9983579638752053 Centerline is valid? [True, True] Translation: X:172.06, Y:32.17, Z:-0.90 [[ 9.73984857e-01 2.25384667e-01 2.35637383e-02 1.72062575e+02] [-2.25307973e-01 9.74269760e-01 -5.89513393e-03 3.21693974e+01] [-2.42861104e-02 4.32673073e-04 9.99704955e-01 -8.97058690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08592000000002 meters Centerline goodness [0,1] 0.9981563605560815 Centerline is valid? [True, True] Translation: X:172.09, Y:32.16, Z:-0.90 [[ 9.74630160e-01 2.22854902e-01 2.07784319e-02 1.72094835e+02] [-2.22794635e-01 9.74851527e-01 -5.20107531e-03 3.21647342e+01] [-2.14149712e-02 4.39801718e-04 9.99770576e-01 -8.97762422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11592000000002 meters Centerline goodness [0,1] 0.9980570916156031 Centerline is valid? [True, True] Translation: X:172.13, Y:32.16, Z:-0.90 [[ 9.74981054e-01 2.21270629e-01 2.12427032e-02 1.72126248e+02] [-2.21207200e-01 9.75212321e-01 -5.32012933e-03 3.21588020e+01] [-2.18933343e-02 4.87986404e-04 9.99760193e-01 -8.97766347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14592000000002 meters Centerline goodness [0,1] 0.9981073812132683 Centerline is valid? [True, True] Translation: X:172.16, Y:32.15, Z:-0.90 [[ 9.75639846e-01 2.18396175e-01 2.07364944e-02 1.72158249e+02] [-2.18335026e-01 9.75860040e-01 -5.19609175e-03 3.21538912e+01] [-2.13707228e-02 5.42011103e-04 9.99771473e-01 -8.97094233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17592000000002 meters Centerline goodness [0,1] 0.9979071158062587 Centerline is valid? [True, True] Translation: X:172.19, Y:32.15, Z:-0.90 [[ 9.76123012e-01 2.16080296e-01 2.22074736e-02 1.72189926e+02] [-2.16009497e-01 9.76375389e-01 -5.56759419e-03 3.21471556e+01] [-2.28858781e-02 6.37631616e-04 9.99737881e-01 -8.97780983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20592000000002 meters Centerline goodness [0,1] 0.9981590207980894 Centerline is valid? [True, True] Translation: X:172.22, Y:32.14, Z:-0.90 [[ 9.76492502e-01 2.14449376e-01 2.17682900e-02 1.72221747e+02] [-2.14380881e-01 9.76734878e-01 -5.46032936e-03 3.21408969e+01] [-2.24328123e-02 6.65265488e-04 9.99748131e-01 -8.98103616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23592 meters Centerline goodness [0,1] 0.9974075181972281 Centerline is valid? [True, True] Translation: X:172.25, Y:32.13, Z:-0.90 [[ 9.76763044e-01 2.13363153e-01 2.02514330e-02 1.72254680e+02] [-2.13303557e-01 9.76972747e-01 -5.08375027e-03 3.21345478e+01] [-2.08697831e-02 6.45916679e-04 9.99781994e-01 -8.98507851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26592 meters Centerline goodness [0,1] 0.9976130091004028 Centerline is valid? [True, True] Translation: X:172.29, Y:32.13, Z:-0.90 [[ 9.77470583e-01 2.10073746e-01 2.05007463e-02 1.72286804e+02] [-2.10011894e-01 9.77685272e-01 -5.14905315e-03 3.21301342e+01] [-2.11249586e-02 7.27647422e-04 9.99776578e-01 -8.98841797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29592 meters Centerline goodness [0,1] 0.9976602947033054 Centerline is valid? [True, True] Translation: X:172.32, Y:32.12, Z:-0.90 [[ 9.78018414e-01 2.07539704e-01 2.01805301e-02 1.72318269e+02] [-2.07479177e-01 9.78226290e-01 -5.07120893e-03 3.21228300e+01] [-2.07936023e-02 7.72695932e-04 9.99783491e-01 -8.99216294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32592 meters Centerline goodness [0,1] 0.9975581800966762 Centerline is valid? [True, True] Translation: X:172.35, Y:32.11, Z:-0.90 [[ 9.79051458e-01 2.02625841e-01 2.00252618e-02 1.72347861e+02] [-2.02565174e-01 9.79255844e-01 -5.03411463e-03 3.21121663e+01] [-2.06298964e-02 8.72236614e-04 9.99786801e-01 -8.98368799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35592 meters Centerline goodness [0,1] 0.9978026368357971 Centerline is valid? [True, True] Translation: X:172.38, Y:32.10, Z:-0.90 [[ 9.79589932e-01 1.99883864e-01 2.12133404e-02 1.72378804e+02] [-1.99815083e-01 9.79819098e-01 -5.33548539e-03 3.21030063e+01] [-2.18517135e-02 9.87842396e-04 9.99760735e-01 -8.98261761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38592 meters Centerline goodness [0,1] 0.9973486743371686 Centerline is valid? [True, True] Translation: X:172.41, Y:32.09, Z:-0.90 [[ 9.80536561e-01 1.95200605e-01 2.10897332e-02 1.72407615e+02] [-1.95131526e-01 9.80762735e-01 -5.30513769e-03 3.20917480e+01] [-2.17195905e-02 1.08660965e-03 9.99763511e-01 -8.97661450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41592 meters Centerline goodness [0,1] 0.9973119617701229 Centerline is valid? [True, True] Translation: X:172.44, Y:32.08, Z:-0.90 [[ 9.80906687e-01 1.93277286e-01 2.15861669e-02 1.72438246e+02] [-1.93204393e-01 9.81143490e-01 -5.43264323e-03 3.20812006e+01] [-2.22291337e-02 1.15837379e-03 9.99752231e-01 -8.99086511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44592 meters Centerline goodness [0,1] 0.9966658372729534 Centerline is valid? [True, True] Translation: X:172.47, Y:32.07, Z:-0.90 [[ 9.81564596e-01 1.89788856e-01 2.26082739e-02 1.72467382e+02] [-1.89707939e-01 9.81824071e-01 -5.69134587e-03 3.20681475e+01] [-2.32775015e-02 1.29745458e-03 9.99728200e-01 -8.98903034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47592 meters Centerline goodness [0,1] 0.9961657205457624 Centerline is valid? [True, True] Translation: X:172.50, Y:32.06, Z:-0.90 [[ 9.81729151e-01 1.88834721e-01 2.34376092e-02 1.72497769e+02] [-1.88747418e-01 9.82007926e-01 -5.90293045e-03 3.20557067e+01] [-2.41305962e-02 1.37129068e-03 9.99707874e-01 -8.98805133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50592 meters Centerline goodness [0,1] 0.9967600438640215 Centerline is valid? [True, True] Translation: X:172.53, Y:32.04, Z:-0.90 [[ 9.81770326e-01 1.88522703e-01 2.42119149e-02 1.72527784e+02] [-1.88429367e-01 9.82067794e-01 -6.10090274e-03 3.20419667e+01] [-2.49279006e-02 1.42744947e-03 9.99688232e-01 -8.99474065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53592 meters Centerline goodness [0,1] 0.996714292826206 Centerline is valid? [True, True] Translation: X:172.56, Y:32.02, Z:-0.90 [[ 9.81813390e-01 1.88422378e-01 2.32266064e-02 1.72557783e+02] [-1.88336192e-01 9.82087112e-01 -5.86373258e-03 3.20238220e+01] [-2.39154092e-02 1.38268058e-03 9.99713030e-01 -8.97653075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56592 meters Centerline goodness [0,1] 0.9958121447801376 Centerline is valid? [True, True] Translation: X:172.59, Y:32.01, Z:-0.90 [[ 9.81686251e-01 1.89296864e-01 2.14196465e-02 1.72586096e+02] [-1.89223571e-01 9.81919090e-01 -5.41680995e-03 3.20050845e+01] [-2.20577450e-02 1.26450586e-03 9.99755899e-01 -8.96783646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59592 meters Centerline goodness [0,1] 0.9958661221237175 Centerline is valid? [True, True] Translation: X:172.62, Y:31.99, Z:-0.90 [[ 9.81449470e-01 1.90492386e-01 2.16699795e-02 1.72615480e+02] [-1.90417450e-01 9.81687863e-01 -5.48950685e-03 3.19916504e+01] [-2.23188651e-02 1.26133134e-03 9.99750107e-01 -8.98162493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62592 meters Centerline goodness [0,1] 0.995720754341444 Centerline is valid? [True, True] Translation: X:172.65, Y:31.98, Z:-0.90 [[ 9.81254990e-01 1.91371394e-01 2.27075921e-02 1.72645682e+02] [-1.91289083e-01 9.81516820e-01 -5.76352296e-03 3.19783708e+01] [-2.33908570e-02 1.31177120e-03 9.99725536e-01 -8.98684834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65592 meters Centerline goodness [0,1] 0.9967470723651286 Centerline is valid? [True, True] Translation: X:172.67, Y:31.96, Z:-0.90 [[ 9.80558554e-01 1.94999065e-01 2.19154607e-02 1.72673604e+02] [-1.94923231e-01 9.80802712e-01 -5.56548201e-03 3.19585274e+01] [-2.25800070e-02 1.18544858e-03 9.99744336e-01 -8.97965157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68592 meters Centerline goodness [0,1] 0.9973065988328595 Centerline is valid? [True, True] Translation: X:172.70, Y:31.94, Z:-0.90 [[ 9.79214050e-01 2.01530694e-01 2.29177742e-02 1.72700188e+02] [-2.01449542e-01 9.79481602e-01 -5.82013042e-03 3.19395300e+01] [-2.36204731e-02 1.08237835e-03 9.99720412e-01 -8.98857117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71592 meters Centerline goodness [0,1] 0.9974599063651758 Centerline is valid? [True, True] Translation: X:172.73, Y:31.93, Z:-0.90 [[ 9.78689549e-01 2.04303130e-01 2.06639119e-02 1.72729439e+02] [-2.04237733e-01 9.78907243e-01 -5.24964927e-03 3.19259571e+01] [-2.13005728e-02 9.17426361e-04 9.99772696e-01 -8.97087649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74592 meters Centerline goodness [0,1] 0.9972602739726028 Centerline is valid? [True, True] Translation: X:172.76, Y:31.91, Z:-0.90 [[ 9.77930329e-01 2.07904421e-01 2.06887436e-02 1.72759180e+02] [-2.07839478e-01 9.78148778e-01 -5.26500476e-03 3.19129173e+01] [-2.13312870e-02 8.48870171e-04 9.99772102e-01 -8.98144425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77592 meters Centerline goodness [0,1] 0.997412935323383 Centerline is valid? [True, True] Translation: X:172.79, Y:31.90, Z:-0.90 [[ 9.76415148e-01 2.14982664e-01 1.98975476e-02 1.72787340e+02] [-2.14923995e-01 9.76617635e-01 -5.06674877e-03 3.18969298e+01] [-2.05215590e-02 6.70789831e-04 9.99789186e-01 -8.97499736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80592000000001 meters Centerline goodness [0,1] 0.9975124378109452 Centerline is valid? [True, True] Translation: X:172.82, Y:31.89, Z:-0.90 [[ 9.75507825e-01 2.18926357e-01 2.13479330e-02 1.72817847e+02] [-2.18859553e-01 9.75741175e-01 -5.44569657e-03 3.18862097e+01] [-2.20222637e-02 6.40120544e-04 9.99757276e-01 -8.97873283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83592000000002 meters Centerline goodness [0,1] 0.9982066354488393 Centerline is valid? [True, True] Translation: X:172.85, Y:31.87, Z:-0.90 [[ 9.73384436e-01 2.28224285e-01 2.08905592e-02 1.72847604e+02] [-2.28162396e-01 9.73608493e-01 -5.33143649e-03 3.18735462e+01] [-2.15559891e-02 4.23097266e-04 9.99767553e-01 -8.97687978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86592000000002 meters Centerline goodness [0,1] 0.9985029940119761 Centerline is valid? [True, True] Translation: X:172.88, Y:31.86, Z:-0.90 [[ 9.72089321e-01 2.33780559e-01 1.97231411e-02 1.72878339e+02] [-2.33726351e-01 9.72289342e-01 -5.04260129e-03 3.18635348e+01] [-2.03554621e-02 2.92041061e-04 9.99792763e-01 -8.97607200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89592000000002 meters Centerline goodness [0,1] 0.9987051147965537 Centerline is valid? [True, True] Translation: X:172.91, Y:31.85, Z:-0.90 [[ 9.69924948e-01 2.42578570e-01 2.00307755e-02 1.72908989e+02] [-2.42524451e-01 9.70131756e-01 -5.12502570e-03 3.18530357e+01] [-2.06757129e-02 1.12937453e-04 9.99786228e-01 -8.97568205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92592000000002 meters Centerline goodness [0,1] 0.9990520381180462 Centerline is valid? [True, True] Translation: X:172.94, Y:31.84, Z:-0.90 [[ 9.69039917e-01 2.46039027e-01 2.06503375e-02 1.72941182e+02] [-2.45982049e-01 9.69259921e-01 -5.29501596e-03 3.18448265e+01] [-2.13183251e-02 5.14694904e-05 9.99772737e-01 -8.98424578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95592000000002 meters Centerline goodness [0,1] 0.998904764275402 Centerline is valid? [True, True] Translation: X:172.97, Y:31.84, Z:-0.90 [[ 9.67636773e-01 2.51473563e-01 2.09791076e-02 1.72973605e+02] [-2.51415770e-01 9.67864166e-01 -5.39132353e-03 3.18375515e+01] [-2.16607018e-02 -5.76355960e-05 9.99765378e-01 -8.97566418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98592 meters Centerline goodness [0,1] 0.9991541026023785 Centerline is valid? [True, True] Translation: X:173.01, Y:31.83, Z:-0.90 [[ 9.67052250e-01 2.53779888e-01 2.01423381e-02 1.73005873e+02] [-2.53726875e-01 9.67261991e-01 -5.18777548e-03 3.18310847e+01] [-2.07994711e-02 -9.38025421e-05 9.99783663e-01 -8.96166483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01592 meters Centerline goodness [0,1] 0.9990037359900373 Centerline is valid? [True, True] Translation: X:173.04, Y:31.83, Z:-0.90 [[ 9.66125363e-01 2.57408580e-01 1.85096378e-02 1.73039431e+02] [-2.57364278e-01 9.66302645e-01 -4.77778698e-03 3.18279013e+01] [-1.91157554e-02 -1.47778393e-04 9.99817266e-01 -8.95685924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04592 meters Centerline goodness [0,1] 0.9988548097988449 Centerline is valid? [True, True] Translation: X:173.07, Y:31.82, Z:-0.90 [[ 9.65442252e-01 2.59992628e-01 1.80303126e-02 1.73071762e+02] [-2.59950852e-01 9.65610584e-01 -4.66423558e-03 3.18221753e+01] [-1.86229275e-02 -1.83945020e-04 9.99826561e-01 -8.96205077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07592 meters Centerline goodness [0,1] 0.9991536393507916 Centerline is valid? [True, True] Translation: X:173.10, Y:31.82, Z:-0.90 [[ 9.64953134e-01 2.61580846e-01 2.09978664e-02 1.73104076e+02] [-2.61524333e-01 9.65181539e-01 -5.44243982e-03 3.18185996e+01] [-2.16903910e-02 -2.39753635e-04 9.99764707e-01 -8.97252998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10592 meters Centerline goodness [0,1] 0.9991034070531979 Centerline is valid? [True, True] Translation: X:173.14, Y:31.81, Z:-0.90 [[ 9.64823747e-01 2.62052042e-01 2.10680902e-02 1.73136814e+02] [-2.61995004e-01 9.65053713e-01 -5.47249242e-03 3.18138006e+01] [-2.17659165e-02 -2.39743725e-04 9.99763066e-01 -8.97334467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13592 meters Centerline goodness [0,1] 0.9993028582810477 Centerline is valid? [True, True] Translation: X:173.17, Y:31.81, Z:-0.90 [[ 9.64550478e-01 2.63062713e-01 2.09853112e-02 1.73170788e+02] [-2.63006105e-01 9.64778703e-01 -5.46280896e-03 3.18134381e+01] [-2.16832426e-02 -2.50109960e-04 9.99764860e-01 -8.97845654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16592 meters Centerline goodness [0,1] 0.9992523923444976 Centerline is valid? [True, True] Translation: X:173.20, Y:31.81, Z:-0.90 [[ 9.64637124e-01 2.62841549e-01 1.97367480e-02 1.73202767e+02] [-2.62791232e-01 9.64838987e-01 -5.14755292e-03 3.18103081e+01] [-2.03957747e-02 -2.21123663e-04 9.99791960e-01 -8.96812741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19592 meters Centerline goodness [0,1] 0.9993017456359102 Centerline is valid? [True, True] Translation: X:173.24, Y:31.81, Z:-0.90 [[ 9.64947304e-01 2.61617396e-01 2.08095683e-02 1.73236902e+02] [-2.61560923e-01 9.65171643e-01 -5.43908416e-03 3.18112510e+01] [-2.15077642e-02 -1.94540283e-04 9.99768662e-01 -8.97131460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22592 meters Centerline goodness [0,1] 0.9994526546250684 Centerline is valid? [True, True] Translation: X:173.27, Y:31.81, Z:-0.90 [[ 9.65486598e-01 2.59615948e-01 2.08611839e-02 1.73269314e+02] [-2.59558500e-01 9.65711934e-01 -5.46306097e-03 3.18076225e+01] [-2.15641920e-02 -1.40185444e-04 9.99767456e-01 -8.96107564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25592 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:173.30, Y:31.81, Z:-0.90 [[ 9.66425016e-01 2.55928768e-01 2.28725833e-02 1.73302612e+02] [-2.55858402e-01 9.66695641e-01 -6.00125505e-03 3.18074825e+01] [-2.36467204e-02 -5.23796200e-05 9.99720376e-01 -8.97399357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.34, Y:31.80, Z:-0.90 [[ 9.66891274e-01 2.54116134e-01 2.33721095e-02 1.73335786e+02] [-2.54041812e-01 9.67173713e-01 -6.14548642e-03 3.18029903e+01] [-2.41665571e-02 4.52414773e-06 9.99707946e-01 -8.97873099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.37, Y:31.80, Z:-0.90 [[ 9.67871955e-01 2.50414896e-01 2.27213215e-02 1.73370385e+02] [-2.50343336e-01 9.68138610e-01 -5.98711002e-03 3.18030837e+01] [-2.34966501e-02 1.06624460e-04 9.99723910e-01 -8.98126994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.40, Y:31.80, Z:-0.90 [[ 9.68249323e-01 2.48908479e-01 2.31909088e-02 1.73403869e+02] [-2.48833187e-01 9.68526997e-01 -6.12382831e-03 3.18002898e+01] [-2.39852940e-02 1.58724875e-04 9.99712299e-01 -8.96973698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.44, Y:31.80, Z:-0.90 [[ 9.68829673e-01 2.46574048e-01 2.38810136e-02 1.73437306e+02] [-2.46493213e-01 9.69123926e-01 -6.31759681e-03 3.17998625e+01] [-2.47014171e-02 2.34167498e-04 9.99694846e-01 -8.96841921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40592 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:173.47, Y:31.79, Z:-0.90 [[ 9.69212079e-01 2.45025052e-01 2.43037049e-02 1.73469386e+02] [-2.44940549e-01 9.69516704e-01 -6.44109283e-03 3.17934578e+01] [-2.51410770e-02 2.89822139e-04 9.99683871e-01 -8.96220885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43592 meters Centerline goodness [0,1] 0.9999502289468445 Centerline is valid? [True, True] Translation: X:173.50, Y:31.79, Z:-0.90 [[ 9.70442854e-01 2.40176093e-01 2.35820087e-02 1.73501073e+02] [-2.40094830e-01 9.70729248e-01 -6.26097102e-03 3.17877096e+01] [-2.43954811e-02 4.13996217e-04 9.99702300e-01 -8.95188501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.53, Y:31.78, Z:-0.90 [[ 9.70708646e-01 2.39013532e-01 2.44388017e-02 1.73532837e+02] [-2.38925594e-01 9.71016122e-01 -6.50004850e-03 3.17821973e+01] [-2.52840700e-02 4.70598075e-04 9.99680196e-01 -8.96466920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:173.57, Y:31.78, Z:-0.90 [[ 9.71509739e-01 2.35303191e-01 2.83060997e-02 1.73565050e+02] [-2.35183446e-01 9.71921791e-01 -7.53515215e-03 3.17794196e+01] [-2.92843605e-02 6.63347638e-04 9.99570901e-01 -8.96625004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.60, Y:31.77, Z:-0.90 [[ 9.71715460e-01 2.34459192e-01 2.82480459e-02 1.73596991e+02] [-2.34339206e-01 9.72125711e-01 -7.53255719e-03 3.17728214e+01] [-2.92267289e-02 6.99877646e-04 9.99572563e-01 -8.96555398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55592000000001 meters Centerline goodness [0,1] 0.9998009653182067 Centerline is valid? [True, True] Translation: X:173.63, Y:31.76, Z:-0.90 [[ 9.72160573e-01 2.32595265e-01 2.83418939e-02 1.73628124e+02] [-2.32473304e-01 9.72573313e-01 -7.57064193e-03 3.17648034e+01] [-2.93254651e-02 7.71145878e-04 9.99569619e-01 -8.97080598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58592000000002 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:173.66, Y:31.76, Z:-0.90 [[ 9.72858999e-01 2.29676441e-01 2.81797854e-02 1.73659446e+02] [-2.29554270e-01 9.73266655e-01 -7.54027337e-03 3.17564057e+01] [-2.91582687e-02 8.66832723e-04 9.99574431e-01 -8.96951243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61592000000002 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:173.69, Y:31.75, Z:-0.90 [[ 9.73475885e-01 2.27156697e-01 2.72862006e-02 1.73690592e+02] [-2.27040813e-01 9.73857782e-01 -7.31360519e-03 3.17466631e+01] [-2.82342132e-02 9.24537123e-04 9.99600908e-01 -8.97421307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64592000000002 meters Centerline goodness [0,1] 0.9995516588622099 Centerline is valid? [True, True] Translation: X:173.72, Y:31.74, Z:-0.90 [[ 9.73725519e-01 2.26145546e-01 2.67732219e-02 1.73721520e+02] [-2.26033260e-01 9.74093062e-01 -7.18829326e-03 3.17376781e+01] [-2.77052102e-02 9.47785964e-04 9.99615688e-01 -8.96769981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67592000000002 meters Centerline goodness [0,1] 0.9998008563178333 Centerline is valid? [True, True] Translation: X:173.75, Y:31.73, Z:-0.90 [[ 9.73681352e-01 2.26074645e-01 2.88942898e-02 1.73752680e+02] [-2.25943434e-01 9.74109428e-01 -7.77091928e-03 3.17284307e+01] [-2.99030079e-02 1.03792415e-03 9.99552266e-01 -8.97980992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70592000000002 meters Centerline goodness [0,1] 0.9994520001992726 Centerline is valid? [True, True] Translation: X:173.78, Y:31.72, Z:-0.90 [[ 9.73471675e-01 2.27206151e-01 2.70233812e-02 1.73783482e+02] [-2.27091478e-01 9.73846221e-01 -7.27997523e-03 3.17183857e+01] [-2.79706728e-02 9.50070084e-04 9.99608293e-01 -8.96087908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73592 meters Centerline goodness [0,1] 0.9994515357000399 Centerline is valid? [True, True] Translation: X:173.81, Y:31.71, Z:-0.90 [[ 9.73004546e-01 2.29070557e-01 2.80861926e-02 1.73813840e+02] [-2.28947087e-01 9.73409363e-01 -7.57911550e-03 3.17086843e+01] [-2.90755150e-02 9.44261872e-04 9.99576772e-01 -8.97181381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76592 meters Centerline goodness [0,1] 0.9994515357000399 Centerline is valid? [True, True] Translation: X:173.85, Y:31.70, Z:-0.90 [[ 9.72892735e-01 2.29545417e-01 2.80825057e-02 1.73845359e+02] [-2.29421751e-01 9.73297493e-01 -7.59276451e-03 3.17005003e+01] [-2.90755167e-02 9.44207815e-04 9.99576772e-01 -8.97209487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.87, Y:31.69, Z:-0.90 [[ 9.71676478e-01 2.34453818e-01 2.96011820e-02 1.73874971e+02] [-2.34318265e-01 9.72126884e-01 -8.01702919e-03 3.16871907e+01] [-3.06557280e-02 8.53861071e-04 9.99529638e-01 -8.97716989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82592 meters Centerline goodness [0,1] 0.999950127175702 Centerline is valid? [True, True] Translation: X:173.91, Y:31.68, Z:-0.90 [[ 9.70832311e-01 2.37755182e-01 3.09369766e-02 1.73905347e+02] [-2.37608331e-01 9.71324785e-01 -8.39307857e-03 3.16768495e+01] [-3.20453501e-02 7.97388498e-04 9.99486098e-01 -8.97734563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.94, Y:31.67, Z:-0.90 [[ 9.69896991e-01 2.41654987e-01 3.00448776e-02 1.73936541e+02] [-2.41517915e-01 9.70362009e-01 -8.16509898e-03 3.16677104e+01] [-3.11275447e-02 6.62928723e-04 9.99515201e-01 -8.98194733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88592 meters Centerline goodness [0,1] 0.9999003438138423 Centerline is valid? [True, True] Translation: X:173.97, Y:31.66, Z:-0.90 [[ 9.69399405e-01 2.43762370e-01 2.90637387e-02 1.73967079e+02] [-2.43634644e-01 9.69834811e-01 -7.91201643e-03 3.16588219e+01] [-3.01156774e-02 5.88970372e-04 9.99546247e-01 -8.97798271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.00, Y:31.65, Z:-0.90 [[ 9.68863729e-01 2.45808300e-01 2.96876019e-02 1.73998280e+02] [-2.45675501e-01 9.69318304e-01 -8.09774762e-03 3.16482331e+01] [-3.07672295e-02 5.52097494e-04 9.99526424e-01 -8.97035575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.03, Y:31.64, Z:-0.90 [[ 9.68369900e-01 2.47480510e-01 3.18297739e-02 1.74029460e+02] [-2.47328254e-01 9.68892716e-01 -8.69711790e-03 3.16390283e+01] [-3.29920033e-02 5.49624788e-04 9.99455465e-01 -8.97641644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97592 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:174.06, Y:31.63, Z:-0.90 [[ 9.67400429e-01 2.51132074e-01 3.26969614e-02 1.74060322e+02] [-2.50972964e-01 9.67952725e-01 -8.94952123e-03 3.16295032e+01] [-3.38966247e-02 4.51717343e-04 9.99425242e-01 -8.97855242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:174.09, Y:31.62, Z:-0.90 [[ 9.66836347e-01 2.53011497e-01 3.48232720e-02 1.74091082e+02] [-2.52831626e-01 9.67463178e-01 -9.54822320e-03 3.16208945e+01] [-3.61060436e-02 4.27144748e-04 9.99347873e-01 -8.98821255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.12, Y:31.61, Z:-0.90 [[ 9.65627546e-01 2.57732419e-01 3.37260016e-02 1.74122299e+02] [-2.57566268e-01 9.66216299e-01 -9.25638862e-03 3.16121981e+01] [-3.49722839e-02 2.51543443e-04 9.99388251e-01 -8.98093016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06592 meters Centerline goodness [0,1] 0.9999501867995019 Centerline is valid? [True, True] Translation: X:174.15, Y:31.61, Z:-0.90 [[ 9.64929962e-01 2.60097677e-01 3.54875674e-02 1.74153918e+02] [-2.59914678e-01 9.65582292e-01 -9.75696835e-03 3.16053184e+01] [-3.68039315e-02 1.91051442e-04 9.99322488e-01 -8.98564132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.19, Y:31.60, Z:-0.90 [[ 9.63676574e-01 2.64593332e-01 3.63019212e-02 1.74187099e+02] [-2.64404257e-01 9.64360082e-01 -1.00010969e-02 3.15999945e+01] [-3.76543472e-02 3.94403241e-05 9.99290823e-01 -8.98474072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.22, Y:31.59, Z:-0.90 [[ 9.63129971e-01 2.66496371e-01 3.68828319e-02 1.74219209e+02] [-2.66301801e-01 9.63835922e-01 -1.01816841e-02 3.15921604e+01] [-3.82623801e-02 -1.56794485e-05 9.99267727e-01 -8.98963489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.25, Y:31.59, Z:-0.90 [[ 9.62681359e-01 2.68326280e-01 3.52931739e-02 1.74251145e+02] [-2.68148717e-01 9.63328087e-01 -9.76024046e-03 3.15866814e+01] [-3.66178347e-02 -6.78177571e-05 9.99329340e-01 -8.99412775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.28, Y:31.58, Z:-0.90 [[ 9.62498917e-01 2.68924458e-01 3.57137336e-02 1.74284202e+02] [-2.68742310e-01 9.63161269e-01 -9.89647512e-03 3.15815046e+01] [-3.70594892e-02 -7.24446701e-05 9.99313059e-01 -8.98574042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.32, Y:31.58, Z:-0.90 [[ 9.62526206e-01 2.68878537e-01 3.53218866e-02 1.74318718e+02] [-2.68699610e-01 9.63174091e-01 -9.80763312e-03 3.15806699e+01] [-3.66581881e-02 -5.08732556e-05 9.99327861e-01 -8.98213338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.35, Y:31.57, Z:-0.90 [[ 9.62097495e-01 2.70268513e-01 3.63777448e-02 1.74350838e+02] [-2.70079042e-01 9.62784983e-01 -1.01187076e-02 3.15744764e+01] [-3.77587144e-02 -8.96832842e-05 9.99286881e-01 -8.98766186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.38, Y:31.57, Z:-0.90 [[ 9.62575666e-01 2.68715684e-01 3.52131725e-02 1.74383267e+02] [-2.68536487e-01 9.63219539e-01 -9.81193334e-03 3.15722935e+01] [-3.65546361e-02 -1.12933750e-05 9.99331656e-01 -8.99889987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30592000000001 meters Centerline goodness [0,1] 0.999950206642434 Centerline is valid? [True, True] Translation: X:174.42, Y:31.57, Z:-0.90 [[ 9.62841440e-01 2.67719968e-01 3.55299795e-02 1.74416016e+02] [-2.67536123e-01 9.63496765e-01 -9.91999211e-03 3.15671470e+01] [-3.68888003e-02 4.58265424e-05 9.99319376e-01 -9.00679036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.45, Y:31.56, Z:-0.90 [[ 9.63545906e-01 2.65535575e-01 3.27130740e-02 1.74448711e+02] [-2.65377937e-01 9.64101053e-01 -9.14933347e-03 3.15642552e+01] [-3.39681826e-02 1.34474726e-04 9.99422906e-01 -9.00979374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.48, Y:31.56, Z:-0.90 [[ 9.63978135e-01 2.64050360e-01 3.19931603e-02 1.74480913e+02] [-2.63898577e-01 9.64508876e-01 -8.95374108e-03 3.15580336e+01] [-3.32219256e-02 1.88261180e-04 9.99447982e-01 -9.01021859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39592000000002 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:174.51, Y:31.56, Z:-0.90 [[ 9.64807551e-01 2.61181159e-01 3.05088895e-02 1.74513471e+02] [-2.61041568e-01 9.65289762e-01 -8.54253450e-03 3.15553901e+01] [-3.16810678e-02 2.77813424e-04 9.99497990e-01 -8.99609701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42592000000002 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:174.54, Y:31.55, Z:-0.90 [[ 9.65040280e-01 2.60151703e-01 3.19115838e-02 1.74544771e+02] [-2.59998269e-01 9.65567699e-01 -8.93967739e-03 3.15493485e+01] [-3.31384668e-02 3.30192227e-04 9.99450716e-01 -9.00511225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.58, Y:31.54, Z:-0.90 [[ 9.65725789e-01 2.57909579e-01 2.92634617e-02 1.74576721e+02] [-2.57779409e-01 9.66168985e-01 -8.20181239e-03 3.15442652e+01] [-3.03887751e-02 3.77183870e-04 9.99538083e-01 -8.99865798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.61, Y:31.54, Z:-0.90 [[ 9.65763323e-01 2.57594479e-01 3.07618123e-02 1.74608328e+02] [-2.57450339e-01 9.66253029e-01 -8.62598099e-03 3.15375916e+01] [-3.19456993e-02 4.11017073e-04 9.99489521e-01 -9.00995903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51592 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:174.64, Y:31.53, Z:-0.90 [[ 9.65933935e-01 2.57102375e-01 2.94957795e-02 1.74640525e+02] [-2.56969506e-01 9.66384084e-01 -8.27499927e-03 3.15326588e+01] [-3.06317738e-02 4.13586737e-04 9.99530652e-01 -9.01924021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.67, Y:31.52, Z:-0.90 [[ 9.66020223e-01 2.56748635e-01 2.97500742e-02 1.74672145e+02] [-2.56613171e-01 9.66478118e-01 -8.35036435e-03 3.15249909e+01] [-3.08967404e-02 4.32359941e-04 9.99522488e-01 -9.03181324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.70, Y:31.52, Z:-0.90 [[ 9.66096365e-01 2.56633100e-01 2.82359031e-02 1.74703064e+02] [-2.56510916e-01 9.66508809e-01 -7.92919496e-03 3.15176652e+01] [-2.93251430e-02 4.17549059e-04 9.99569838e-01 -9.02565717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.74, Y:31.51, Z:-0.90 [[ 9.65693397e-01 2.58093222e-01 2.87080489e-02 1.74735517e+02] [-2.57967388e-01 9.66119941e-01 -8.06762290e-03 3.15103598e+01] [-2.98176173e-02 3.85109784e-04 9.99555282e-01 -9.02933861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63592 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:174.77, Y:31.51, Z:-0.90 [[ 9.64579922e-01 2.62343759e-01 2.75921579e-02 1.74768004e+02] [-2.62229146e-01 9.64974451e-01 -7.75782489e-03 3.15057266e+01] [-2.86609443e-02 2.47574118e-04 9.99589160e-01 -9.02507626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.80, Y:31.50, Z:-0.90 [[ 9.64128219e-01 2.63935988e-01 2.81881441e-02 1.74799739e+02] [-2.63816881e-01 9.64540175e-01 -7.93115176e-03 3.14979916e+01] [-2.92819139e-02 2.10138944e-04 9.99571171e-01 -9.01572880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69592 meters Centerline goodness [0,1] 0.9999501843180233 Centerline is valid? [True, True] Translation: X:174.83, Y:31.49, Z:-0.90 [[ 9.63386533e-01 2.66450968e-01 2.98374030e-02 1.74830476e+02] [-2.66318588e-01 9.63848463e-01 -8.39936536e-03 3.14898555e+01] [-3.09967541e-02 1.45580443e-04 9.99519475e-01 -9.02640551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.86, Y:31.48, Z:-0.90 [[ 9.62584557e-01 2.69351542e-01 2.96768876e-02 1.74862101e+02] [-2.69221833e-01 9.63041922e-01 -8.35825934e-03 3.14841173e+01] [-3.08313970e-02 5.58652634e-05 9.99524598e-01 -9.02757593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75592 meters Centerline goodness [0,1] 0.9999004132848678 Centerline is valid? [True, True] Translation: X:174.89, Y:31.48, Z:-0.90 [[ 9.62392982e-01 2.70123073e-01 2.88664880e-02 1.74894281e+02] [-2.70000552e-01 9.62825802e-01 -8.13496645e-03 3.14777641e+01] [-2.99908416e-02 3.50669374e-05 9.99550173e-01 -9.02854265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.93, Y:31.47, Z:-0.90 [[ 9.62144470e-01 2.71160292e-01 2.73882348e-02 1.74926345e+02] [-2.71050312e-01 9.62534205e-01 -7.72220782e-03 3.14733547e+01] [-2.84560690e-02 6.28996282e-06 9.99595044e-01 -9.02783740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.96, Y:31.47, Z:-0.90 [[ 9.61887177e-01 2.71845680e-01 2.95463189e-02 1.74957961e+02] [-2.71717877e-01 9.62340858e-01 -8.33482944e-03 3.14662298e+01] [-3.06994172e-02 -1.10974728e-05 9.99528662e-01 -9.04016463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84592 meters Centerline goodness [0,1] 0.999800488802434 Centerline is valid? [True, True] Translation: X:174.99, Y:31.46, Z:-0.90 [[ 9.62385474e-01 2.70220538e-01 2.81968031e-02 1.74990648e+02] [-2.70103333e-01 9.62798452e-01 -7.95803916e-03 3.14624555e+01] [-2.92982640e-02 4.26507943e-05 9.99570713e-01 -9.03043596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.02, Y:31.46, Z:-0.90 [[ 9.62587195e-01 2.69609067e-01 2.71448544e-02 1.75022523e+02] [-2.69500097e-01 9.62969858e-01 -7.66489690e-03 3.14555808e+01] [-2.82062023e-02 6.25907105e-05 9.99602124e-01 -9.02746321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.05, Y:31.45, Z:-0.90 [[ 9.63292235e-01 2.67128955e-01 2.66494166e-02 1.75054230e+02] [-2.67022875e-01 9.63660782e-01 -7.52868248e-03 3.14493061e+01] [-2.76921267e-02 1.36317542e-04 9.99616490e-01 -9.04185058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93592 meters Centerline goodness [0,1] 0.9999501420950292 Centerline is valid? [True, True] Translation: X:175.09, Y:31.44, Z:-0.90 [[ 9.63560545e-01 2.66352058e-01 2.46506931e-02 1.75085846e+02] [-2.66260956e-01 9.63875800e-01 -6.96739429e-03 3.14419437e+01] [-2.56159864e-02 1.49989115e-04 9.99671846e-01 -9.03308615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96592 meters Centerline goodness [0,1] 0.999900363672595 Centerline is valid? [True, True] Translation: X:175.12, Y:31.44, Z:-0.90 [[ 9.64000228e-01 2.64900494e-01 2.30496991e-02 1.75118225e+02] [-2.64820353e-01 9.64275737e-01 -6.51801567e-03 3.14367847e+01] [-2.39528911e-02 1.79339153e-04 9.99713072e-01 -9.04263204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99592 meters Centerline goodness [0,1] 0.9999003934458888 Centerline is valid? [True, True] Translation: X:175.15, Y:31.43, Z:-0.91 [[ 9.63992921e-01 2.64836517e-01 2.40679834e-02 1.75149689e+02] [-2.64749035e-01 9.64293307e-01 -6.80925754e-03 3.14282435e+01] [-2.50119354e-02 1.92100685e-04 9.99687134e-01 -9.06044536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02592 meters Centerline goodness [0,1] 0.9998007074884161 Centerline is valid? [True, True] Translation: X:175.18, Y:31.42, Z:-0.90 [[ 9.63267060e-01 2.67555435e-01 2.30360516e-02 1.75179747e+02] [-2.67476015e-01 9.63542462e-01 -6.51967359e-03 3.14188382e+01] [-2.39405880e-02 1.18595518e-04 9.99713376e-01 -9.04215905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05592000000001 meters Centerline goodness [0,1] 0.9999003438138423 Centerline is valid? [True, True] Translation: X:175.21, Y:31.41, Z:-0.90 [[ 9.62081891e-01 2.71799597e-01 2.28782267e-02 1.75210672e+02] [-2.71722422e-01 9.62353874e-01 -6.47661163e-03 3.14130776e+01] [-2.37772905e-02 1.45035883e-05 9.99717280e-01 -9.03594591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08592000000002 meters Centerline goodness [0,1] 0.9999004628477579 Centerline is valid? [True, True] Translation: X:175.24, Y:31.41, Z:-0.90 [[ 9.61353240e-01 2.74190012e-01 2.48954688e-02 1.75241049e+02] [-2.74099382e-01 9.61675535e-01 -7.04940529e-03 3.14060073e+01] [-2.58742398e-02 -4.68639887e-05 9.99665205e-01 -9.04046168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.27, Y:31.40, Z:-0.90 [[ 9.60393739e-01 2.77598689e-01 2.41419494e-02 1.75271135e+02] [-2.77514496e-01 9.60697117e-01 -6.83769280e-03 3.13977032e+01] [-2.50912358e-02 -1.32863569e-04 9.99685157e-01 -9.04400505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14592000000002 meters Centerline goodness [0,1] 0.9999501793543244 Centerline is valid? [True, True] Translation: X:175.30, Y:31.39, Z:-0.90 [[ 9.60178603e-01 2.78308793e-01 2.45207366e-02 1.75301389e+02] [-2.78222104e-01 9.60491641e-01 -6.94750166e-03 3.13904485e+01] [-2.54855133e-02 -1.51368498e-04 9.99675180e-01 -9.04312487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.33, Y:31.38, Z:-0.90 [[ 9.59974912e-01 2.79228723e-01 2.18972037e-02 1.75332138e+02] [-2.79159798e-01 9.60224607e-01 -6.20573221e-03 3.13837073e+01] [-2.27590525e-02 -1.55471742e-04 9.99740967e-01 -9.04095931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20592000000002 meters Centerline goodness [0,1] 0.9999501843180233 Centerline is valid? [True, True] Translation: X:175.36, Y:31.38, Z:-0.90 [[ 9.59901419e-01 2.79550873e-01 2.09898850e-02 1.75361892e+02] [-2.79487648e-01 9.60130869e-01 -5.94725915e-03 3.13796166e+01] [-2.18155980e-02 -1.57631104e-04 9.99761999e-01 -9.03527178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23592 meters Centerline goodness [0,1] 0.9999004876107075 Centerline is valid? [True, True] Translation: X:175.39, Y:31.37, Z:-0.90 [[ 9.60694741e-01 2.76672574e-01 2.27574347e-02 1.75389585e+02] [-2.76597696e-01 9.60964242e-01 -6.43736390e-03 3.13732807e+01] [-2.36501231e-02 -1.10312364e-04 9.99720291e-01 -9.03595582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.42, Y:31.37, Z:-0.90 [[ 9.61130222e-01 2.75123057e-01 2.31516530e-02 1.75418605e+02] [-2.75045160e-01 9.61409017e-01 -6.54692058e-03 3.13665846e+01] [-2.40594168e-02 -7.53068722e-05 9.99710528e-01 -9.03080015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.45, Y:31.36, Z:-0.90 [[ 9.61643486e-01 2.73322914e-01 2.31601254e-02 1.75447606e+02] [-2.73244476e-01 9.61922338e-01 -6.54773101e-03 3.13608670e+01] [-2.40678869e-02 -3.17934504e-05 9.99710326e-01 -9.03285553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.48, Y:31.36, Z:-0.90 [[ 9.62184799e-01 2.71563493e-01 2.12998141e-02 1.75476036e+02] [-2.71496940e-01 9.62420526e-01 -6.01182177e-03 3.13569003e+01] [-2.21319697e-02 1.64915646e-06 9.99755058e-01 -9.03364477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.50, Y:31.35, Z:-0.90 [[ 9.62507831e-01 2.70436894e-01 2.10371556e-02 1.75502915e+02] [-2.70371956e-01 9.62737704e-01 -5.92614127e-03 3.13505118e+01] [-2.18559101e-02 1.61004690e-05 9.99761131e-01 -9.03487255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38592 meters Centerline goodness [0,1] 0.9999004479840716 Centerline is valid? [True, True] Translation: X:175.53, Y:31.34, Z:-0.90 [[ 9.62825316e-01 2.69180923e-01 2.25619589e-02 1.75531244e+02] [-2.69106143e-01 9.63089627e-01 -6.34463556e-03 3.13439293e+01] [-2.34370434e-02 3.72139926e-05 9.99725314e-01 -9.03286398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41592 meters Centerline goodness [0,1] 0.9999501669407485 Centerline is valid? [True, True] Translation: X:175.56, Y:31.34, Z:-0.90 [[ 9.63264658e-01 2.67783160e-01 2.03316805e-02 1.75559339e+02] [-2.67722331e-01 9.63479204e-01 -5.70765957e-03 3.13372226e+01] [-2.11175665e-02 5.47418480e-05 9.99776998e-01 -9.01929965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:175.59, Y:31.33, Z:-0.90 [[ 9.63835021e-01 2.65754599e-01 1.99134311e-02 1.75586474e+02] [-2.65696039e-01 9.64040707e-01 -5.57939227e-03 3.13316209e+01] [-2.06801074e-02 8.66938976e-05 9.99786140e-01 -9.02822494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:175.61, Y:31.32, Z:-0.90 [[ 9.64588132e-01 2.63012193e-01 1.98575471e-02 1.75613222e+02] [-2.62953604e-01 9.64792500e-01 -5.55283388e-03 3.13247564e+01] [-2.06188756e-02 1.34584072e-04 9.99787399e-01 -9.03436100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.64, Y:31.32, Z:-0.90 [[ 9.64935774e-01 2.61706480e-01 2.02155877e-02 1.75640564e+02] [-2.61645676e-01 9.65147499e-01 -5.64321821e-03 3.13171067e+01] [-2.09878907e-02 1.56022022e-04 9.99779718e-01 -9.02727080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.67, Y:31.31, Z:-0.90 [[ 9.65259741e-01 2.60538592e-01 1.98311538e-02 1.75667409e+02] [-2.60480053e-01 9.65463419e-01 -5.52522735e-03 3.13099835e+01] [-2.05857885e-02 1.67659544e-04 9.99788076e-01 -9.03143094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56592 meters Centerline goodness [0,1] 0.9997508595346056 Centerline is valid? [True, True] Translation: X:175.69, Y:31.30, Z:-0.90 [[ 9.65604172e-01 2.59324254e-01 1.89608490e-02 1.75694120e+02] [-2.59270707e-01 9.65790298e-01 -5.27254322e-03 3.13024112e+01] [-1.96795024e-02 1.75196993e-04 9.99806324e-01 -9.03531885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59592 meters Centerline goodness [0,1] 0.9998506273650667 Centerline is valid? [True, True] Translation: X:175.72, Y:31.29, Z:-0.90 [[ 9.66034998e-01 2.57779745e-01 1.80550621e-02 1.75720376e+02] [-2.57731104e-01 9.66203689e-01 -5.01100529e-03 3.12940540e+01] [-1.87366033e-02 1.87455393e-04 9.99824437e-01 -9.03594482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62592 meters Centerline goodness [0,1] 0.9995519713261649 Centerline is valid? [True, True] Translation: X:175.75, Y:31.28, Z:-0.90 [[ 9.66238941e-01 2.56928759e-01 1.92333446e-02 1.75747234e+02] [-2.56873576e-01 9.66430323e-01 -5.32882277e-03 3.12831750e+01] [-1.99568152e-02 2.08378069e-04 9.99800821e-01 -9.04925310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65592 meters Centerline goodness [0,1] 0.9992526530815604 Centerline is valid? [True, True] Translation: X:175.77, Y:31.27, Z:-0.90 [[ 9.66562112e-01 2.55608055e-01 2.05476385e-02 1.75774948e+02] [-2.55544981e-01 9.66780463e-01 -5.68324469e-03 3.12747551e+01] [-2.13177386e-02 2.42363098e-04 9.99772722e-01 -9.04860200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68592 meters Centerline goodness [0,1] 0.998805910741828 Centerline is valid? [True, True] Translation: X:175.80, Y:31.27, Z:-0.90 [[ 9.66838145e-01 2.54576063e-01 2.03722879e-02 1.75801822e+02] [-2.54514062e-01 9.67052721e-01 -5.62385129e-03 3.12654815e+01] [-2.11327744e-02 2.52320216e-04 9.99776646e-01 -9.04781606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71592 meters Centerline goodness [0,1] 0.998805910741828 Centerline is valid? [True, True] Translation: X:175.83, Y:31.26, Z:-0.90 [[ 9.66964240e-01 2.54096467e-01 2.03750750e-02 1.75828172e+02] [-2.54034573e-01 9.67178847e-01 -5.61374495e-03 3.12578689e+01] [-2.11327743e-02 2.52317152e-04 9.99776646e-01 -9.04805344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74592 meters Centerline goodness [0,1] 0.9995005743395096 Centerline is valid? [True, True] Translation: X:175.86, Y:31.25, Z:-0.91 [[ 9.67238970e-01 2.52956541e-01 2.14886810e-02 1.75855127e+02] [-2.52887639e-01 9.67477601e-01 -5.91047188e-03 3.12469341e+01] [-2.22849100e-02 2.82616942e-04 9.99751621e-01 -9.05338317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77592 meters Centerline goodness [0,1] 0.9989535579031293 Centerline is valid? [True, True] Translation: X:175.88, Y:31.23, Z:-0.90 [[ 9.67607987e-01 2.51521668e-01 2.17171116e-02 1.75882527e+02] [-2.51450972e-01 9.67851616e-01 -5.97151435e-03 3.12334645e+01] [-2.25209068e-02 3.17296166e-04 9.99746322e-01 -9.04655926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80592000000001 meters Centerline goodness [0,1] 0.9984052626333101 Centerline is valid? [True, True] Translation: X:175.91, Y:31.22, Z:-0.90 [[ 9.67608922e-01 2.51424696e-01 2.27727267e-02 1.75911823e+02] [-2.51346933e-01 9.67876805e-01 -6.26171658e-03 3.12239975e+01] [-2.36155442e-02 3.35037814e-04 9.99721058e-01 -9.04521804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83592000000002 meters Centerline goodness [0,1] 0.9982541028582831 Centerline is valid? [True, True] Translation: X:175.94, Y:31.21, Z:-0.90 [[ 9.67691561e-01 2.51047279e-01 2.34159363e-02 1.75940244e+02] [-2.50964950e-01 9.67974761e-01 -6.43857710e-03 3.12132957e+01] [-2.42824226e-02 3.53977431e-04 9.99705076e-01 -9.04431349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86592000000002 meters Centerline goodness [0,1] 0.9990033884791708 Centerline is valid? [True, True] Translation: X:175.97, Y:31.20, Z:-0.91 [[ 9.67349284e-01 2.52359607e-01 2.34518830e-02 1.75969361e+02] [-2.52277374e-01 9.67633466e-01 -6.44996789e-03 3.12012619e+01] [-2.43205382e-02 3.22992358e-04 9.99704160e-01 -9.05907561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89592000000002 meters Centerline goodness [0,1] 0.9985556330311784 Centerline is valid? [True, True] Translation: X:176.00, Y:31.19, Z:-0.91 [[ 9.67101488e-01 2.53374041e-01 2.27223830e-02 1.75999197e+02] [-2.53297090e-01 9.67368343e-01 -6.25083990e-03 3.11914754e+01] [-2.35647145e-02 2.89683085e-04 9.99722272e-01 -9.05242745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92592000000002 meters Centerline goodness [0,1] 0.999052794256942 Centerline is valid? [True, True] Translation: X:176.03, Y:31.18, Z:-0.90 [[ 9.66666227e-01 2.54921117e-01 2.39087940e-02 1.76029148e+02] [-2.54836351e-01 9.66961816e-01 -6.57881990e-03 3.11817820e+01] [-2.47959710e-02 2.66693183e-04 9.99692497e-01 -9.04998578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95592000000002 meters Centerline goodness [0,1] 0.9991017964071857 Centerline is valid? [True, True] Translation: X:176.06, Y:31.17, Z:-0.91 [[ 9.65831361e-01 2.58052319e-01 2.40578947e-02 1.76059020e+02] [-2.57967423e-01 9.66130925e-01 -6.62146383e-03 3.11721147e+01] [-2.49517602e-02 1.89064331e-04 9.99688638e-01 -9.05138362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98592 meters Centerline goodness [0,1] 0.9990044798407167 Centerline is valid? [True, True] Translation: X:176.09, Y:31.16, Z:-0.91 [[ 9.65458754e-01 2.59496606e-01 2.34713674e-02 1.76088916e+02] [-2.59416187e-01 9.65744008e-01 -6.46162211e-03 3.11630003e+01] [-2.43441014e-02 1.49576987e-04 9.99703627e-01 -9.05702636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01592 meters Centerline goodness [0,1] 0.9991526690923591 Centerline is valid? [True, True] Translation: X:176.12, Y:31.15, Z:-0.91 [[ 9.64939072e-01 2.61510478e-01 2.24690417e-02 1.76118715e+02] [-2.61437293e-01 9.65200632e-01 -6.18719433e-03 3.11541185e+01] [-2.33051494e-02 9.60201176e-05 9.99728394e-01 -9.05186325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04592 meters Centerline goodness [0,1] 0.9990044798407167 Centerline is valid? [True, True] Translation: X:176.15, Y:31.15, Z:-0.90 [[ 9.64215377e-01 2.64178734e-01 2.23227273e-02 1.76148926e+02] [-2.64107177e-01 9.64473740e-01 -6.14842407e-03 3.11462351e+01] [-2.31539671e-02 3.28125374e-05 9.99731910e-01 -9.04599301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07592 meters Centerline goodness [0,1] 0.9992525041112273 Centerline is valid? [True, True] Translation: X:176.18, Y:31.14, Z:-0.91 [[ 9.63848846e-01 2.65413231e-01 2.34780386e-02 1.76179447e+02] [-2.65334403e-01 9.64134750e-01 -6.46825048e-03 3.11389285e+01] [-2.43527521e-02 4.88442335e-06 9.99703428e-01 -9.05308063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10592 meters Centerline goodness [0,1] 0.9993511355128525 Centerline is valid? [True, True] Translation: X:176.21, Y:31.13, Z:-0.91 [[ 9.62983809e-01 2.68524011e-01 2.36016832e-02 1.76209721e+02] [-2.68445243e-01 9.63272988e-01 -6.50393753e-03 3.11316168e+01] [-2.44813273e-02 -7.25730519e-05 9.99700285e-01 -9.05208832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13592 meters Centerline goodness [0,1] 0.9992531740104555 Centerline is valid? [True, True] Translation: X:176.24, Y:31.12, Z:-0.90 [[ 9.62688236e-01 2.69738527e-01 2.17367842e-02 1.76239655e+02] [-2.69671987e-01 9.62933600e-01 -5.99176412e-03 3.11238025e+01] [-2.25472895e-02 -9.36009530e-05 9.99745773e-01 -9.03773928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16592 meters Centerline goodness [0,1] 0.9994030444731867 Centerline is valid? [True, True] Translation: X:176.27, Y:31.12, Z:-0.90 [[ 9.62582157e-01 2.70248195e-01 2.00375579e-02 1.76269208e+02] [-2.70191762e-01 9.62790685e-01 -5.52343274e-03 3.11173715e+01] [-2.07846718e-02 -9.72252679e-05 9.99783971e-01 -9.03216720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19592 meters Centerline goodness [0,1] 0.9994025094602669 Centerline is valid? [True, True] Translation: X:176.30, Y:31.11, Z:-0.90 [[ 9.62439967e-01 2.70740838e-01 2.02165559e-02 1.76297152e+02] [-2.70683697e-01 9.62652266e-01 -5.56338176e-03 3.11098392e+01] [-2.09677480e-02 -1.17871142e-04 9.99780146e-01 -9.03045272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22592 meters Centerline goodness [0,1] 0.999352105656616 Centerline is valid? [True, True] Translation: X:176.33, Y:31.10, Z:-0.90 [[ 9.62422762e-01 2.70798691e-01 2.02606944e-02 1.76326074e+02] [-2.70741350e-01 9.62635993e-01 -5.57377579e-03 3.11034192e+01] [-2.10130448e-02 -1.21079050e-04 9.99779194e-01 -9.03278173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25592 meters Centerline goodness [0,1] 0.9992523923444976 Centerline is valid? [True, True] Translation: X:176.35, Y:31.10, Z:-0.90 [[ 9.62604925e-01 2.70212808e-01 1.94112296e-02 1.76354850e+02] [-2.70160240e-01 9.62800616e-01 -5.33098979e-03 3.10985348e+01] [-2.01296455e-02 -1.12505401e-04 9.99797372e-01 -9.02469529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28592 meters Centerline goodness [0,1] 0.9993024066968957 Centerline is valid? [True, True] Translation: X:176.38, Y:31.09, Z:-0.90 [[ 9.62877467e-01 2.69245576e-01 1.93340223e-02 1.76383005e+02] [-2.69193442e-01 9.63071550e-01 -5.29917887e-03 3.10948278e+01] [-2.00468273e-02 -1.02132093e-04 9.99799037e-01 -9.02124465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31592 meters Centerline goodness [0,1] 0.9990010987913296 Centerline is valid? [True, True] Translation: X:176.41, Y:31.09, Z:-0.90 [[ 9.62928061e-01 2.69077183e-01 1.91577522e-02 1.76410066e+02] [-2.69026172e-01 9.63118610e-01 -5.24029360e-03 3.10889177e+01] [-1.98612311e-02 -1.07910986e-04 9.99802740e-01 -9.01742729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34592 meters Centerline goodness [0,1] 0.9989544436146378 Centerline is valid? [True, True] Translation: X:176.44, Y:31.08, Z:-0.90 [[ 9.63056406e-01 2.68560710e-01 1.99375101e-02 1.76438365e+02] [-2.68505553e-01 9.63262754e-01 -5.44381658e-03 3.10824662e+01] [-2.06670561e-02 -1.10629741e-04 9.99786407e-01 -9.02082039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37592 meters Centerline goodness [0,1] 0.9988019169329073 Centerline is valid? [True, True] Translation: X:176.47, Y:31.08, Z:-0.90 [[ 9.63751473e-01 2.66176856e-01 1.82477442e-02 1.76466832e+02] [-2.66130392e-01 9.63924207e-01 -4.97366978e-03 3.10774609e+01] [-1.89133182e-02 -6.28977442e-05 9.99821125e-01 -9.00491113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40592 meters Centerline goodness [0,1] 0.9981042654028436 Centerline is valid? [True, True] Translation: X:176.50, Y:31.07, Z:-0.90 [[ 9.64786672e-01 2.62503161e-01 1.66963295e-02 1.76495546e+02] [-2.62463851e-01 9.64931132e-01 -4.54274071e-03 3.10744984e+01] [-1.73032919e-02 5.92751267e-07 9.99850287e-01 -8.99831409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43592 meters Centerline goodness [0,1] 0.9982558429261973 Centerline is valid? [True, True] Translation: X:176.52, Y:31.07, Z:-0.90 [[ 9.65278367e-01 2.60602559e-01 1.79994395e-02 1.76523954e+02] [-2.60556705e-01 9.65446169e-01 -4.88855589e-03 3.10679889e+01] [-1.86514601e-02 2.89426107e-05 9.99826046e-01 -9.00426390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46592 meters Centerline goodness [0,1] 0.9981048326766745 Centerline is valid? [True, True] Translation: X:176.55, Y:31.06, Z:-0.90 [[ 9.66230732e-01 2.57001825e-01 1.86610382e-02 1.76552153e+02] [-2.56952038e-01 9.66410913e-01 -5.05930939e-03 3.10629167e+01] [-1.93344827e-02 9.34684031e-05 9.99813067e-01 -9.00805841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49592 meters Centerline goodness [0,1] 0.9983070258427525 Centerline is valid? [True, True] Translation: X:176.58, Y:31.06, Z:-0.90 [[ 9.66830942e-01 2.54749878e-01 1.84507451e-02 1.76579581e+02] [-2.54700988e-01 9.67006972e-01 -4.99232050e-03 3.10569662e+01] [-1.91137922e-02 1.27306930e-04 9.99817307e-01 -9.01340611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52592 meters Centerline goodness [0,1] 0.9980557355800389 Centerline is valid? [True, True] Translation: X:176.61, Y:31.05, Z:-0.90 [[ 9.67701970e-01 2.51524011e-01 1.69873232e-02 1.76607366e+02] [-2.51482232e-01 9.67851044e-01 -4.58726825e-03 3.10517283e+01] [-1.75950066e-02 1.67098576e-04 9.99845182e-01 -9.00478613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55592000000001 meters Centerline goodness [0,1] 0.9969129655447122 Centerline is valid? [True, True] Translation: X:176.64, Y:31.04, Z:-0.90 [[ 9.68270989e-01 2.49308722e-01 1.72178158e-02 1.76635387e+02] [-2.49265597e-01 9.68424039e-01 -4.64130627e-03 3.10447262e+01] [-1.78312648e-02 2.02233074e-04 9.99840990e-01 -9.00787104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58592000000002 meters Centerline goodness [0,1] 0.9974125491366871 Centerline is valid? [True, True] Translation: X:176.66, Y:31.04, Z:-0.90 [[ 9.69326433e-01 2.45022489e-01 1.92417600e-02 1.76663251e+02] [-2.44967963e-01 9.69517347e-01 -5.17788957e-03 3.10365635e+01] [-1.99239195e-02 3.05450492e-04 9.99801452e-01 -9.00655639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61592000000002 meters Centerline goodness [0,1] 0.997014628321226 Centerline is valid? [True, True] Translation: X:176.69, Y:31.03, Z:-0.90 [[ 9.69840377e-01 2.42917848e-01 2.00140580e-02 1.76691109e+02] [-2.42858602e-01 9.70046800e-01 -5.37639328e-03 3.10288382e+01] [-2.07205948e-02 3.53657157e-04 9.99785243e-01 -9.01742763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64592000000002 meters Centerline goodness [0,1] 0.9972620469932297 Centerline is valid? [True, True] Translation: X:176.72, Y:31.02, Z:-0.90 [[ 9.70720284e-01 2.39350541e-01 2.03334415e-02 1.76719315e+02] [-2.39288801e-01 9.70933126e-01 -5.45290543e-03 3.10216196e+01] [-2.10475678e-02 4.27681064e-04 9.99778384e-01 -9.02514666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67592000000002 meters Centerline goodness [0,1] 0.9973613462112915 Centerline is valid? [True, True] Translation: X:176.75, Y:31.01, Z:-0.90 [[ 9.71438852e-01 2.36484103e-01 1.95403669e-02 1.76747126e+02] [-2.36426685e-01 9.71635248e-01 -5.23132454e-03 3.10141284e+01] [-2.02232344e-02 4.62047725e-04 9.99795383e-01 -9.02943350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70592000000002 meters Centerline goodness [0,1] 0.9966108452950558 Centerline is valid? [True, True] Translation: X:176.77, Y:31.01, Z:-0.90 [[ 9.72520893e-01 2.31975715e-01 1.97580404e-02 1.76774930e+02] [-2.31916190e-01 9.72721418e-01 -5.28424891e-03 3.10084411e+01] [-2.04448865e-02 5.56833017e-04 9.99790826e-01 -9.02520578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73592 meters Centerline goodness [0,1] 0.9962627067968906 Centerline is valid? [True, True] Translation: X:176.80, Y:31.00, Z:-0.90 [[ 9.73094282e-01 2.29626628e-01 1.89507204e-02 1.76802540e+02] [-2.29571588e-01 9.73278626e-01 -5.05991550e-03 3.10010310e+01] [-1.96062225e-02 5.73227854e-04 9.99807615e-01 -9.02250250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76592 meters Centerline goodness [0,1] 0.9963647228723669 Centerline is valid? [True, True] Translation: X:176.83, Y:30.99, Z:-0.90 [[ 9.73321770e-01 2.28440489e-01 2.14400389e-02 1.76829939e+02] [-2.28369965e-01 9.73557651e-01 -5.71488740e-03 3.09905628e+01] [-2.21786255e-02 6.66163387e-04 9.99753802e-01 -9.04023200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79592 meters Centerline goodness [0,1] 0.9964134495641345 Centerline is valid? [True, True] Translation: X:176.86, Y:30.98, Z:-0.90 [[ 9.73672695e-01 2.26951460e-01 2.13194278e-02 1.76857451e+02] [-2.26881581e-01 9.73905829e-01 -5.67320213e-03 3.09826537e+01] [-2.20506565e-02 6.86856512e-04 9.99756619e-01 -9.04288872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82592 meters Centerline goodness [0,1] 0.9954688044614849 Centerline is valid? [True, True] Translation: X:176.89, Y:30.98, Z:-0.90 [[ 9.73937249e-01 2.25702819e-01 2.24604787e-02 1.76885401e+02] [-2.25625158e-01 9.74195917e-01 -5.96688181e-03 3.09752858e+01] [-2.32276487e-02 7.43719407e-04 9.99729925e-01 -9.04303394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85592 meters Centerline goodness [0,1] 0.9961647656522389 Centerline is valid? [True, True] Translation: X:176.91, Y:30.97, Z:-0.90 [[ 9.74471437e-01 2.23337219e-01 2.29326148e-02 1.76912843e+02] [-2.23255845e-01 9.74740907e-01 -6.08214560e-03 3.09679107e+01] [-2.37117272e-02 8.07036883e-04 9.99718512e-01 -9.04572214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88592 meters Centerline goodness [0,1] 0.9969081932877873 Centerline is valid? [True, True] Translation: X:176.94, Y:30.96, Z:-0.90 [[ 9.74994920e-01 2.21081880e-01 2.25324013e-02 1.76940720e+02] [-2.21002760e-01 9.75254884e-01 -5.97427697e-03 3.09580357e+01] [-2.32956388e-02 8.45166804e-04 9.99728263e-01 -9.03742596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91592 meters Centerline goodness [0,1] 0.9964611473857349 Centerline is valid? [True, True] Translation: X:176.97, Y:30.95, Z:-0.90 [[ 9.75335606e-01 2.19607345e-01 2.22051565e-02 1.76968763e+02] [-2.19530342e-01 9.75587965e-01 -5.87803154e-03 3.09506829e+01] [-2.29539424e-02 8.58347841e-04 9.99736155e-01 -9.03909379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94592 meters Centerline goodness [0,1] 0.9975097121227214 Centerline is valid? [True, True] Translation: X:177.00, Y:30.94, Z:-0.90 [[ 9.75801596e-01 2.17666218e-01 2.08005350e-02 1.76996819e+02] [-2.17598406e-01 9.76022907e-01 -5.49710592e-03 3.09433792e+01] [-2.14983329e-02 8.37921470e-04 9.99768533e-01 -9.04814442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97592 meters Centerline goodness [0,1] 0.9981501849815019 Centerline is valid? [True, True] Translation: X:177.02, Y:30.93, Z:-0.90 [[ 9.75844889e-01 2.17511633e-01 2.03823953e-02 1.77024021e+02] [-2.17446675e-01 9.76057388e-01 -5.37769969e-03 3.09344995e+01] [-2.10640997e-02 8.15716683e-04 9.99777794e-01 -9.04318057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00592 meters Centerline goodness [0,1] 0.9986489867400551 Centerline is valid? [True, True] Translation: X:177.05, Y:30.92, Z:-0.90 [[ 9.75928397e-01 2.17024554e-01 2.15431303e-02 1.77051125e+02] [-2.16952078e-01 9.76165763e-01 -5.67446074e-03 3.09236621e+01] [-2.22611636e-02 8.64040483e-04 9.99751816e-01 -9.03734293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03592 meters Centerline goodness [0,1] 0.9990519908192795 Centerline is valid? [True, True] Translation: X:177.08, Y:30.91, Z:-0.90 [[ 9.75876622e-01 2.17037351e-01 2.36560142e-02 1.77079652e+02] [-2.16950007e-01 9.76162841e-01 -6.22916677e-03 3.09149717e+01] [-2.44440839e-02 9.46725772e-04 9.99700750e-01 -9.03711040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06592 meters Centerline goodness [0,1] 0.9993036558070132 Centerline is valid? [True, True] Translation: X:177.11, Y:30.90, Z:-0.90 [[ 9.75654769e-01 2.18064966e-01 2.33547007e-02 1.77108779e+02] [-2.17980129e-01 9.75933832e-01 -6.14977261e-03 3.09049062e+01] [-2.41336925e-02 9.09194305e-04 9.99708327e-01 -9.04638475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09592 meters Centerline goodness [0,1] 0.9991529646238166 Centerline is valid? [True, True] Translation: X:177.14, Y:30.89, Z:-0.90 [[ 9.75450240e-01 2.19079254e-01 2.23855066e-02 1.77137970e+02] [-2.19001579e-01 9.75706699e-01 -5.89456387e-03 3.08948915e+01] [-2.31330654e-02 8.47392461e-04 9.99732036e-01 -9.04548736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12592 meters Centerline goodness [0,1] 0.9994526001492908 Centerline is valid? [True, True] Translation: X:177.17, Y:30.89, Z:-0.91 [[ 9.75282646e-01 2.19590543e-01 2.45713928e-02 1.77167147e+02] [-2.19497117e-01 9.75591694e-01 -6.47015262e-03 3.08865775e+01] [-2.53924310e-02 9.16877704e-04 9.99677140e-01 -9.05089881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15592 meters Centerline goodness [0,1] 0.9990543970537002 Centerline is valid? [True, True] Translation: X:177.20, Y:30.88, Z:-0.90 [[ 9.74921103e-01 2.21389390e-01 2.27064151e-02 1.77197094e+02] [-2.21310081e-01 9.75185157e-01 -5.97975145e-03 3.08785014e+01] [-2.34668125e-02 8.04627295e-04 9.99724293e-01 -9.03606353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18592 meters Centerline goodness [0,1] 0.9993534268377599 Centerline is valid? [True, True] Translation: X:177.23, Y:30.87, Z:-0.90 [[ 9.74274973e-01 2.24123512e-01 2.35993324e-02 1.77226077e+02] [-2.24038642e-01 9.74560445e-01 -6.21492909e-03 3.08692870e+01] [-2.43918877e-02 7.67887495e-04 9.99702179e-01 -9.04181452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21592 meters Centerline goodness [0,1] 0.9992538427100432 Centerline is valid? [True, True] Translation: X:177.25, Y:30.86, Z:-0.90 [[ 9.73889715e-01 2.25916070e-01 2.23774793e-02 1.77254757e+02] [-2.25840235e-01 9.74146529e-01 -5.89315174e-03 3.08599470e+01] [-2.31303014e-02 6.85544701e-04 9.99732224e-01 -9.03696966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24592 meters Centerline goodness [0,1] 0.9995511669658886 Centerline is valid? [True, True] Translation: X:177.28, Y:30.85, Z:-0.90 [[ 9.73190229e-01 2.28748199e-01 2.39799754e-02 1.77283631e+02] [-2.28661951e-01 9.73485399e-01 -6.31591058e-03 3.08506020e+01] [-2.47889091e-02 6.63274488e-04 9.99692488e-01 -9.04580170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27592 meters Centerline goodness [0,1] 0.9992519449431478 Centerline is valid? [True, True] Translation: X:177.31, Y:30.84, Z:-0.90 [[ 9.72661392e-01 2.30990463e-01 2.39420534e-02 1.77313116e+02] [-2.30905166e-01 9.72955826e-01 -6.30594916e-03 3.08428953e+01] [-2.47511745e-02 6.05209485e-04 9.99693460e-01 -9.03717769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30592000000001 meters Centerline goodness [0,1] 0.9996512381047282 Centerline is valid? [True, True] Translation: X:177.34, Y:30.84, Z:-0.90 [[ 9.72058473e-01 2.33390708e-01 2.51217548e-02 1.77342409e+02] [-2.33297596e-01 9.72382873e-01 -6.61666340e-03 3.08355696e+01] [-2.59722318e-02 5.70938732e-04 9.99662502e-01 -9.04976058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33592000000002 meters Centerline goodness [0,1] 0.9996518105849582 Centerline is valid? [True, True] Translation: X:177.37, Y:30.83, Z:-0.91 [[ 9.70970556e-01 2.37971018e-01 2.42069122e-02 1.77373464e+02] [-2.37885928e-01 9.71272159e-01 -6.37801527e-03 3.08289665e+01] [-2.50292826e-02 4.34381256e-04 9.99686624e-01 -9.05019748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36592000000002 meters Centerline goodness [0,1] 0.9993032052558232 Centerline is valid? [True, True] Translation: X:177.40, Y:30.82, Z:-0.91 [[ 9.69897031e-01 2.42402234e-01 2.32573758e-02 1.77403524e+02] [-2.42324943e-01 9.70175789e-01 -6.12864237e-03 3.08210625e+01] [-2.40493396e-02 3.08309768e-04 9.99710725e-01 -9.05510991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39592000000002 meters Centerline goodness [0,1] 0.9991023786964544 Centerline is valid? [True, True] Translation: X:177.43, Y:30.81, Z:-0.90 [[ 9.69578659e-01 2.43726502e-01 2.26851567e-02 1.77433347e+02] [-2.43653313e-01 9.69843967e-01 -5.97859966e-03 3.08128103e+01] [-2.34582055e-02 2.69409066e-04 9.99724782e-01 -9.04841725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42592000000002 meters Centerline goodness [0,1] 0.9989548599014583 Centerline is valid? [True, True] Translation: X:177.46, Y:30.81, Z:-0.91 [[ 9.68799205e-01 2.46810073e-01 2.26470516e-02 1.77461767e+02] [-2.46738004e-01 9.69063853e-01 -5.96712400e-03 3.08059832e+01] [-2.34191854e-02 1.93056659e-04 9.99725715e-01 -9.05183360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45592000000002 meters Centerline goodness [0,1] 0.9987063389391979 Centerline is valid? [True, True] Translation: X:177.49, Y:30.80, Z:-0.90 [[ 9.68585680e-01 2.47813137e-01 2.07468103e-02 1.77490709e+02] [-2.47752916e-01 9.68807837e-01 -5.46505506e-03 3.07995289e+01] [-2.14539848e-02 1.53291333e-04 9.99769825e-01 -9.04244160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48592 meters Centerline goodness [0,1] 0.9987024005589659 Centerline is valid? [True, True] Translation: X:177.52, Y:30.79, Z:-0.90 [[ 9.68486457e-01 2.48010440e-01 2.29086164e-02 1.77519254e+02] [-2.47937319e-01 9.68757347e-01 -6.02397744e-03 3.07946123e+01] [-2.36868997e-02 1.54239639e-04 9.99719414e-01 -9.04767729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51592 meters Centerline goodness [0,1] 0.9988046022812174 Centerline is valid? [True, True] Translation: X:177.55, Y:30.79, Z:-0.91 [[ 9.68213171e-01 2.48958295e-01 2.41458522e-02 1.77547128e+02] [-2.48877641e-01 9.68514198e-01 -6.33788836e-03 3.07880334e+01] [-2.49634705e-02 1.27064250e-04 9.99688356e-01 -9.05456263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54592 meters Centerline goodness [0,1] 0.9990032891458188 Centerline is valid? [True, True] Translation: X:177.58, Y:30.78, Z:-0.91 [[ 9.68041970e-01 2.49629724e-01 2.40779016e-02 1.77576055e+02] [-2.49549779e-01 9.68341360e-01 -6.31809356e-03 3.07830039e+01] [-2.48928119e-02 1.07544703e-04 9.99690120e-01 -9.05076342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57592 meters Centerline goodness [0,1] 0.9990032891458188 Centerline is valid? [True, True] Translation: X:177.60, Y:30.78, Z:-0.91 [[ 9.68152102e-01 2.49201989e-01 2.40806070e-02 1.77603317e+02] [-2.49122169e-01 9.68451525e-01 -6.30777405e-03 3.07755316e+01] [-2.48928104e-02 1.07871667e-04 9.99690120e-01 -9.05100757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60592 meters Centerline goodness [0,1] 0.9990554782262875 Centerline is valid? [True, True] Translation: X:177.63, Y:30.77, Z:-0.91 [[ 9.68064884e-01 2.49558205e-01 2.38973520e-02 1.77631919e+02] [-2.49479983e-01 9.68359796e-01 -6.24848755e-03 3.07693238e+01] [-2.47005962e-02 8.70304183e-05 9.99694890e-01 -9.05001613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63592 meters Centerline goodness [0,1] 0.9989038911862886 Centerline is valid? [True, True] Translation: X:177.66, Y:30.77, Z:-0.91 [[ 9.68175838e-01 2.49082640e-01 2.43594924e-02 1.77661075e+02] [-2.49001503e-01 9.68482230e-01 -6.35779588e-03 3.07654219e+01] [-2.51753521e-02 8.99141496e-05 9.99683047e-01 -9.05717083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66592 meters Centerline goodness [0,1] 0.9990029910269193 Centerline is valid? [True, True] Translation: X:177.69, Y:30.76, Z:-0.91 [[ 9.68754128e-01 2.46905443e-01 2.35189838e-02 1.77689516e+02] [-2.46829474e-01 9.69039569e-01 -6.12576774e-03 3.07647927e+01] [-2.43033113e-02 1.29184385e-04 9.99704623e-01 -9.05300269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69592 meters Centerline goodness [0,1] 0.9993042786860806 Centerline is valid? [True, True] Translation: X:177.72, Y:30.76, Z:-0.90 [[ 9.69162149e-01 2.45443843e-01 2.19556338e-02 1.77718403e+02] [-2.45377499e-01 9.69410800e-01 -5.70821050e-03 3.07609133e+01] [-2.26850736e-02 1.44763047e-04 9.99742650e-01 -9.03935952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72592 meters Centerline goodness [0,1] 0.9999006458022851 Centerline is valid? [True, True] Translation: X:177.75, Y:30.76, Z:-0.91 [[ 9.69850776e-01 2.42576405e-01 2.33700609e-02 1.77747953e+02] [-2.42500673e-01 9.70132281e-01 -6.06481564e-03 3.07607328e+01] [-2.41432317e-02 2.14710664e-04 9.99708487e-01 -9.05616523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75592 meters Centerline goodness [0,1] 0.9998509761065024 Centerline is valid? [True, True] Translation: X:177.78, Y:30.76, Z:-0.91 [[ 9.71131326e-01 2.37504740e-01 2.22586361e-02 1.77777576e+02] [-2.37434944e-01 9.71386329e-01 -5.76607819e-03 3.07588943e+01] [-2.29912057e-02 3.14641148e-04 9.99735618e-01 -9.05260425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78592 meters Centerline goodness [0,1] 0.9999502932697087 Centerline is valid? [True, True] Translation: X:177.81, Y:30.75, Z:-0.91 [[ 9.71759683e-01 2.34885275e-01 2.26279984e-02 1.77805873e+02] [-2.34812677e-01 9.72023029e-01 -5.85135850e-03 3.07538526e+01] [-2.33693334e-02 3.72773415e-04 9.99726830e-01 -9.05256146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:177.83, Y:30.75, Z:-0.91 [[ 9.72208368e-01 2.32910423e-01 2.37407677e-02 1.77834254e+02] [-2.32830184e-01 9.72498098e-01 -6.12825807e-03 3.07484048e+01] [-2.45151866e-02 4.30376452e-04 9.99699365e-01 -9.05647131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84592 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:177.86, Y:30.75, Z:-0.91 [[ 9.73065463e-01 2.29488145e-01 2.18813944e-02 1.77863017e+02] [-2.29419344e-01 9.73311345e-01 -5.63833347e-03 3.07462695e+01] [-2.25913401e-02 4.66452424e-04 9.99744674e-01 -9.05107129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.89, Y:30.74, Z:-0.91 [[ 9.73466848e-01 2.27663697e-01 2.30550724e-02 1.77891643e+02] [-2.27587051e-01 9.73739680e-01 -5.93039339e-03 3.07407652e+01] [-2.37997741e-02 5.26005417e-04 9.99716607e-01 -9.06076037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90592 meters Centerline goodness [0,1] 0.9999004380724811 Centerline is valid? [True, True] Translation: X:177.92, Y:30.73, Z:-0.91 [[ 9.73932215e-01 2.25640702e-01 2.32876481e-02 1.77919943e+02] [-2.25562176e-01 9.74210423e-01 -5.97975007e-03 3.07348790e+01] [-2.40363445e-02 5.71058661e-04 9.99710922e-01 -9.07099394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.95, Y:30.73, Z:-0.91 [[ 9.74283319e-01 2.24066192e-01 2.37982186e-02 1.77947771e+02] [-2.23983976e-01 9.74573735e-01 -6.10022351e-03 3.07277865e+01] [-2.45599727e-02 6.12926381e-04 9.99698170e-01 -9.07475795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96592 meters Centerline goodness [0,1] 0.9994524911651983 Centerline is valid? [True, True] Translation: X:177.98, Y:30.72, Z:-0.91 [[ 9.75142262e-01 2.20341005e-01 2.33967929e-02 1.77976052e+02] [-2.20260718e-01 9.75422664e-01 -5.98695910e-03 3.07207810e+01] [-2.41409346e-02 6.84742446e-04 9.99708331e-01 -9.08135185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99592 meters Centerline goodness [0,1] 0.999652260307998 Centerline is valid? [True, True] Translation: X:178.00, Y:30.71, Z:-0.91 [[ 9.75796736e-01 2.17484890e-01 2.28265559e-02 1.78003469e+02] [-2.17407778e-01 9.76063412e-01 -5.83721463e-03 3.07138912e+01] [-2.35496721e-02 7.33264175e-04 9.99722399e-01 -9.08197449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02592 meters Centerline goodness [0,1] 0.9995525059665871 Centerline is valid? [True, True] Translation: X:178.03, Y:30.71, Z:-0.91 [[ 9.75910531e-01 2.17121051e-01 2.13795368e-02 1.78031263e+02] [-2.17053522e-01 9.76144446e-01 -5.45802433e-03 3.07055326e+01] [-2.20545680e-02 6.86039681e-04 9.99756533e-01 -9.07337763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05592000000001 meters Centerline goodness [0,1] 0.9995032043320582 Centerline is valid? [True, True] Translation: X:178.06, Y:30.70, Z:-0.91 [[ 9.75846002e-01 2.17202970e-01 2.33976546e-02 1.78058480e+02] [-2.17122361e-01 9.76126182e-01 -5.96292231e-03 3.06969729e+01] [-2.41342277e-02 7.38739897e-04 9.99708454e-01 -9.07410074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08592000000002 meters Centerline goodness [0,1] 0.9994526546250684 Centerline is valid? [True, True] Translation: X:178.09, Y:30.69, Z:-0.91 [[ 9.75665256e-01 2.17925912e-01 2.41992833e-02 1.78085491e+02] [-2.17840208e-01 9.75965040e-01 -6.15511272e-03 3.06886244e+01] [-2.49590130e-02 7.33752727e-04 9.99688206e-01 -9.06878550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11592000000002 meters Centerline goodness [0,1] 0.9997513427491546 Centerline is valid? [True, True] Translation: X:178.11, Y:30.68, Z:-0.91 [[ 9.75108208e-01 2.20540297e-01 2.29338401e-02 1.78112143e+02] [-2.20464287e-01 9.75377666e-01 -5.82300709e-03 3.06780640e+01] [-2.36533631e-02 6.21969295e-04 9.99720027e-01 -9.07659043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14592000000002 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:178.14, Y:30.67, Z:-0.91 [[ 9.75019686e-01 2.20954941e-01 2.27051779e-02 1.78139608e+02] [-2.20880788e-01 9.75283835e-01 -5.75487977e-03 3.06686830e+01] [-2.34155621e-02 5.95983475e-04 9.99725640e-01 -9.07846834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17592000000002 meters Centerline goodness [0,1] 0.9997013290855692 Centerline is valid? [True, True] Translation: X:178.17, Y:30.66, Z:-0.91 [[ 9.74784004e-01 2.22005479e-01 2.25768168e-02 1.78166895e+02] [-2.21932678e-01 9.75045259e-01 -5.71228376e-03 3.06585179e+01] [-2.32815765e-02 5.57709430e-04 9.99728792e-01 -9.06029245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20592000000002 meters Centerline goodness [0,1] 0.9997505861226119 Centerline is valid? [True, True] Translation: X:178.19, Y:30.65, Z:-0.91 [[ 9.74743726e-01 2.22223092e-01 2.21713040e-02 1.78193787e+02] [-2.22153166e-01 9.74995699e-01 -5.59976313e-03 3.06483218e+01] [-2.28613227e-02 5.32908591e-04 9.99738504e-01 -9.05202634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23592 meters Centerline goodness [0,1] 0.9998509761065024 Centerline is valid? [True, True] Translation: X:178.22, Y:30.64, Z:-0.91 [[ 9.74766581e-01 2.22132772e-01 2.20713448e-02 1.78220164e+02] [-2.22063709e-01 9.75016287e-01 -5.56322745e-03 3.06393959e+01] [-2.27556958e-02 5.21603503e-04 9.99740920e-01 -9.05801974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26592 meters Centerline goodness [0,1] 0.9998508872210349 Centerline is valid? [True, True] Translation: X:178.25, Y:30.63, Z:-0.91 [[ 9.74469305e-01 2.23291802e-01 2.34594249e-02 1.78246761e+02] [-2.23214406e-01 9.74751510e-01 -5.90100817e-03 3.06288304e+01] [-2.41847566e-02 5.13869724e-04 9.99707374e-01 -9.06138433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29592 meters Centerline goodness [0,1] 0.9997513798418776 Centerline is valid? [True, True] Translation: X:178.27, Y:30.62, Z:-0.91 [[ 9.74374458e-01 2.23718746e-01 2.33310621e-02 1.78274306e+02] [-2.23642570e-01 9.74653622e-01 -5.85820285e-03 3.06204264e+01] [-2.40502940e-02 4.90264541e-04 9.99710630e-01 -9.06753046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32592 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:178.30, Y:30.61, Z:-0.91 [[ 9.73994664e-01 2.25287044e-01 2.40861347e-02 1.78301884e+02] [-2.25206606e-01 9.74292328e-01 -6.03692519e-03 3.06125114e+01] [-2.48269773e-02 4.55576284e-04 9.99691659e-01 -9.07004704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35592 meters Centerline goodness [0,1] 0.999701343952215 Centerline is valid? [True, True] Translation: X:178.33, Y:30.60, Z:-0.91 [[ 9.73149011e-01 2.28965984e-01 2.35707750e-02 1.78328940e+02] [-2.28890287e-01 9.73434364e-01 -5.89715556e-03 3.06032530e+01] [-2.42948504e-02 3.43689645e-04 9.99704777e-01 -9.05914176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38592 meters Centerline goodness [0,1] 0.9998011533107973 Centerline is valid? [True, True] Translation: X:178.36, Y:30.59, Z:-0.91 [[ 9.72827130e-01 2.30359904e-01 2.32742298e-02 1.78356386e+02] [-2.30286753e-01 9.73105456e-01 -5.81237766e-03 3.05949688e+01] [-2.39872187e-02 2.94691881e-04 9.99712222e-01 -9.05525441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41592 meters Centerline goodness [0,1] 0.9998012422360248 Centerline is valid? [True, True] Translation: X:178.38, Y:30.59, Z:-0.91 [[ 9.72310515e-01 2.32428694e-01 2.42727041e-02 1.78383204e+02] [-2.32350095e-01 9.72613409e-01 -6.04893545e-03 3.05868520e+01] [-2.50139036e-02 2.41678455e-04 9.99687074e-01 -9.05664601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44592 meters Centerline goodness [0,1] 0.999700807818889 Centerline is valid? [True, True] Translation: X:178.41, Y:30.58, Z:-0.90 [[ 9.72358724e-01 2.32405187e-01 2.25019992e-02 1.78411374e+02] [-2.32337875e-01 9.72619033e-01 -5.59721099e-03 3.05793068e+01] [-2.31866935e-02 2.14430256e-04 9.99731129e-01 -9.04883689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47592 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:178.44, Y:30.57, Z:-0.91 [[ 9.72524174e-01 2.31504423e-01 2.45444966e-02 1.78439619e+02] [-2.31424338e-01 9.72833820e-01 -6.09382381e-03 3.05728358e+01] [-2.52884635e-02 2.46197117e-04 9.99680165e-01 -9.06157673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50592 meters Centerline goodness [0,1] 0.9996519836929502 Centerline is valid? [True, True] Translation: X:178.47, Y:30.57, Z:-0.91 [[ 9.72690438e-01 2.30882586e-01 2.38021855e-02 1.78467270e+02] [-2.30807392e-01 9.72981589e-01 -5.89704352e-03 3.05664553e+01] [-2.45206130e-02 2.42277477e-04 9.99699295e-01 -9.05921966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.49, Y:30.56, Z:-0.91 [[ 9.72987994e-01 2.29631831e-01 2.37399388e-02 1.78494580e+02] [-2.29556964e-01 9.73277532e-01 -5.86908949e-03 3.05619358e+01] [-2.44532788e-02 2.60885339e-04 9.99700940e-01 -9.05264223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56592 meters Centerline goodness [0,1] 0.9996521220554617 Centerline is valid? [True, True] Translation: X:178.52, Y:30.55, Z:-0.91 [[ 9.73034370e-01 2.29403492e-01 2.40447959e-02 1.78521088e+02] [-2.29326934e-01 9.73331378e-01 -5.93179940e-03 3.05545804e+01] [-2.47643298e-02 2.57725378e-04 9.99693284e-01 -9.05873115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59592 meters Centerline goodness [0,1] 0.999950295740345 Centerline is valid? [True, True] Translation: X:178.55, Y:30.54, Z:-0.91 [[ 9.72900259e-01 2.29883090e-01 2.48767210e-02 1.78546998e+02] [-2.29801632e-01 9.73218222e-01 -6.12396802e-03 3.05448688e+01] [-2.56182749e-02 2.41298968e-04 9.99671769e-01 -9.06804574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.57, Y:30.54, Z:-0.91 [[ 9.73062924e-01 2.29098672e-01 2.57360490e-02 1.78574433e+02] [-2.29011528e-01 9.73403170e-01 -6.32366394e-03 3.05369027e+01] [-2.65002947e-02 2.59471010e-04 9.99648772e-01 -9.06486282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65592 meters Centerline goodness [0,1] 0.9999502116006971 Centerline is valid? [True, True] Translation: X:178.60, Y:30.53, Z:-0.91 [[ 9.73446738e-01 2.27656442e-01 2.39581619e-02 1.78602209e+02] [-2.27580758e-01 9.73741482e-01 -5.87587343e-03 3.05284475e+01] [-2.46667365e-02 2.67433172e-04 9.99695694e-01 -9.05464246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.63, Y:30.52, Z:-0.91 [[ 9.73623463e-01 2.26962897e-01 2.33494269e-02 1.78628970e+02] [-2.26891106e-01 9.73903369e-01 -5.71431935e-03 3.05201433e+01] [-2.40370240e-02 2.65818103e-04 9.99711034e-01 -9.05796851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.66, Y:30.51, Z:-0.91 [[ 9.74098491e-01 2.24807320e-01 2.43679803e-02 1.78656406e+02] [-2.24728734e-01 9.74403184e-01 -5.95239071e-03 3.05098055e+01] [-2.50823786e-02 3.22029427e-04 9.99685336e-01 -9.06181371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.68, Y:30.50, Z:-0.91 [[ 9.74342830e-01 2.23801651e-01 2.38510015e-02 1.78683488e+02] [-2.23726331e-01 9.74634656e-01 -5.81520880e-03 3.05008311e+01] [-2.45474660e-02 3.29909936e-04 9.99698611e-01 -9.06955792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.71, Y:30.49, Z:-0.91 [[ 9.74661203e-01 2.22431637e-01 2.36581192e-02 1.78711618e+02] [-2.22357172e-01 9.74948223e-01 -5.76632023e-03 3.04907485e+01] [-2.43480533e-02 3.59656126e-04 9.99703478e-01 -9.06606557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80592000000001 meters Centerline goodness [0,1] 0.9999502140794583 Centerline is valid? [True, True] Translation: X:178.74, Y:30.48, Z:-0.91 [[ 9.74807416e-01 2.21925682e-01 2.23493516e-02 1.78739465e+02] [-2.21859324e-01 9.75063523e-01 -5.43741736e-03 3.04817860e+01] [-2.29987400e-02 3.42022731e-04 9.99735435e-01 -9.06362790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83592000000002 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:178.77, Y:30.47, Z:-0.91 [[ 9.74567494e-01 2.22884659e-01 2.32514317e-02 1.78766905e+02] [-2.22813256e-01 9.74844768e-01 -5.65071666e-03 3.04713951e+01] [-2.39259946e-02 3.26277552e-04 9.99713679e-01 -9.05575201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86592000000002 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:178.80, Y:30.46, Z:-0.91 [[ 9.74476206e-01 2.23309814e-01 2.29967798e-02 1.78795346e+02] [-2.23240125e-01 9.74747470e-01 -5.58713377e-03 3.04622465e+01] [-2.36637148e-02 3.10724922e-04 9.99719927e-01 -9.06454954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.82, Y:30.45, Z:-0.91 [[ 9.74516776e-01 2.23221668e-01 2.21164985e-02 1.78824454e+02] [-2.23157223e-01 9.74767663e-01 -5.37183076e-03 3.04546326e+01] [-2.27575566e-02 2.99482823e-04 9.99740968e-01 -9.06220213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.85, Y:30.45, Z:-0.91 [[ 9.74180190e-01 2.24795242e-01 2.09775490e-02 1.78852854e+02] [-2.24737815e-01 9.74405994e-01 -5.08656601e-03 3.04473956e+01] [-2.15840853e-02 2.40783315e-04 9.99767008e-01 -9.06572546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95592000000002 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:178.88, Y:30.44, Z:-0.91 [[ 9.73855331e-01 2.26077653e-01 2.22416046e-02 1.78880964e+02] [-2.26013665e-01 9.74109259e-01 -5.38282577e-03 3.04396080e+01] [-2.28826896e-02 2.15187010e-04 9.99738134e-01 -9.07169411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.91, Y:30.43, Z:-0.91 [[ 9.73674752e-01 2.26958664e-01 2.11480918e-02 1.78909162e+02] [-2.26901236e-01 9.73904376e-01 -5.10831192e-03 3.04322887e+01] [-2.17555948e-02 1.75306174e-04 9.99763304e-01 -9.06609914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01592 meters Centerline goodness [0,1] 0.9999003487792726 Centerline is valid? [True, True] Translation: X:178.94, Y:30.43, Z:-0.91 [[ 9.72984823e-01 2.30058274e-01 1.93319877e-02 1.78937369e+02] [-2.30011066e-01 9.73176851e-01 -4.66117112e-03 3.04261261e+01] [-1.98857839e-02 8.86776510e-05 9.99802254e-01 -9.06105963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.97, Y:30.42, Z:-0.91 [[ 9.72305670e-01 2.32768224e-01 2.09913543e-02 1.78965626e+02] [-2.32713278e-01 9.72532237e-01 -5.05741654e-03 3.04224721e+01] [-2.15919746e-02 3.23879191e-05 9.99766866e-01 -9.06427853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07592 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:178.99, Y:30.42, Z:-0.91 [[ 9.72286294e-01 2.32900174e-01 2.04174189e-02 1.78993003e+02] [-2.32848447e-01 9.72500647e-01 -4.90835007e-03 3.04167048e+01] [-2.09991086e-02 1.81572290e-05 9.99779494e-01 -9.06708912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.02, Y:30.41, Z:-0.91 [[ 9.72050755e-01 2.33807502e-01 2.12457538e-02 1.79021463e+02] [-2.33751931e-01 9.72282907e-01 -5.09734960e-03 3.04129785e+01] [-2.18486818e-02 -1.13534478e-05 9.99761289e-01 -9.05908128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:179.05, Y:30.41, Z:-0.91 [[ 9.72277161e-01 2.32889476e-01 2.09669692e-02 1.79049494e+02] [-2.32835385e-01 9.72503209e-01 -5.01911281e-03 3.04089056e+01] [-2.15593434e-02 -1.88359406e-06 9.99767570e-01 -9.05609154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:179.08, Y:30.41, Z:-0.91 [[ 9.72813488e-01 2.30610715e-01 2.12747516e-02 1.79077964e+02] [-2.30554731e-01 9.73046092e-01 -5.08129030e-03 3.04067645e+01] [-2.18731139e-02 3.81531186e-05 9.99760754e-01 -9.06639780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.11, Y:30.40, Z:-0.91 [[ 9.73161044e-01 2.29274173e-01 1.97721060e-02 1.79105906e+02] [-2.29225731e-01 9.73361881e-01 -4.71314739e-03 3.04019071e+01] [-2.03260173e-02 5.43759762e-05 9.99793404e-01 -9.06270431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.13, Y:30.40, Z:-0.91 [[ 9.73567621e-01 2.27558170e-01 1.95797697e-02 1.79133326e+02] [-2.27510529e-01 9.73764485e-01 -4.65684022e-03 3.03975740e+01] [-2.01257864e-02 7.91450871e-05 9.99797453e-01 -9.06207602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25592 meters Centerline goodness [0,1] 0.9999005766553987 Centerline is valid? [True, True] Translation: X:179.16, Y:30.40, Z:-0.91 [[ 9.74132100e-01 2.25114009e-01 1.97569038e-02 1.79162236e+02] [-2.25065109e-01 9.74332421e-01 -4.69356526e-03 3.03968992e+01] [-2.03063792e-02 1.25562884e-04 9.99793796e-01 -9.06303041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28592 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:179.19, Y:30.39, Z:-0.91 [[ 9.74858862e-01 2.21761989e-01 2.17213839e-02 1.79191240e+02] [-2.21702268e-01 9.75100804e-01 -5.15037117e-03 3.03935443e+01] [-2.23226954e-02 2.05204906e-04 9.99750797e-01 -9.06971275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31592 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:179.22, Y:30.39, Z:-0.91 [[ 9.75506327e-01 2.18870883e-01 2.19759581e-02 1.79219930e+02] [-2.18809246e-01 9.75753794e-01 -5.20070603e-03 3.03883633e+01] [-2.25814076e-02 2.64778824e-04 9.99744972e-01 -9.06838464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34592 meters Centerline goodness [0,1] 0.9998509316770187 Centerline is valid? [True, True] Translation: X:179.25, Y:30.39, Z:-0.91 [[ 9.76609330e-01 2.13841663e-01 2.24935575e-02 1.79248664e+02] [-2.13775987e-01 9.76868261e-01 -5.31305987e-03 3.03854610e+01] [-2.31093960e-02 3.80201374e-04 9.99732870e-01 -9.08254272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37592 meters Centerline goodness [0,1] 0.9998009950248756 Centerline is valid? [True, True] Translation: X:179.28, Y:30.38, Z:-0.91 [[ 9.77286067e-01 2.10717077e-01 2.25888455e-02 1.79276963e+02] [-2.10650244e-01 9.77546988e-01 -5.32543434e-03 3.03794052e+01] [-2.32038178e-02 4.46126967e-04 9.99730656e-01 -9.08599039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40592 meters Centerline goodness [0,1] 0.9997012993478369 Centerline is valid? [True, True] Translation: X:179.30, Y:30.37, Z:-0.91 [[ 9.78446219e-01 2.05200962e-01 2.31422011e-02 1.79304979e+02] [-2.05129516e-01 9.78719688e-01 -5.44555919e-03 3.03736070e+01] [-2.37671618e-02 5.81038287e-04 9.99717352e-01 -9.09599559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43592 meters Centerline goodness [0,1] 0.9997515157539012 Centerline is valid? [True, True] Translation: X:179.33, Y:30.37, Z:-0.91 [[ 9.79097967e-01 2.02116547e-01 2.27172334e-02 1.79333125e+02] [-2.02047105e-01 9.79361271e-01 -5.33554993e-03 3.03672432e+01] [-2.33267815e-02 6.34074842e-04 9.99727693e-01 -9.09750954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46592 meters Centerline goodness [0,1] 0.9992040592975824 Centerline is valid? [True, True] Translation: X:179.36, Y:30.36, Z:-0.91 [[ 9.79722382e-01 1.99378557e-01 1.98052084e-02 1.79359824e+02] [-1.99325420e-01 9.79922360e-01 -4.64170774e-03 3.03609232e+01] [-2.03330236e-02 5.99903465e-04 9.99793083e-01 -9.09070565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49592 meters Centerline goodness [0,1] 0.9994032522751007 Centerline is valid? [True, True] Translation: X:179.39, Y:30.35, Z:-0.91 [[ 9.79976748e-01 1.97972766e-01 2.12686895e-02 1.79387164e+02] [-1.97911274e-01 9.80207292e-01 -4.97922124e-03 3.03538577e+01] [-2.18334747e-02 6.70207601e-04 9.99761397e-01 -9.09539174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52592 meters Centerline goodness [0,1] 0.9994032522751007 Centerline is valid? [True, True] Translation: X:179.41, Y:30.35, Z:-0.91 [[ 9.80070251e-01 1.97509108e-01 2.12709951e-02 1.79413789e+02] [-1.97447721e-01 9.80300823e-01 -4.96936226e-03 3.03472926e+01] [-2.18334683e-02 6.70414606e-04 9.99761397e-01 -9.09562886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55592000000001 meters Centerline goodness [0,1] 0.9989048733137538 Centerline is valid? [True, True] Translation: X:179.44, Y:30.34, Z:-0.91 [[ 9.79833065e-01 1.98509606e-01 2.28276470e-02 1.79440877e+02] [-1.98439443e-01 9.80098703e-01 -5.32160234e-03 3.03399143e+01] [-2.34297364e-02 6.84376369e-04 9.99725252e-01 -9.09741304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58592000000002 meters Centerline goodness [0,1] 0.9992033459470225 Centerline is valid? [True, True] Translation: X:179.47, Y:30.33, Z:-0.91 [[ 9.79718444e-01 1.99216193e-01 2.15564072e-02 1.79469176e+02] [-1.99154010e-01 9.79955368e-01 -5.01571385e-03 3.03337878e+01] [-2.21235283e-02 6.20942449e-04 9.99755052e-01 -9.10161249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61592000000002 meters Centerline goodness [0,1] 0.9994530084535057 Centerline is valid? [True, True] Translation: X:179.50, Y:30.33, Z:-0.91 [[ 9.79751789e-01 1.98989918e-01 2.21233971e-02 1.79496071e+02] [-1.98924615e-01 9.80001333e-01 -5.13654149e-03 3.03263147e+01] [-2.27030787e-02 6.31647450e-04 9.99742052e-01 -9.11815672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64592000000002 meters Centerline goodness [0,1] 0.9991525001246323 Centerline is valid? [True, True] Translation: X:179.52, Y:30.32, Z:-0.91 [[ 9.79725704e-01 1.99248681e-01 2.09166724e-02 1.79523805e+02] [-1.99190566e-01 9.79948786e-01 -4.84709710e-03 3.03186053e+01] [-2.14630454e-02 5.82421805e-04 9.99769473e-01 -9.12123547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67592000000002 meters Centerline goodness [0,1] 0.9995027102292506 Centerline is valid? [True, True] Translation: X:179.55, Y:30.31, Z:-0.91 [[ 9.79293139e-01 2.01240528e-01 2.20725556e-02 1.79551585e+02] [-2.01176539e-01 9.79541698e-01 -5.10517207e-03 3.03114898e+01] [-2.26483561e-02 5.58979642e-04 9.99743337e-01 -9.12057638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70592000000002 meters Centerline goodness [0,1] 0.9994022118162798 Centerline is valid? [True, True] Translation: X:179.58, Y:30.31, Z:-0.91 [[ 9.78920465e-01 2.03160053e-01 2.09932229e-02 1.79579760e+02] [-2.03102810e-01 9.79145424e-01 -4.84628844e-03 3.03051872e+01] [-2.15399903e-02 4.80348376e-04 9.99767872e-01 -9.09833196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73592 meters Centerline goodness [0,1] 0.9993042095323295 Centerline is valid? [True, True] Translation: X:179.61, Y:30.30, Z:-0.91 [[ 9.78535358e-01 2.04951881e-01 2.15239384e-02 1.79607484e+02] [-2.04892352e-01 9.78771950e-01 -4.95917054e-03 3.02978327e+01] [-2.20834185e-02 4.42633362e-04 9.99756034e-01 -9.10859769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76592 meters Centerline goodness [0,1] 0.9992542878448919 Centerline is valid? [True, True] Translation: X:179.63, Y:30.29, Z:-0.91 [[ 9.78172447e-01 2.06544366e-01 2.27615578e-02 1.79634674e+02] [-2.06478498e-01 9.78437146e-01 -5.23262792e-03 3.02920429e+01] [-2.33515234e-02 4.18640195e-04 9.99727228e-01 -9.11738942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79592 meters Centerline goodness [0,1] 0.9993532981792856 Centerline is valid? [True, True] Translation: X:179.66, Y:30.29, Z:-0.91 [[ 9.78288079e-01 2.05882310e-01 2.37677959e-02 1.79662863e+02] [-2.05810553e-01 9.78576659e-01 -5.45328093e-03 3.02861771e+01] [-2.43813444e-02 4.43216497e-04 9.99702633e-01 -9.11927718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82592 meters Centerline goodness [0,1] 0.9993542297948438 Centerline is valid? [True, True] Translation: X:179.69, Y:30.28, Z:-0.91 [[ 9.78293551e-01 2.05747061e-01 2.46956350e-02 1.79691069e+02] [-2.05669828e-01 9.78605100e-01 -5.65512141e-03 3.02789028e+01] [-2.53307990e-02 4.53221798e-04 9.99679021e-01 -9.12129739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85592 meters Centerline goodness [0,1] 0.9994030444731867 Centerline is valid? [True, True] Translation: X:179.72, Y:30.27, Z:-0.91 [[ 9.78583097e-01 2.04575247e-01 2.28930225e-02 1.79718458e+02] [-2.04508796e-01 9.78850743e-01 -5.23222086e-03 3.02711368e+01] [-2.34792349e-02 4.38338423e-04 9.99724229e-01 -9.10623111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88592 meters Centerline goodness [0,1] 0.9991536393507916 Centerline is valid? [True, True] Translation: X:179.75, Y:30.27, Z:-0.91 [[ 9.78954035e-01 2.02632881e-01 2.42675349e-02 1.79746594e+02] [-2.02557884e-01 9.79254646e-01 -5.53550183e-03 3.02650469e+01] [-2.48857710e-02 5.03421334e-04 9.99690174e-01 -9.11374674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91592 meters Centerline goodness [0,1] 0.9993043823909371 Centerline is valid? [True, True] Translation: X:179.77, Y:30.26, Z:-0.91 [[ 9.78903262e-01 2.02974270e-01 2.34488615e-02 1.79774633e+02] [-2.02904598e-01 9.79183960e-01 -5.33827083e-03 3.02588578e+01] [-2.40442807e-02 4.67768918e-04 9.99710785e-01 -9.11667752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94592 meters Centerline goodness [0,1] 0.9996021681834004 Centerline is valid? [True, True] Translation: X:179.80, Y:30.25, Z:-0.91 [[ 9.79024784e-01 2.02185626e-01 2.51285813e-02 1.79802473e+02] [-2.02105642e-01 9.79347084e-01 -5.70946857e-03 3.02526904e+01] [-2.57639753e-02 5.11083177e-04 9.99667923e-01 -9.11936465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97592 meters Centerline goodness [0,1] 0.9994530628480509 Centerline is valid? [True, True] Translation: X:179.83, Y:30.25, Z:-0.91 [[ 9.79048224e-01 2.02191677e-01 2.41474905e-02 1.79830121e+02] [-2.02118086e-01 9.79345851e-01 -5.47577288e-03 3.02454250e+01] [-2.47559003e-02 4.80401136e-04 9.99693410e-01 -9.12195463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00592 meters Centerline goodness [0,1] 0.9992040988907128 Centerline is valid? [True, True] Translation: X:179.86, Y:30.24, Z:-0.91 [[ 9.78929362e-01 2.02867352e-01 2.32839248e-02 1.79858171e+02] [-2.02799370e-01 9.79206131e-01 -5.26959292e-03 3.02381674e+01] [-2.38687902e-02 4.36593964e-04 9.99715005e-01 -9.11146957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03592 meters Centerline goodness [0,1] 0.9996512728540826 Centerline is valid? [True, True] Translation: X:179.88, Y:30.23, Z:-0.91 [[ 9.78842300e-01 2.03242089e-01 2.36728620e-02 1.79884782e+02] [-2.03172218e-01 9.79128426e-01 -5.34560068e-03 3.02311105e+01] [-2.42652231e-02 4.22832197e-04 9.99705467e-01 -9.11542746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06592 meters Centerline goodness [0,1] 0.9992040592975824 Centerline is valid? [True, True] Translation: X:179.91, Y:30.22, Z:-0.91 [[ 9.78682244e-01 2.04107982e-01 2.28253723e-02 1.79912381e+02] [-2.04043500e-01 9.78948308e-01 -5.14398536e-03 3.02221202e+01] [-2.33947881e-02 3.76958288e-04 9.99726233e-01 -9.12557847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09592 meters Centerline goodness [0,1] 0.9991055900621117 Centerline is valid? [True, True] Translation: X:179.94, Y:30.22, Z:-0.91 [[ 9.78854229e-01 2.03197911e-01 2.35586090e-02 1.79940294e+02] [-2.03129210e-01 9.79137604e-01 -5.29866261e-03 3.02152365e+01] [-2.41437972e-02 4.01176653e-04 9.99708416e-01 -9.11691274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12592 meters Centerline goodness [0,1] 0.9988572564217221 Centerline is valid? [True, True] Translation: X:179.97, Y:30.21, Z:-0.91 [[ 9.78932252e-01 2.02836535e-01 2.34304344e-02 1.79967515e+02] [-2.02768763e-01 9.79212532e-01 -5.25788408e-03 3.02094021e+01] [-2.40098660e-02 3.96152096e-04 9.99711643e-01 -9.10490545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15592 meters Centerline goodness [0,1] 0.9990068527162578 Centerline is valid? [True, True] Translation: X:179.99, Y:30.20, Z:-0.91 [[ 9.79030671e-01 2.02149568e-01 2.51892281e-02 1.79994845e+02] [-2.02071305e-01 9.79354565e-01 -5.64117912e-03 3.02006864e+01] [-2.58095474e-02 4.32867193e-04 9.99666784e-01 -9.11794877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18592 meters Centerline goodness [0,1] 0.9988574834831851 Centerline is valid? [True, True] Translation: X:180.02, Y:30.19, Z:-0.91 [[ 9.79028720e-01 2.02126190e-01 2.54513229e-02 1.80021964e+02] [-2.02046578e-01 9.79359393e-01 -5.68850844e-03 3.01912383e+01] [-2.60757887e-02 4.26860438e-04 9.99659878e-01 -9.12100891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21592 meters Centerline goodness [0,1] 0.9988549238275416 Centerline is valid? [True, True] Translation: X:180.05, Y:30.18, Z:-0.91 [[ 9.79042626e-01 2.02170531e-01 2.45481776e-02 1.80048904e+02] [-2.02096762e-01 9.79350252e-01 -5.47562924e-03 3.01818933e+01] [-2.51482748e-02 3.99767232e-04 9.99683652e-01 -9.11891593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24592 meters Centerline goodness [0,1] 0.9986582517517268 Centerline is valid? [True, True] Translation: X:180.08, Y:30.18, Z:-0.91 [[ 9.79077693e-01 2.01966010e-01 2.48314707e-02 1.80077271e+02] [-2.01890746e-01 9.79392450e-01 -5.52765251e-03 3.01754613e+01] [-2.54361528e-02 3.98757121e-04 9.99676369e-01 -9.11446760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27592 meters Centerline goodness [0,1] 0.9985558488123102 Centerline is valid? [True, True] Translation: X:180.11, Y:30.17, Z:-0.91 [[ 9.79447106e-01 2.00419455e-01 2.27026217e-02 1.80105526e+02] [-2.00356364e-01 9.79710104e-01 -5.04366491e-03 3.01679940e+01] [-2.32528364e-02 3.91388259e-04 9.99729540e-01 -9.09620415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30592000000001 meters Centerline goodness [0,1] 0.9985087980912616 Centerline is valid? [True, True] Translation: X:180.13, Y:30.16, Z:-0.91 [[ 9.79890016e-01 1.98227598e-01 2.28336816e-02 1.80133158e+02] [-1.98163420e-01 9.80155921e-01 -5.06256384e-03 3.01616896e+01] [-2.33841081e-02 4.35955326e-04 9.99726459e-01 -9.10236937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33592000000002 meters Centerline goodness [0,1] 0.9985080564949274 Centerline is valid? [True, True] Translation: X:180.16, Y:30.15, Z:-0.91 [[ 9.80204145e-01 1.96645719e-01 2.30281261e-02 1.80161076e+02] [-1.96580248e-01 9.80474499e-01 -5.09545388e-03 3.01549685e+01] [-2.35804896e-02 4.67710282e-04 9.99721832e-01 -9.10409102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36592000000002 meters Centerline goodness [0,1] 0.9986575846467459 Centerline is valid? [True, True] Translation: X:180.19, Y:30.15, Z:-0.91 [[ 9.80864664e-01 1.93317017e-01 2.30877220e-02 1.80189132e+02] [-1.93250526e-01 9.81136199e-01 -5.09839274e-03 3.01479214e+01] [-2.36378059e-02 5.39118853e-04 9.99720443e-01 -9.10606943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39592000000002 meters Centerline goodness [0,1] 0.9986073808813289 Centerline is valid? [True, True] Translation: X:180.22, Y:30.14, Z:-0.91 [[ 9.81084986e-01 1.92189004e-01 2.31438296e-02 1.80217055e+02] [-1.92122116e-01 9.81357772e-01 -5.10064687e-03 3.01399784e+01] [-2.36926653e-02 5.57726538e-04 9.99719134e-01 -9.11114064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42592000000002 meters Centerline goodness [0,1] 0.9992029093807602 Centerline is valid? [True, True] Translation: X:180.24, Y:30.13, Z:-0.91 [[ 9.81598180e-01 1.89576814e-01 2.29269418e-02 1.80244398e+02] [-1.89510700e-01 9.81865706e-01 -5.04271747e-03 3.01307706e+01] [-2.34671602e-02 6.05021507e-04 9.99724425e-01 -9.10673157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45592000000002 meters Centerline goodness [0,1] 0.9995518374663878 Centerline is valid? [True, True] Translation: X:180.27, Y:30.12, Z:-0.91 [[ 9.81776323e-01 1.88589211e-01 2.34384665e-02 1.80272947e+02] [-1.88519876e-01 9.82055853e-01 -5.15343483e-03 3.01233014e+01] [-2.39897654e-02 6.40903510e-04 9.99711999e-01 -9.10595492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48592 meters Centerline goodness [0,1] 0.9987051792828685 Centerline is valid? [True, True] Translation: X:180.30, Y:30.11, Z:-0.91 [[ 9.82169994e-01 1.86754913e-01 2.15570077e-02 1.80302550e+02] [-1.86695823e-01 9.82406334e-01 -4.73970857e-03 3.01148076e+01] [-2.20629048e-02 6.30596231e-04 9.99756386e-01 -9.09565670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51592 meters Centerline goodness [0,1] 0.9984031936127744 Centerline is valid? [True, True] Translation: X:180.33, Y:30.11, Z:-0.91 [[ 9.82439219e-01 1.85341119e-01 2.14907098e-02 1.80329901e+02] [-1.85282253e-01 9.82674028e-01 -4.71609458e-03 3.01069892e+01] [-2.19924486e-02 6.51429166e-04 9.99757925e-01 -9.09570154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54592 meters Centerline goodness [0,1] 0.9975617038216561 Centerline is valid? [True, True] Translation: X:180.36, Y:30.09, Z:-0.91 [[ 9.82749937e-01 1.83633671e-01 2.19370850e-02 1.80357832e+02] [-1.83571947e-01 9.82994497e-01 -4.81235199e-03 3.00944386e+01] [-2.24477437e-02 7.02305225e-04 9.99747771e-01 -9.09173820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57592 meters Centerline goodness [0,1] 0.9979619227519014 Centerline is valid? [True, True] Translation: X:180.39, Y:30.08, Z:-0.91 [[ 9.82820927e-01 1.83155386e-01 2.27405076e-02 1.80386966e+02] [-1.83088931e-01 9.83083698e-01 -4.98854453e-03 3.00849611e+01] [-2.32695011e-02 7.39310739e-04 9.99728955e-01 -9.09888101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60592 meters Centerline goodness [0,1] 0.9978576055004733 Centerline is valid? [True, True] Translation: X:180.42, Y:30.07, Z:-0.91 [[ 9.82699972e-01 1.83635423e-01 2.40581977e-02 1.80416956e+02] [-1.83561149e-01 9.82994118e-01 -5.27905470e-03 3.00742041e+01] [-2.46184883e-02 7.71576504e-04 9.99696621e-01 -9.10095574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63592 meters Centerline goodness [0,1] 0.9968186111249192 Centerline is valid? [True, True] Translation: X:180.45, Y:30.07, Z:-0.91 [[ 9.82602211e-01 1.84371773e-01 2.23594365e-02 1.80447621e+02] [-1.84307779e-01 9.82856326e-01 -4.90768658e-03 3.00660137e+01] [-2.28809525e-02 7.01285614e-04 9.99737951e-01 -9.09123605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66592 meters Centerline goodness [0,1] 0.9968676975090738 Centerline is valid? [True, True] Translation: X:180.48, Y:30.05, Z:-0.91 [[ 9.82415931e-01 1.85570575e-01 2.05548006e-02 1.80477007e+02] [-1.85516730e-01 9.82630743e-01 -4.51286142e-03 3.00548842e+01] [-2.10352333e-02 6.20247569e-04 9.99778543e-01 -9.08770755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69592 meters Centerline goodness [0,1] 0.9966157368237695 Centerline is valid? [True, True] Translation: X:180.51, Y:30.04, Z:-0.91 [[ 9.82085785e-01 1.87271617e-01 2.09010022e-02 1.80506335e+02] [-1.87216312e-01 9.82307991e-01 -4.58955156e-03 3.00445798e+01] [-2.13907142e-02 5.94324788e-04 9.99771016e-01 -9.06664094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72592 meters Centerline goodness [0,1] 0.9961211397881545 Centerline is valid? [True, True] Translation: X:180.54, Y:30.04, Z:-0.91 [[ 9.81792449e-01 1.88629183e-01 2.24191609e-02 1.80536722e+02] [-1.88565873e-01 9.82048198e-01 -4.92431547e-03 3.00375743e+01] [-2.29455661e-02 6.07167091e-04 9.99736531e-01 -9.06678193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75592 meters Centerline goodness [0,1] 0.9962185292068862 Centerline is valid? [True, True] Translation: X:180.57, Y:30.03, Z:-0.91 [[ 9.81707971e-01 1.89027503e-01 2.27610083e-02 1.80567284e+02] [-1.88962321e-01 9.81971605e-01 -5.00082696e-03 3.00296938e+01] [-2.32959577e-02 6.08378733e-04 9.99728427e-01 -9.06479564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78592 meters Centerline goodness [0,1] 0.9963174919134113 Centerline is valid? [True, True] Translation: X:180.60, Y:30.02, Z:-0.91 [[ 9.81498240e-01 1.90220801e-01 2.18460745e-02 1.80597640e+02] [-1.90161019e-01 9.81741175e-01 -4.80118115e-03 3.00204442e+01] [-2.23604753e-02 5.58079078e-04 9.99749818e-01 -9.06905759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81592 meters Centerline goodness [0,1] 0.9965649425001245 Centerline is valid? [True, True] Translation: X:180.63, Y:30.01, Z:-0.91 [[ 9.81440387e-01 1.90650289e-01 2.06696237e-02 1.80628238e+02] [-1.90596841e-01 9.81657882e-01 -4.54393269e-03 3.00132562e+01] [-2.11568011e-02 5.20034068e-04 9.99776035e-01 -9.06233023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84592 meters Centerline goodness [0,1] 0.9964630865796553 Centerline is valid? [True, True] Translation: X:180.66, Y:30.00, Z:-0.91 [[ 9.81311923e-01 1.91258039e-01 2.11487918e-02 1.80658606e+02] [-1.91202196e-01 9.81539654e-01 -4.65061652e-03 3.00047294e+01] [-2.16478456e-02 5.20010008e-04 9.99765523e-01 -9.07129722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87592 meters Centerline goodness [0,1] 0.9966180932013726 Centerline is valid? [True, True] Translation: X:180.69, Y:30.00, Z:-0.91 [[ 9.81188464e-01 1.91881700e-01 2.12276139e-02 1.80688885e+02] [-1.91825555e-01 9.81417930e-01 -4.66930933e-03 2.99966120e+01] [-2.17291159e-02 5.09473619e-04 9.99763765e-01 -9.07987079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90592 meters Centerline goodness [0,1] 0.9963625492052419 Centerline is valid? [True, True] Translation: X:180.72, Y:29.99, Z:-0.91 [[ 9.80854944e-01 1.93562072e-01 2.13846651e-02 1.80718974e+02] [-1.93505463e-01 9.81087915e-01 -4.70523143e-03 2.99869946e+01] [-2.18909908e-02 4.77099986e-04 9.99760250e-01 -9.07952011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93592 meters Centerline goodness [0,1] 0.9961706783369803 Centerline is valid? [True, True] Translation: X:180.75, Y:29.98, Z:-0.91 [[ 9.80502395e-01 1.95411651e-01 2.07205298e-02 1.80748997e+02] [-1.95358888e-01 9.80721218e-01 -4.56042885e-03 2.99786323e+01] [-2.12122241e-02 4.23571749e-04 9.99774906e-01 -9.06917516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96592 meters Centerline goodness [0,1] 0.996171820622452 Centerline is valid? [True, True] Translation: X:180.78, Y:29.97, Z:-0.91 [[ 9.79844670e-01 1.98612368e-01 2.13904082e-02 1.80779029e+02] [-1.98556870e-01 9.80078054e-01 -4.70925061e-03 2.99685355e+01] [-2.18995850e-02 3.67121618e-04 9.99760108e-01 -9.07124246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99592 meters Centerline goodness [0,1] 0.9972640899368254 Centerline is valid? [True, True] Translation: X:180.81, Y:29.96, Z:-0.91 [[ 9.79506571e-01 2.00243490e-01 2.16661489e-02 1.80810517e+02] [-2.00186889e-01 9.79746105e-01 -4.77271077e-03 2.99599325e+01] [-2.21830292e-02 3.37622619e-04 9.99753869e-01 -9.06708166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02592 meters Centerline goodness [0,1] 0.9971633323380114 Centerline is valid? [True, True] Translation: X:180.84, Y:29.95, Z:-0.91 [[ 9.78443612e-01 2.05425902e-01 2.11730203e-02 1.80841327e+02] [-2.05373030e-01 9.78672648e-01 -4.66551642e-03 2.99528736e+01] [-2.16798738e-02 2.16577410e-04 9.99764940e-01 -9.06257581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05592000000001 meters Centerline goodness [0,1] 0.9968612993224392 Centerline is valid? [True, True] Translation: X:180.87, Y:29.95, Z:-0.90 [[ 9.77686753e-01 2.09020969e-01 2.09486835e-02 1.80873067e+02] [-2.08969977e-01 9.77911149e-01 -4.61880021e-03 2.99456240e+01] [-2.14513773e-02 1.38093869e-04 9.99769883e-01 -9.04962943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08592000000002 meters Centerline goodness [0,1] 0.9979127323327701 Centerline is valid? [True, True] Translation: X:180.90, Y:29.94, Z:-0.90 [[ 9.76129284e-01 2.16200564e-01 2.07108188e-02 1.80903321e+02] [-2.16152306e-01 9.76348972e-01 -4.56780114e-03 2.99390857e+01] [-2.12085479e-02 -1.79267937e-05 9.99775073e-01 -9.04350648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11592000000002 meters Centerline goodness [0,1] 0.9976626218420529 Centerline is valid? [True, True] Translation: X:180.93, Y:29.93, Z:-0.90 [[ 9.75460845e-01 2.19219596e-01 2.04672519e-02 1.80934001e+02] [-2.19173102e-01 9.75675541e-01 -4.51546613e-03 2.99341285e+01] [-2.09592758e-02 -8.12106819e-05 9.99780327e-01 -9.04825894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14592000000002 meters Centerline goodness [0,1] 0.9980106430596309 Centerline is valid? [True, True] Translation: X:180.96, Y:29.93, Z:-0.90 [[ 9.74824413e-01 2.22092452e-01 1.98067397e-02 1.80964501e+02] [-2.22049501e-01 9.75025602e-01 -4.36979975e-03 2.99297615e+01] [-2.02825779e-02 -1.38289202e-04 9.99794278e-01 -9.04611750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17592000000002 meters Centerline goodness [0,1] 0.998105116186297 Centerline is valid? [True, True] Translation: X:180.99, Y:29.93, Z:-0.91 [[ 9.73903366e-01 2.26072385e-01 2.00875590e-02 1.80994308e+02] [-2.26029080e-01 9.74110479e-01 -4.43046027e-03 2.99267676e+01] [-2.05691064e-02 -2.25532308e-04 9.99788408e-01 -9.05271887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20592000000002 meters Centerline goodness [0,1] 0.9984061363749565 Centerline is valid? [True, True] Translation: X:181.02, Y:29.93, Z:-0.90 [[ 9.73710094e-01 2.26767563e-01 2.15667382e-02 1.81023968e+02] [-2.26718036e-01 9.73948870e-01 -4.74675554e-03 2.99261389e+01] [-2.20813104e-02 -2.67604725e-04 9.99756142e-01 -9.03706659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23592 meters Centerline goodness [0,1] 0.9988564041368337 Centerline is valid? [True, True] Translation: X:181.05, Y:29.92, Z:-0.90 [[ 9.73473952e-01 2.27820413e-01 2.11263919e-02 1.81054040e+02] [-2.27773173e-01 9.73703126e-01 -4.64807553e-03 2.99247750e+01] [-2.16297603e-02 -2.87244850e-04 9.99766008e-01 -9.02893663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26592 meters Centerline goodness [0,1] 0.9982606102773084 Centerline is valid? [True, True] Translation: X:181.08, Y:29.93, Z:-0.90 [[ 9.73479376e-01 2.27873900e-01 2.02827776e-02 1.81083098e+02] [-2.27830591e-01 9.73690610e-01 -4.45181185e-03 2.99259597e+01] [-2.07636018e-02 -2.87290172e-04 9.99784372e-01 -9.04123002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29592 meters Centerline goodness [0,1] 0.9980599910461125 Centerline is valid? [True, True] Translation: X:181.11, Y:29.92, Z:-0.91 [[ 9.73378962e-01 2.28334964e-01 1.99133239e-02 1.81110923e+02] [-2.28293534e-01 9.73582587e-01 -4.35995913e-03 2.99224993e+01] [-2.03827965e-02 -3.02190603e-04 9.99792204e-01 -9.05270847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32592 meters Centerline goodness [0,1] 0.9982102908277405 Centerline is valid? [True, True] Translation: X:181.14, Y:29.92, Z:-0.90 [[ 9.73123328e-01 2.29515138e-01 1.88093256e-02 1.81139601e+02] [-2.29478593e-01 9.73305040e-01 -4.10798773e-03 2.99238843e+01] [-1.92500567e-02 -3.18758863e-04 9.99814650e-01 -9.04208598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35592 meters Centerline goodness [0,1] 0.9987568373943312 Centerline is valid? [True, True] Translation: X:181.17, Y:29.92, Z:-0.90 [[ 9.72985264e-01 2.29969740e-01 2.03370316e-02 1.81168633e+02] [-2.29927320e-01 9.73197712e-01 -4.43182327e-03 2.99226180e+01] [-2.08111378e-02 -3.63940432e-04 9.99783359e-01 -9.04956066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38592 meters Centerline goodness [0,1] 0.9987568373943312 Centerline is valid? [True, True] Translation: X:181.20, Y:29.92, Z:-0.90 [[ 9.73104231e-01 2.29465612e-01 2.03393130e-02 1.81195353e+02] [-2.29423301e-01 9.73316701e-01 -4.42134046e-03 2.99164808e+01] [-2.08111386e-02 -3.63887231e-04 9.99783359e-01 -9.04979797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41592 meters Centerline goodness [0,1] 0.9983082893820281 Centerline is valid? [True, True] Translation: X:181.22, Y:29.92, Z:-0.91 [[ 9.73519719e-01 2.27662119e-01 2.07199562e-02 1.81223755e+02] [-2.27618040e-01 9.73740131e-01 -4.49283252e-03 2.99179709e+01] [-2.11987007e-02 -3.42374777e-04 9.99775224e-01 -9.05063451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44592 meters Centerline goodness [0,1] 0.9981607595565939 Centerline is valid? [True, True] Translation: X:181.25, Y:29.91, Z:-0.91 [[ 9.74212151e-01 2.24651859e-01 2.10292110e-02 1.81252981e+02] [-2.24605953e-01 9.74439048e-01 -4.55056431e-03 2.99147375e+01] [-2.15139771e-02 -2.90070944e-04 9.99768506e-01 -9.06074459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47592 meters Centerline goodness [0,1] 0.9976641320013916 Centerline is valid? [True, True] Translation: X:181.28, Y:29.91, Z:-0.91 [[ 9.74698374e-01 2.22606183e-01 2.02377534e-02 1.81281842e+02] [-2.22563424e-01 9.74908420e-01 -4.36979594e-03 2.99115880e+01] [-2.07026998e-02 -2.44950686e-04 9.99785646e-01 -9.06323280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50592 meters Centerline goodness [0,1] 0.9975636435958631 Centerline is valid? [True, True] Translation: X:181.31, Y:29.91, Z:-0.91 [[ 9.75773891e-01 2.17721707e-01 2.15074823e-02 1.81310500e+02] [-2.17672479e-01 9.76010877e-01 -4.63245762e-03 2.99133958e+01] [-2.20001233e-02 -1.61355783e-04 9.99757955e-01 -9.07507292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53592 meters Centerline goodness [0,1] 0.9979084706936906 Centerline is valid? [True, True] Translation: X:181.34, Y:29.91, Z:-0.91 [[ 9.76438392e-01 2.14749805e-01 2.12270810e-02 1.81339427e+02] [-2.14701367e-01 9.76669090e-01 -4.56205406e-03 2.99101550e+01] [-2.17115341e-02 -1.02918572e-04 9.99764272e-01 -9.08015448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56592 meters Centerline goodness [0,1] 0.9974577538507552 Centerline is valid? [True, True] Translation: X:181.37, Y:29.91, Z:-0.91 [[ 9.77193690e-01 2.11394268e-01 2.01234943e-02 1.81368914e+02] [-2.11350216e-01 9.77400871e-01 -4.31552301e-03 2.99098986e+01] [-2.05809977e-02 -3.60030175e-05 9.99788188e-01 -9.07375934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59592 meters Centerline goodness [0,1] 0.9968203497615262 Centerline is valid? [True, True] Translation: X:181.40, Y:29.91, Z:-0.91 [[ 9.77418764e-01 2.10264879e-01 2.10057283e-02 1.81398230e+02] [-2.10216832e-01 9.77644455e-01 -4.49483976e-03 2.99112910e+01] [-2.14812407e-02 -2.24169373e-05 9.99769251e-01 -9.07179704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62592 meters Centerline goodness [0,1] 0.9975621890547264 Centerline is valid? [True, True] Translation: X:181.43, Y:29.91, Z:-0.91 [[ 9.77563484e-01 2.09626353e-01 2.06500954e-02 1.81426107e+02] [-2.09580006e-01 9.77781567e-01 -4.40785247e-03 2.99075884e+01] [-2.11152847e-02 -1.88914991e-05 9.99777047e-01 -9.08003150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65592 meters Centerline goodness [0,1] 0.9969189484669284 Centerline is valid? [True, True] Translation: X:181.45, Y:29.90, Z:-0.91 [[ 9.77683859e-01 2.09122586e-01 2.00503189e-02 1.81454002e+02] [-2.09079004e-01 9.77889433e-01 -4.26923923e-03 2.99027758e+01] [-2.04997893e-02 -1.81344178e-05 9.99789857e-01 -9.07718085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68592 meters Centerline goodness [0,1] 0.9970677401719596 Centerline is valid? [True, True] Translation: X:181.48, Y:29.90, Z:-0.91 [[ 9.77877862e-01 2.08371208e-01 1.83392097e-02 1.81482877e+02] [-2.08334774e-01 9.78049815e-01 -3.89641404e-03 2.98995825e+01] [-1.87485611e-02 -1.04780855e-05 9.99824230e-01 -9.07210705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71592 meters Centerline goodness [0,1] 0.9970199662262839 Centerline is valid? [True, True] Translation: X:181.51, Y:29.90, Z:-0.91 [[ 9.78058262e-01 2.07471335e-01 1.89124571e-02 1.81510275e+02] [-2.07432614e-01 9.78241098e-01 -4.00818391e-03 2.98960044e+01] [-1.93325260e-02 -2.82301984e-06 9.99813109e-01 -9.08175867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74592 meters Centerline goodness [0,1] 0.9967190296281567 Centerline is valid? [True, True] Translation: X:181.54, Y:29.90, Z:-0.91 [[ 9.78568341e-01 2.05064742e-01 1.87737332e-02 1.81539049e+02] [-2.05026335e-01 9.78748410e-01 -3.96882678e-03 2.98958262e+01] [-1.91886280e-02 3.46585178e-05 9.99815881e-01 -9.06792589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77592 meters Centerline goodness [0,1] 0.9973672445482092 Centerline is valid? [True, True] Translation: X:181.57, Y:29.89, Z:-0.91 [[ 9.79041305e-01 2.02720791e-01 1.95551290e-02 1.81568076e+02] [-2.02678832e-01 9.79236578e-01 -4.12500270e-03 2.98925068e+01] [-1.99853214e-02 7.51373252e-05 9.99800271e-01 -9.07931030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80592000000001 meters Centerline goodness [0,1] 0.9968231907078329 Centerline is valid? [True, True] Translation: X:181.60, Y:29.89, Z:-0.91 [[ 9.79551431e-01 2.00255226e-01 1.94123365e-02 1.81595538e+02] [-2.00213592e-01 9.79743758e-01 -4.08487819e-03 2.98889106e+01] [-1.98371337e-02 1.14734666e-04 9.99803218e-01 -9.08034124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83592000000002 meters Centerline goodness [0,1] 0.9970201142289545 Centerline is valid? [True, True] Translation: X:181.62, Y:29.88, Z:-0.91 [[ 9.80182537e-01 1.97025728e-01 2.05683331e-02 1.81623942e+02] [-1.96978473e-01 9.80398301e-01 -4.31873924e-03 2.98847066e+01] [-2.10160616e-02 1.81633930e-04 9.99779122e-01 -9.08071462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86592000000002 meters Centerline goodness [0,1] 0.9974655866421508 Centerline is valid? [True, True] Translation: X:181.65, Y:29.88, Z:-0.91 [[ 9.80464841e-01 1.95460154e-01 2.20005411e-02 1.81652757e+02] [-1.95405917e-01 9.80711619e-01 -4.60952190e-03 2.98800433e+01] [-2.24771642e-02 2.20438234e-04 9.99747332e-01 -9.08743391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89592000000002 meters Centerline goodness [0,1] 0.9979644523880449 Centerline is valid? [True, True] Translation: X:181.68, Y:29.88, Z:-0.91 [[ 9.80772715e-01 1.93992786e-01 2.12527853e-02 1.81680477e+02] [-1.93942066e-01 9.81002928e-01 -4.44193799e-03 2.98765875e+01] [-2.17107485e-02 2.34722477e-04 9.99764266e-01 -9.09348229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92592000000002 meters Centerline goodness [0,1] 0.9986052303860523 Centerline is valid? [True, True] Translation: X:181.71, Y:29.87, Z:-0.91 [[ 9.80884873e-01 1.93399531e-01 2.14822564e-02 1.81708410e+02] [-1.93347811e-01 9.81120056e-01 -4.47886381e-03 2.98716119e+01] [-2.19428827e-02 2.39702521e-04 9.99759197e-01 -9.09075989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95592000000002 meters Centerline goodness [0,1] 0.9989575059571089 Centerline is valid? [True, True] Translation: X:181.74, Y:29.87, Z:-0.91 [[ 9.80763643e-01 1.94225759e-01 1.94687093e-02 1.81736417e+02] [-1.94183619e-01 9.80956838e-01 -4.05026650e-03 2.98673526e+01] [-1.98846296e-02 1.91849701e-04 9.99802263e-01 -9.06814337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98592 meters Centerline goodness [0,1] 0.9990574461752157 Centerline is valid? [True, True] Translation: X:181.76, Y:29.86, Z:-0.91 [[ 9.80665154e-01 1.94615511e-01 2.05099527e-02 1.81763652e+02] [-1.94569047e-01 9.80879590e-01 -4.25637544e-03 2.98624603e+01] [-2.09461507e-02 1.83477127e-04 9.99780588e-01 -9.06767807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01592 meters Centerline goodness [0,1] 0.9996526399364827 Centerline is valid? [True, True] Translation: X:181.79, Y:29.86, Z:-0.91 [[ 9.80644113e-01 1.94880269e-01 1.89421043e-02 1.81792109e+02] [-1.94840853e-01 9.80827027e-01 -3.92246545e-03 2.98586780e+01] [-1.93433390e-02 1.55846902e-04 9.99812888e-01 -9.05945036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04592 meters Centerline goodness [0,1] 0.9997519718239992 Centerline is valid? [True, True] Translation: X:181.82, Y:29.85, Z:-0.91 [[ 9.80907394e-01 1.93511438e-01 1.93392740e-02 1.81820831e+02] [-1.93470256e-01 9.81098003e-01 -3.99603684e-03 2.98541460e+01] [-1.97470019e-02 1.78167793e-04 9.99804993e-01 -9.06822193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07592 meters Centerline goodness [0,1] 0.99975205791927 Centerline is valid? [True, True] Translation: X:181.85, Y:29.85, Z:-0.91 [[ 9.81482005e-01 1.90511582e-01 1.99602159e-02 1.81849747e+02] [-1.90467275e-01 9.81684919e-01 -4.11539494e-03 2.98515181e+01] [-2.03786734e-02 2.37418136e-04 9.99792305e-01 -9.05604842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.88, Y:29.85, Z:-0.91 [[ 9.81905193e-01 1.88250018e-01 2.05942186e-02 1.81877823e+02] [-1.88202546e-01 9.82121097e-01 -4.23697816e-03 2.98471173e+01] [-2.10236278e-02 2.84426485e-04 9.99778939e-01 -9.05071276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13592 meters Centerline goodness [0,1] 0.9998511683286203 Centerline is valid? [True, True] Translation: X:181.91, Y:29.84, Z:-0.90 [[ 9.82386955e-01 1.85626982e-01 2.14124562e-02 1.81906463e+02] [-1.85575247e-01 9.82620224e-01 -4.39578901e-03 2.98438853e+01] [-2.18562896e-02 3.44743933e-04 9.99761063e-01 -9.04783560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16592 meters Centerline goodness [0,1] 0.999652795000248 Centerline is valid? [True, True] Translation: X:181.93, Y:29.84, Z:-0.90 [[ 9.82734121e-01 1.83909698e-01 2.02699310e-02 1.81934051e+02] [-1.83863182e-01 9.82943080e-01 -4.15106514e-03 2.98386125e+01] [-2.06876096e-02 3.52499333e-04 9.99785926e-01 -9.03928498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19592 meters Centerline goodness [0,1] 0.9999003140108658 Centerline is valid? [True, True] Translation: X:181.96, Y:29.83, Z:-0.91 [[ 9.83080549e-01 1.81761095e-01 2.27054637e-02 1.81961968e+02] [-1.81702286e-01 9.83342621e-01 -4.64419754e-03 2.98339794e+01] [-2.31713847e-02 4.39985595e-04 9.99731411e-01 -9.05031305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22592 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:181.99, Y:29.83, Z:-0.91 [[ 9.83339932e-01 1.80233310e-01 2.36332621e-02 1.81990116e+02] [-1.80169400e-01 9.83623769e-01 -4.82382047e-03 2.98279172e+01] [-2.41156514e-02 4.85464662e-04 9.99709058e-01 -9.05052221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25592 meters Centerline goodness [0,1] 0.9999006211180124 Centerline is valid? [True, True] Translation: X:182.02, Y:29.82, Z:-0.90 [[ 9.83693558e-01 1.78362893e-01 2.31011429e-02 1.82017498e+02] [-1.78301552e-01 9.83964643e-01 -4.70507295e-03 2.98204875e+01] [-2.35699183e-02 5.09380318e-04 9.99722061e-01 -9.03775713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28592 meters Centerline goodness [0,1] 0.9996026424278548 Centerline is valid? [True, True] Translation: X:182.04, Y:29.81, Z:-0.90 [[ 9.84017794e-01 1.76685414e-01 2.21640641e-02 1.82044585e+02] [-1.76628771e-01 9.84267239e-01 -4.50330440e-03 2.98132757e+01] [-2.26110304e-02 5.16520263e-04 9.99744205e-01 -9.02914102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31592 meters Centerline goodness [0,1] 0.9995033277043807 Centerline is valid? [True, True] Translation: X:182.07, Y:29.81, Z:-0.90 [[ 9.84609939e-01 1.73443322e-01 2.14635167e-02 1.82072692e+02] [-1.73389639e-01 9.84843692e-01 -4.35158101e-03 2.98061568e+01] [-2.18929617e-02 5.63058502e-04 9.99760162e-01 -9.02856887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34592 meters Centerline goodness [0,1] 0.9995529949339426 Centerline is valid? [True, True] Translation: X:182.10, Y:29.80, Z:-0.90 [[ 9.84920485e-01 1.71647575e-01 2.16505779e-02 1.82100202e+02] [-1.71592724e-01 9.85158237e-01 -4.38021700e-03 2.97994753e+01] [-2.20810988e-02 5.99083817e-04 9.99756003e-01 -9.02643509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37592 meters Centerline goodness [0,1] 0.9995035249726939 Centerline is valid? [True, True] Translation: X:182.13, Y:29.79, Z:-0.90 [[ 9.85325839e-01 1.69267166e-01 2.19458007e-02 1.82127391e+02] [-1.69210428e-01 9.85569988e-01 -4.43054463e-03 2.97900235e+01] [-2.23790682e-02 6.52071782e-04 9.99749345e-01 -9.02574156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40592 meters Centerline goodness [0,1] 0.9983636634105222 Centerline is valid? [True, True] Translation: X:182.15, Y:29.78, Z:-0.90 [[ 9.85574783e-01 1.67764040e-01 2.23063436e-02 1.82154175e+02] [-1.67705254e-01 9.85826939e-01 -4.49382410e-03 2.97792680e+01] [-2.27440966e-02 6.88108690e-04 9.99741083e-01 -9.02482814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43592 meters Centerline goodness [0,1] 0.9982616469653323 Centerline is valid? [True, True] Translation: X:182.18, Y:29.77, Z:-0.90 [[ 9.85721602e-01 1.66947283e-01 2.19437669e-02 1.82181163e+02] [-1.66890428e-01 9.85965585e-01 -4.41016631e-03 2.97710309e+01] [-2.23720643e-02 6.84991544e-04 9.99749479e-01 -9.02754892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46592 meters Centerline goodness [0,1] 0.9981127390116712 Centerline is valid? [True, True] Translation: X:182.21, Y:29.76, Z:-0.90 [[ 9.85815183e-01 1.66490772e-01 2.11954481e-02 1.82207233e+02] [-1.66437834e-01 9.86042790e-01 -4.25003504e-03 2.97609135e+01] [-2.16072104e-02 6.62024600e-04 9.99766318e-01 -9.02358332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49592 meters Centerline goodness [0,1] 0.997860483630212 Centerline is valid? [True, True] Translation: X:182.23, Y:29.75, Z:-0.90 [[ 9.85716700e-01 1.66958130e-01 2.20809811e-02 1.82234196e+02] [-1.66901039e-01 9.85963760e-01 -4.41664591e-03 2.97535448e+01] [-2.25084421e-02 6.68222931e-04 9.99746430e-01 -9.02512723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52592 meters Centerline goodness [0,1] 0.9985087239648058 Centerline is valid? [True, True] Translation: X:182.26, Y:29.75, Z:-0.90 [[ 9.85760709e-01 1.66890659e-01 2.05750349e-02 1.82262026e+02] [-1.66841263e-01 9.85975217e-01 -4.10652612e-03 2.97465160e+01] [-2.09718153e-02 6.15287290e-04 9.99779878e-01 -9.03574880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55592000000001 meters Centerline goodness [0,1] 0.9984090683106294 Centerline is valid? [True, True] Translation: X:182.29, Y:29.74, Z:-0.90 [[ 9.85375296e-01 1.69165695e-01 2.04571403e-02 1.82289819e+02] [-1.69117524e-01 9.85587469e-01 -4.07480281e-03 2.97365842e+01] [-2.08516179e-02 5.55549115e-04 9.99782427e-01 -9.02764413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58592000000002 meters Centerline goodness [0,1] 0.9978643091288368 Centerline is valid? [True, True] Translation: X:182.32, Y:29.73, Z:-0.90 [[ 9.84654554e-01 1.73448687e-01 1.92603592e-02 1.82317667e+02] [-1.73406958e-01 9.84842814e-01 -3.82869727e-03 2.97272705e+01] [-1.96325089e-02 4.30063911e-04 9.99807171e-01 -9.02319255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61592000000002 meters Centerline goodness [0,1] 0.9980605698940773 Centerline is valid? [True, True] Translation: X:182.35, Y:29.72, Z:-0.90 [[ 9.84346559e-01 1.75060935e-01 2.03843386e-02 1.82345370e+02] [-1.75014723e-01 9.84557514e-01 -4.04325384e-03 2.97209023e+01] [-2.07773695e-02 4.12403635e-04 9.99784042e-01 -9.03161098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64592000000002 meters Centerline goodness [0,1] 0.9983120687087326 Centerline is valid? [True, True] Translation: X:182.37, Y:29.72, Z:-0.90 [[ 9.83616378e-01 1.79138605e-01 2.02034912e-02 1.82373248e+02] [-1.79094240e-01 9.83823796e-01 -3.99907684e-03 2.97155781e+01] [-2.05930644e-02 3.15228584e-04 9.99787891e-01 -9.02905325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67592000000002 meters Centerline goodness [0,1] 0.9980104451628948 Centerline is valid? [True, True] Translation: X:182.40, Y:29.71, Z:-0.90 [[ 9.83488941e-01 1.79955546e-01 1.91181621e-02 1.82401713e+02] [-1.79916140e-01 9.83674706e-01 -3.77572028e-03 2.97101286e+01] [-1.94855143e-02 2.73713207e-04 9.99810102e-01 -9.02416072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70592000000002 meters Centerline goodness [0,1] 0.9984078017713205 Centerline is valid? [True, True] Translation: X:182.43, Y:29.70, Z:-0.90 [[ 9.83254373e-01 1.81253773e-01 1.89184228e-02 1.82429877e+02] [-1.81215588e-01 9.83436329e-01 -3.72789677e-03 2.97042798e+01] [-1.92807596e-02 2.37157690e-04 9.99814081e-01 -9.01588101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73592 meters Centerline goodness [0,1] 0.9981633159592951 Centerline is valid? [True, True] Translation: X:182.46, Y:29.70, Z:-0.90 [[ 9.83436335e-01 1.80203910e-01 1.94814285e-02 1.82457649e+02] [-1.80163385e-01 9.83629242e-01 -3.83014240e-03 2.96988834e+01] [-1.98527094e-02 2.56861100e-04 9.99802883e-01 -9.01497992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76592 meters Centerline goodness [0,1] 0.9984605452649352 Centerline is valid? [True, True] Translation: X:182.48, Y:29.69, Z:-0.90 [[ 9.83637346e-01 1.79107494e-01 1.94442160e-02 1.82484827e+02] [-1.79067106e-01 9.83829474e-01 -3.81287557e-03 2.96941365e+01] [-1.98127074e-02 2.68667325e-04 9.99803673e-01 -9.01971468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79592 meters Centerline goodness [0,1] 0.9981133948962367 Centerline is valid? [True, True] Translation: X:182.51, Y:29.69, Z:-0.90 [[ 9.84270124e-01 1.75368290e-01 2.14076313e-02 1.82513306e+02] [-1.75318657e-01 9.84502832e-01 -4.18830331e-03 2.96907617e+01] [-2.18103693e-02 3.69264637e-04 9.99762057e-01 -9.02729249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82592 meters Centerline goodness [0,1] 0.9981633159592951 Centerline is valid? [True, True] Translation: X:182.54, Y:29.69, Z:-0.90 [[ 9.84746103e-01 1.72743021e-01 2.08557204e-02 1.82541736e+02] [-1.72695401e-01 9.84966841e-01 -4.07680749e-03 2.96888137e+01] [-2.12464331e-02 4.12933292e-04 9.99774184e-01 -9.01768618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85592 meters Centerline goodness [0,1] 0.9985083532219571 Centerline is valid? [True, True] Translation: X:182.57, Y:29.68, Z:-0.90 [[ 9.84822385e-01 1.72153374e-01 2.20926898e-02 1.82570004e+02] [-1.72099909e-01 9.85070057e-01 -4.31321726e-03 2.96837722e+01] [-2.25053821e-02 4.45603009e-04 9.99746623e-01 -9.02394470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88592 meters Centerline goodness [0,1] 0.9983108108108109 Centerline is valid? [True, True] Translation: X:182.60, Y:29.68, Z:-0.90 [[ 9.85116914e-01 1.70532659e-01 2.15238953e-02 1.82597830e+02] [-1.70481759e-01 9.85351917e-01 -4.19154036e-03 2.96789701e+01] [-2.19234060e-02 4.59725768e-04 9.99759548e-01 -9.02229939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91592 meters Centerline goodness [0,1] 0.9982100238663485 Centerline is valid? [True, True] Translation: X:182.63, Y:29.67, Z:-0.90 [[ 9.85528597e-01 1.67841946e-01 2.37163741e-02 1.82626318e+02] [-1.67779618e-01 9.85813758e-01 -4.60810939e-03 2.96728843e+01] [-2.41533620e-02 5.62299381e-04 9.99708107e-01 -9.02634223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94592 meters Centerline goodness [0,1] 0.9982122461141183 Centerline is valid? [True, True] Translation: X:182.65, Y:29.67, Z:-0.90 [[ 9.85988823e-01 1.65154840e-01 2.34503722e-02 1.82654225e+02] [-1.65093235e-01 9.86267458e-01 -4.55258372e-03 2.96679563e+01] [-2.38802202e-02 6.17298853e-04 9.99714636e-01 -9.02099122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97592 meters Centerline goodness [0,1] 0.9980054849164797 Centerline is valid? [True, True] Translation: X:182.68, Y:29.66, Z:-0.90 [[ 9.86278191e-01 1.63308687e-01 2.41992340e-02 1.82682788e+02] [-1.63242781e-01 9.86574792e-01 -4.68771776e-03 2.96620489e+01] [-2.46398993e-02 6.73043532e-04 9.99696165e-01 -9.02466449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00592 meters Centerline goodness [0,1] 0.9979123173277662 Centerline is valid? [True, True] Translation: X:182.71, Y:29.66, Z:-0.90 [[ 9.86890174e-01 1.59552814e-01 2.43039750e-02 1.82710803e+02] [-1.59485459e-01 9.87189102e-01 -4.69742785e-03 2.96557018e+01] [-2.47421071e-02 7.59714783e-04 9.99693579e-01 -9.03376871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03592 meters Centerline goodness [0,1] 0.9976138397295685 Centerline is valid? [True, True] Translation: X:182.74, Y:29.65, Z:-0.90 [[ 9.87182024e-01 1.58025965e-01 2.23482621e-02 1.82738144e+02] [-1.57968872e-01 9.87434692e-01 -4.30859078e-03 2.96484710e+01] [-2.27483185e-02 7.23033618e-04 9.99740962e-01 -9.01888897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06592 meters Centerline goodness [0,1] 0.9973626592356688 Centerline is valid? [True, True] Translation: X:182.77, Y:29.64, Z:-0.90 [[ 9.87603412e-01 1.55534052e-01 2.11815954e-02 1.82766708e+02] [-1.55482389e-01 9.87830261e-01 -4.07453783e-03 2.96430714e+01] [-2.15575503e-02 7.30662402e-04 9.99767342e-01 -9.02510566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09592 meters Centerline goodness [0,1] 0.9972164231036882 Centerline is valid? [True, True] Translation: X:182.80, Y:29.64, Z:-0.90 [[ 9.88192878e-01 1.51625706e-01 2.20109236e-02 1.82795997e+02] [-1.51568986e-01 9.88437620e-01 -4.23242284e-03 2.96378274e+01] [-2.23981691e-02 8.46276726e-04 9.99748771e-01 -9.01977525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12592 meters Centerline goodness [0,1] 0.9976636675448626 Centerline is valid? [True, True] Translation: X:182.82, Y:29.63, Z:-0.90 [[ 9.88497908e-01 1.49406595e-01 2.34425886e-02 1.82823754e+02] [-1.49341714e-01 9.88775386e-01 -4.50427494e-03 2.96324509e+01] [-2.38524230e-02 9.51509997e-04 9.99715038e-01 -9.02003417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15592 meters Centerline goodness [0,1] 0.99736501938948 Centerline is valid? [True, True] Translation: X:182.85, Y:29.62, Z:-0.90 [[ 9.89100641e-01 1.45322576e-01 2.36911373e-02 1.82852242e+02] [-1.45255177e-01 9.89383761e-01 -4.55054452e-03 2.96242555e+01] [-2.41009234e-02 1.05968615e-03 9.99708969e-01 -9.00532639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18592 meters Centerline goodness [0,1] 0.9965113381510092 Centerline is valid? [True, True] Translation: X:182.88, Y:29.62, Z:-0.90 [[ 9.89754180e-01 1.40892731e-01 2.31495481e-02 1.82880376e+02] [-1.40827217e-01 9.90024212e-01 -4.44450261e-03 2.96151207e+01] [-2.35448112e-02 1.13887859e-03 9.99722134e-01 -9.00818271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21592 meters Centerline goodness [0,1] 0.995669487307118 Centerline is valid? [True, True] Translation: X:182.91, Y:29.61, Z:-0.90 [[ 9.90066092e-01 1.38665130e-01 2.32618685e-02 1.82907866e+02] [-1.38598445e-01 9.90338606e-01 -4.46270489e-03 2.96085958e+01] [-2.36559480e-02 1.19431398e-03 9.99719446e-01 -9.01673112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24592 meters Centerline goodness [0,1] 0.996313272220008 Centerline is valid? [True, True] Translation: X:182.94, Y:29.60, Z:-0.90 [[ 9.90476688e-01 1.35700695e-01 2.32648131e-02 1.82935489e+02] [-1.35633226e-01 9.90749073e-01 -4.46119580e-03 2.95974870e+01] [-2.36549794e-02 1.26322877e-03 9.99719384e-01 -9.01846278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27592 meters Centerline goodness [0,1] 0.9971627675460428 Centerline is valid? [True, True] Translation: X:182.96, Y:29.59, Z:-0.90 [[ 9.90519723e-01 1.35432263e-01 2.29952288e-02 1.82964396e+02] [-1.35366309e-01 9.90785815e-01 -4.40814128e-03 2.95887437e+01] [-2.33803510e-02 1.25357164e-03 9.99725856e-01 -9.01593486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30592000000001 meters Centerline goodness [0,1] 0.9963683398835879 Centerline is valid? [True, True] Translation: X:182.99, Y:29.58, Z:-0.90 [[ 9.90515551e-01 1.35441996e-01 2.31172755e-02 1.82992862e+02] [-1.35375374e-01 9.90784478e-01 -4.43019201e-03 2.95800047e+01] [-2.35042718e-02 1.25866425e-03 9.99722944e-01 -9.00705679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33592000000002 meters Centerline goodness [0,1] 0.9963683398835879 Centerline is valid? [True, True] Translation: X:183.02, Y:29.57, Z:-0.90 [[ 9.90523148e-01 1.35386385e-01 2.31175242e-02 1.83021539e+02] [-1.35319778e-01 9.90792078e-01 -4.42889446e-03 2.95744902e+01] [-2.35042718e-02 1.25866425e-03 9.99722944e-01 -9.00730904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36592000000002 meters Centerline goodness [0,1] 0.9967666517435209 Centerline is valid? [True, True] Translation: X:183.05, Y:29.57, Z:-0.90 [[ 9.90319682e-01 1.36870607e-01 2.30946825e-02 1.83049982e+02] [-1.36804565e-01 9.90588182e-01 -4.42317204e-03 2.95653752e+01] [-2.34827217e-02 1.22089634e-03 9.99723497e-01 -9.01047946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39592000000002 meters Centerline goodness [0,1] 0.996669317955856 Centerline is valid? [True, True] Translation: X:183.08, Y:29.56, Z:-0.90 [[ 9.90094328e-01 1.38282451e-01 2.43143233e-02 1.83078463e+02] [-1.38209708e-01 9.90392046e-01 -4.65532675e-03 2.95570861e+01] [-2.47244624e-02 1.24873707e-03 9.99693524e-01 -9.01161697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42592000000002 meters Centerline goodness [0,1] 0.9973149022922778 Centerline is valid? [True, True] Translation: X:183.11, Y:29.55, Z:-0.90 [[ 9.89996234e-01 1.38917021e-01 2.46884298e-02 1.83107930e+02] [-1.38842221e-01 9.90303233e-01 -4.72690407e-03 2.95494481e+01] [-2.51056793e-02 1.25182081e-03 9.99684019e-01 -9.02060901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45592000000002 meters Centerline goodness [0,1] 0.9971132789169819 Centerline is valid? [True, True] Translation: X:183.14, Y:29.54, Z:-0.90 [[ 9.89813369e-01 1.40325971e-01 2.40440602e-02 1.83137872e+02] [-1.40255439e-01 9.90104651e-01 -4.60353158e-03 2.95417449e+01] [-2.44521309e-02 1.18432688e-03 9.99700300e-01 -9.00730665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48592 meters Centerline goodness [0,1] 0.997259591429995 Centerline is valid? [True, True] Translation: X:183.17, Y:29.53, Z:-0.90 [[ 9.89500724e-01 1.42443048e-01 2.44600650e-02 1.83167853e+02] [-1.42370682e-01 9.89802329e-01 -4.68388022e-03 2.95338542e+01] [-2.48778155e-02 1.15230672e-03 9.99689835e-01 -9.01791874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51592 meters Centerline goodness [0,1] 0.9974653347249143 Centerline is valid? [True, True] Translation: X:183.20, Y:29.52, Z:-0.90 [[ 9.89436106e-01 1.43291124e-01 2.19964888e-02 1.83196777e+02] [-1.43232812e-01 9.89680059e-01 -4.21215035e-03 2.95228910e+01] [-2.23730501e-02 1.01703469e-03 9.99749175e-01 -9.02758663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54592 meters Centerline goodness [0,1] 0.9983573099706307 Centerline is valid? [True, True] Translation: X:183.23, Y:29.51, Z:-0.90 [[ 9.89367323e-01 1.43603825e-01 2.30269903e-02 1.83225883e+02] [-1.43540035e-01 9.89634693e-01 -4.40816915e-03 2.95148002e+01] [-2.34213385e-02 1.05600350e-03 9.99725125e-01 -9.02917194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57592 meters Centerline goodness [0,1] 0.9991039426523297 Centerline is valid? [True, True] Translation: X:183.26, Y:29.51, Z:-0.90 [[ 9.89179176e-01 1.44440896e-01 2.57173956e-02 1.83255271e+02] [-1.44361609e-01 9.89512753e-01 -4.92315047e-03 2.95066923e+01] [-2.61587952e-02 1.15727330e-03 9.99657130e-01 -9.02631827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60592 meters Centerline goodness [0,1] 0.9993522993373524 Centerline is valid? [True, True] Translation: X:183.29, Y:29.50, Z:-0.90 [[ 9.89103640e-01 1.44862827e-01 2.62440425e-02 1.83285482e+02] [-1.44780368e-01 9.89451055e-01 -5.02547382e-03 2.94991170e+01] [-2.66951998e-02 1.17109234e-03 9.99642934e-01 -9.03341192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63592 meters Centerline goodness [0,1] 0.9997514787017248 Centerline is valid? [True, True] Translation: X:183.32, Y:29.49, Z:-0.90 [[ 9.88682504e-01 1.47616257e-01 2.67646476e-02 1.83315208e+02] [-1.47531455e-01 9.89044077e-01 -5.12676255e-03 2.94889940e+01] [-2.72282097e-02 1.12011302e-03 9.99628616e-01 -9.04577419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66592 meters Centerline goodness [0,1] 0.9993506817841267 Centerline is valid? [True, True] Translation: X:183.35, Y:29.48, Z:-0.90 [[ 9.88104779e-01 1.51510335e-01 2.63356035e-02 1.83345785e+02] [-1.51429549e-01 9.88455169e-01 -5.04688201e-03 2.94801473e+01] [-2.67962182e-02 9.98859657e-04 9.99640418e-01 -9.03670102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69592 meters Centerline goodness [0,1] 0.9998007273451901 Centerline is valid? [True, True] Translation: X:183.38, Y:29.47, Z:-0.90 [[ 9.87575859e-01 1.54859702e-01 2.66907523e-02 1.83376431e+02] [-1.54777899e-01 9.87936042e-01 -5.11657748e-03 2.94727100e+01] [-2.71611078e-02 9.21869849e-04 9.99630644e-01 -9.03636279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72592 meters Centerline goodness [0,1] 0.9998008959681434 Centerline is valid? [True, True] Translation: X:183.41, Y:29.47, Z:-0.90 [[ 9.86535155e-01 1.61501077e-01 2.58029275e-02 1.83407471e+02] [-1.61426810e-01 9.86872275e-01 -4.94951470e-03 2.94656320e+01] [-2.62635457e-02 7.17585964e-04 9.99654796e-01 -9.02776274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75592 meters Centerline goodness [0,1] 0.9995526616631045 Centerline is valid? [True, True] Translation: X:183.44, Y:29.46, Z:-0.90 [[ 9.85971901e-01 1.65090273e-01 2.45888435e-02 1.83438858e+02] [-1.65023888e-01 9.86278281e-01 -4.71897267e-03 2.94603279e+01] [-2.50304988e-02 5.95027903e-04 9.99686511e-01 -9.03103424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78592 meters Centerline goodness [0,1] 0.9998012916045703 Centerline is valid? [True, True] Translation: X:183.47, Y:29.45, Z:-0.90 [[ 9.85118407e-01 1.70368023e-01 2.27257686e-02 1.83469163e+02] [-1.70312719e-01 9.85380411e-01 -4.36149433e-03 2.94548745e+01] [-2.31365864e-02 4.26100906e-04 9.99732223e-01 -9.03117621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:183.50, Y:29.45, Z:-0.90 [[ 9.84925668e-01 1.71349307e-01 2.36821149e-02 1.83497232e+02] [-1.71289777e-01 9.85210255e-01 -4.53494325e-03 2.94488928e+01] [-2.41089218e-02 4.10077837e-04 9.99709254e-01 -9.04098198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.53, Y:29.45, Z:-0.90 [[ 9.84840940e-01 1.71964108e-01 2.27303384e-02 1.83526786e+02] [-1.71909470e-01 9.85103143e-01 -4.35094601e-03 2.94453848e+01] [-2.31399344e-02 3.77429316e-04 9.99732165e-01 -9.03284475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87592 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:183.56, Y:29.44, Z:-0.90 [[ 9.84912471e-01 1.71429454e-01 2.36509555e-02 1.83555117e+02] [-1.71370390e-01 9.85196318e-01 -4.51702350e-03 2.94409972e+01] [-2.40751851e-02 3.95799298e-04 9.99710072e-01 -9.03170933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90592 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:183.58, Y:29.44, Z:-0.90 [[ 9.84879094e-01 1.71534354e-01 2.42721312e-02 1.83583516e+02] [-1.71472445e-01 9.85178061e-01 -4.62488203e-03 2.94373472e+01] [-2.47056973e-02 3.92947926e-04 9.99694690e-01 -9.02338276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:183.61, Y:29.43, Z:-0.90 [[ 9.85032180e-01 1.70747642e-01 2.35976091e-02 1.83612318e+02] [-1.70688945e-01 9.85314713e-01 -4.49455619e-03 2.94323905e+01] [-2.40185063e-02 3.99431491e-04 9.99711434e-01 -9.02087600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96592 meters Centerline goodness [0,1] 0.9998009653182067 Centerline is valid? [True, True] Translation: X:183.64, Y:29.43, Z:-0.90 [[ 9.85239500e-01 1.69885332e-01 2.10262311e-02 1.83641530e+02] [-1.69838564e-01 9.85463766e-01 -4.00348414e-03 2.94264191e+01] [-2.14007221e-02 3.73325822e-04 9.99770909e-01 -9.01122765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99592 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:183.67, Y:29.42, Z:-0.90 [[ 9.85422105e-01 1.68572449e-01 2.29478468e-02 1.83669614e+02] [-1.68516613e-01 9.85689173e-01 -4.35954101e-03 2.94199948e+01] [-2.33543426e-02 4.28894671e-04 9.99727158e-01 -9.02706521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:183.70, Y:29.41, Z:-0.90 [[ 9.85558432e-01 1.67469230e-01 2.50725982e-02 1.83697952e+02] [-1.67402285e-01 9.85877179e-01 -4.76050048e-03 2.94130322e+01] [-2.55157398e-02 4.94541147e-04 9.99674298e-01 -9.03009963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05592000000001 meters Centerline goodness [0,1] 0.99970128447675 Centerline is valid? [True, True] Translation: X:183.73, Y:29.41, Z:-0.90 [[ 9.85721692e-01 1.66607473e-01 2.43863795e-02 1.83728017e+02] [-1.66543882e-01 9.86023173e-01 -4.63013133e-03 2.94072664e+01] [-2.48169498e-02 5.02618579e-04 9.99691886e-01 -9.00674428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08592000000002 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:183.76, Y:29.40, Z:-0.90 [[ 9.85527777e-01 1.67669410e-01 2.49393092e-02 1.83757712e+02] [-1.67603242e-01 9.85843158e-01 -4.73511358e-03 2.94006371e+01] [-2.53801810e-02 4.86676887e-04 9.99677753e-01 -9.00563690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.79, Y:29.39, Z:-0.90 [[ 9.84973463e-01 1.70924831e-01 2.47382328e-02 1.83787416e+02] [-1.70860751e-01 9.85283991e-01 -4.69693612e-03 2.93915455e+01] [-2.51770078e-02 3.99564391e-04 9.99682929e-01 -9.00129808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14592000000002 meters Centerline goodness [0,1] 0.9999005964214712 Centerline is valid? [True, True] Translation: X:183.82, Y:29.38, Z:-0.90 [[ 9.84605356e-01 1.72872972e-01 2.58307874e-02 1.83817689e+02] [-1.72803775e-01 9.84944061e-01 -4.90437451e-03 2.93849991e+01] [-2.62897144e-02 3.65215818e-04 9.99654299e-01 -9.00608349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.85, Y:29.38, Z:-0.90 [[ 9.83656580e-01 1.78264141e-01 2.53303878e-02 1.83847497e+02] [-1.78199385e-01 9.83982647e-01 -4.80936589e-03 2.93790217e+01] [-2.57819995e-02 2.16904879e-04 9.99667565e-01 -8.99642895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.88, Y:29.37, Z:-0.90 [[ 9.83153097e-01 1.81043645e-01 2.51632042e-02 1.83877441e+02] [-1.80980651e-01 9.83475052e-01 -4.77762350e-03 2.93733385e+01] [-2.56123419e-02 1.43082261e-04 9.99671940e-01 -8.99240231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.91, Y:29.37, Z:-0.90 [[ 9.82042683e-01 1.87263305e-01 2.29046700e-02 1.83906648e+02] [-1.87212836e-01 9.82309755e-01 -4.34737975e-03 2.93680966e+01] [-2.33135855e-02 -1.87357552e-05 9.99728201e-01 -8.98540847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.94, Y:29.36, Z:-0.90 [[ 9.81655778e-01 1.89186296e-01 2.36744209e-02 1.83935145e+02] [-1.89133189e-01 9.81941210e-01 -4.48299232e-03 2.93634119e+01] [-2.40950102e-02 -7.68633984e-05 9.99709670e-01 -8.98991393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.96, Y:29.36, Z:-0.90 [[ 9.81197270e-01 1.91544606e-01 2.37188090e-02 1.83964150e+02] [-1.91492250e-01 9.81483898e-01 -4.48055892e-03 2.93615103e+01] [-2.41378560e-02 -1.45655933e-04 9.99708629e-01 -8.98601522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.99, Y:29.36, Z:-0.90 [[ 9.81105481e-01 1.91979470e-01 2.39982886e-02 1.83991959e+02] [-1.91926309e-01 9.81398927e-01 -4.52083897e-03 2.93580841e+01] [-2.44198029e-02 -1.70483067e-04 9.99701778e-01 -8.97839248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.02, Y:29.35, Z:-0.90 [[ 9.80893156e-01 1.93017089e-01 2.43520187e-02 1.84020173e+02] [-1.92962948e-01 9.81195373e-01 -4.57616662e-03 2.93541864e+01] [-2.47773664e-02 -2.10306803e-04 9.99692972e-01 -8.98947807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.05, Y:29.35, Z:-0.90 [[ 9.80723964e-01 1.94074713e-01 2.27048730e-02 1.84048739e+02] [-1.94028173e-01 9.80986724e-01 -4.25624795e-03 2.93519982e+01] [-2.30992091e-02 -2.31180669e-04 9.99733151e-01 -8.99028986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.08, Y:29.35, Z:-0.90 [[ 9.80516396e-01 1.94981925e-01 2.38672402e-02 1.84078254e+02] [-1.94931033e-01 9.80806797e-01 -4.46313979e-03 2.93525817e+01] [-2.42793830e-02 -2.76284046e-04 9.99705174e-01 -8.98358694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.11, Y:29.35, Z:-0.90 [[ 9.80748680e-01 1.93988512e-01 2.23714981e-02 1.84107865e+02] [-1.93943758e-01 9.81003770e-01 -4.17393158e-03 2.93517793e+01] [-2.27562188e-02 -2.45234526e-04 9.99741014e-01 -8.97784100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.14, Y:29.35, Z:-0.90 [[ 9.81015458e-01 1.92635081e-01 2.23695538e-02 1.84136854e+02] [-1.92590232e-01 9.81270439e-01 -4.16259689e-03 2.93545807e+01] [-2.27524441e-02 -2.24585669e-04 9.99741104e-01 -8.99256758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.17, Y:29.35, Z:-0.90 [[ 9.81379454e-01 1.90612616e-01 2.36896235e-02 1.84165693e+02] [-1.90561996e-01 9.81665315e-01 -4.39714116e-03 2.93529802e+01] [-2.40934323e-02 -1.99077947e-04 9.99709691e-01 -9.01264076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:184.20, Y:29.36, Z:-0.90 [[ 9.82354606e-01 1.85466067e-01 2.41198410e-02 1.84195094e+02] [-1.85412349e-01 9.82650666e-01 -4.46433146e-03 2.93560035e+01] [-2.45293598e-02 -8.65598233e-05 9.99699106e-01 -9.01486961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.22, Y:29.36, Z:-0.90 [[ 9.83016761e-01 1.81572202e-01 2.66380051e-02 1.84224202e+02] [-1.81505585e-01 9.83377616e-01 -4.91804804e-03 2.93550003e+01] [-2.70881987e-02 -4.23042449e-07 9.99633047e-01 -9.02318943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.25, Y:29.36, Z:-0.90 [[ 9.84295556e-01 1.74227997e-01 2.84053324e-02 1.84253261e+02] [-1.74149325e-01 9.84705317e-01 -5.23944579e-03 2.93560733e+01] [-2.88837400e-02 2.10393741e-04 9.99582756e-01 -9.03785041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:184.28, Y:29.35, Z:-0.90 [[ 9.84981645e-01 1.70338978e-01 2.82097872e-02 1.84281570e+02] [-1.70260143e-01 9.85385476e-01 -5.19107202e-03 2.93534558e+01] [-2.86817565e-02 3.10108262e-04 9.99588546e-01 -9.03621779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.31, Y:29.35, Z:-0.91 [[ 9.86064499e-01 1.63602595e-01 3.01826897e-02 1.84312030e+02] [-1.63509255e-01 9.86526178e-01 -5.55187386e-03 2.93547654e+01] [-3.06843144e-02 5.39356600e-04 9.99528980e-01 -9.05089397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68592 meters Centerline goodness [0,1] 0.9999007936507937 Centerline is valid? [True, True] Translation: X:184.34, Y:29.35, Z:-0.91 [[ 9.86741001e-01 1.59766067e-01 2.85832214e-02 1.84340237e+02] [-1.59681100e-01 9.87154714e-01 -5.24566063e-03 2.93518802e+01] [-2.90541403e-02 6.11908188e-04 9.99577652e-01 -9.05168459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71592 meters Centerline goodness [0,1] 0.9998509316770187 Centerline is valid? [True, True] Translation: X:184.37, Y:29.35, Z:-0.90 [[ 9.87738333e-01 1.53638505e-01 2.77163224e-02 1.84368734e+02] [-1.53556534e-01 9.88126833e-01 -5.07479319e-03 2.93462263e+01] [-2.81669255e-02 7.56545371e-04 9.99602947e-01 -9.04603597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:184.40, Y:29.34, Z:-0.91 [[ 9.88235368e-01 1.50338618e-01 2.80919370e-02 1.84396693e+02] [-1.50253419e-01 9.88634198e-01 -5.13160049e-03 2.93403932e+01] [-2.85441273e-02 8.50319527e-04 9.99592172e-01 -9.05254076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77592 meters Centerline goodness [0,1] 0.9996027608123541 Centerline is valid? [True, True] Translation: X:184.43, Y:29.34, Z:-0.90 [[ 9.88850675e-01 1.45993389e-01 2.93304228e-02 1.84425275e+02] [-1.45898719e-01 9.89285045e-01 -5.35382059e-03 2.93355619e+01] [-2.97977711e-02 1.01485799e-03 9.99555433e-01 -9.04186433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80592000000001 meters Centerline goodness [0,1] 0.9996026621635046 Centerline is valid? [True, True] Translation: X:184.45, Y:29.33, Z:-0.90 [[ 9.89068280e-01 1.44326569e-01 3.02287854e-02 1.84453989e+02] [-1.44225289e-01 9.89529505e-01 -5.51593086e-03 2.93298995e+01] [-3.07083704e-02 1.09587694e-03 9.99527786e-01 -9.04622283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83592000000002 meters Centerline goodness [0,1] 0.9995041895978978 Centerline is valid? [True, True] Translation: X:184.48, Y:29.32, Z:-0.91 [[ 9.89357080e-01 1.42675030e-01 2.85727692e-02 1.84483198e+02] [-1.42583860e-01 9.89768993e-01 -5.21370488e-03 2.93212284e+01] [-2.90243065e-02 1.08420012e-03 9.99578118e-01 -9.05457060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86592000000002 meters Centerline goodness [0,1] 0.9994538232373387 Centerline is valid? [True, True] Translation: X:184.51, Y:29.32, Z:-0.90 [[ 9.89519219e-01 1.41775579e-01 2.74116922e-02 1.84512602e+02] [-1.41691368e-01 9.89898254e-01 -5.00026677e-03 2.93160050e+01] [-2.78437020e-02 1.06385989e-03 9.99611723e-01 -9.04630537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89592000000002 meters Centerline goodness [0,1] 0.999305590000496 Centerline is valid? [True, True] Translation: X:184.54, Y:29.31, Z:-0.90 [[ 9.89542508e-01 1.41755557e-01 2.66643341e-02 1.84541962e+02] [-1.41675913e-01 9.89901153e-01 -4.86236642e-03 2.93112950e+01] [-2.70843226e-02 1.03382438e-03 9.99632618e-01 -9.04033136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92592000000002 meters Centerline goodness [0,1] 0.9995530171343432 Centerline is valid? [True, True] Translation: X:184.57, Y:29.30, Z:-0.90 [[ 9.89502332e-01 1.41980702e-01 2.69558195e-02 1.84569824e+02] [-1.41899687e-01 9.89868892e-01 -4.90464311e-03 2.93044123e+01] [-2.73790918e-02 1.02813345e-03 9.99624594e-01 -9.02719654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95592000000002 meters Centerline goodness [0,1] 0.999652260307998 Centerline is valid? [True, True] Translation: X:184.60, Y:29.30, Z:-0.90 [[ 9.89422383e-01 1.42331618e-01 2.80189123e-02 1.84597936e+02] [-1.42244560e-01 9.89818475e-01 -5.08633028e-03 2.92994935e+01] [-2.84575827e-02 1.04699116e-03 9.99594453e-01 -9.04278796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98592 meters Centerline goodness [0,1] 0.9994042595442586 Centerline is valid? [True, True] Translation: X:184.63, Y:29.30, Z:-0.90 [[ 9.89377891e-01 1.42882459e-01 2.67580245e-02 1.84626256e+02] [-1.42803566e-01 9.89739185e-01 -4.84633442e-03 2.92954053e+01] [-2.71759215e-02 9.73714826e-04 9.99630192e-01 -9.03488183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01592 meters Centerline goodness [0,1] 0.9994538232373387 Centerline is valid? [True, True] Translation: X:184.65, Y:29.29, Z:-0.90 [[ 9.89311330e-01 1.43028416e-01 2.83895063e-02 1.84654978e+02] [-1.42940009e-01 9.89718060e-01 -5.12991120e-03 2.92902640e+01] [-2.88313301e-02 1.01708299e-03 9.99583773e-01 -9.04359607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04592 meters Centerline goodness [0,1] 0.9997022332506204 Centerline is valid? [True, True] Translation: X:184.68, Y:29.28, Z:-0.90 [[ 9.89155166e-01 1.43920891e-01 2.93058797e-02 1.84683969e+02] [-1.43827110e-01 9.89588669e-01 -5.29428415e-03 2.92846149e+01] [-2.97627246e-02 1.02188853e-03 9.99556470e-01 -9.04532581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07592 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:184.71, Y:29.28, Z:-0.90 [[ 9.89175151e-01 1.43823352e-01 2.91095289e-02 1.84713486e+02] [-1.43730833e-01 9.89602855e-01 -5.25708250e-03 2.92804396e+01] [-2.95629641e-02 1.01623853e-03 9.99562403e-01 -9.04604787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:184.74, Y:29.27, Z:-0.90 [[ 9.89140239e-01 1.44285432e-01 2.79875132e-02 1.84742607e+02] [-1.44200142e-01 9.89535643e-01 -5.05277501e-03 2.92738052e+01] [-2.84236837e-02 9.62099700e-04 9.99595502e-01 -9.04338900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13592 meters Centerline goodness [0,1] 0.9996020692399522 Centerline is valid? [True, True] Translation: X:184.77, Y:29.27, Z:-0.90 [[ 9.89153332e-01 1.44367541e-01 2.70868900e-02 1.84771144e+02] [-1.44287729e-01 9.89523700e-01 -4.88854980e-03 2.92660002e+01] [-2.75088675e-02 9.27219474e-04 9.99621129e-01 -9.03560011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16592 meters Centerline goodness [0,1] 0.9995532390171258 Centerline is valid? [True, True] Translation: X:184.80, Y:29.26, Z:-0.90 [[ 9.89018727e-01 1.45222630e-01 2.74289167e-02 1.84800196e+02] [-1.45141164e-01 9.89398582e-01 -4.94860459e-03 2.92575348e+01] [-2.78567806e-02 9.13197704e-04 9.99611507e-01 -9.04485644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19592 meters Centerline goodness [0,1] 0.9995532390171258 Centerline is valid? [True, True] Translation: X:184.83, Y:29.25, Z:-0.90 [[ 9.89027179e-01 1.45165005e-01 2.74292050e-02 1.84828907e+02] [-1.45083561e-01 9.89407038e-01 -4.94700635e-03 2.92523347e+01] [-2.78567806e-02 9.13196988e-04 9.99611507e-01 -9.04510849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22592 meters Centerline goodness [0,1] 0.9997019670176833 Centerline is valid? [True, True] Translation: X:184.86, Y:29.25, Z:-0.90 [[ 9.89052067e-01 1.45163020e-01 2.65274852e-02 1.84857964e+02] [-1.45086886e-01 9.89407358e-01 -4.78278507e-03 2.92457997e+01] [-2.69407725e-02 8.81633242e-04 9.99636643e-01 -9.04458098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25592 meters Centerline goodness [0,1] 0.9996521911954686 Centerline is valid? [True, True] Translation: X:184.89, Y:29.24, Z:-0.91 [[ 9.89051244e-01 1.44975866e-01 2.75614945e-02 1.84886064e+02] [-1.44893676e-01 9.89434765e-01 -4.96675644e-03 2.92374657e+01] [-2.79903606e-02 9.18890386e-04 9.99607771e-01 -9.05758087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28592 meters Centerline goodness [0,1] 0.9993045206159961 Centerline is valid? [True, True] Translation: X:184.91, Y:29.23, Z:-0.90 [[ 9.88955387e-01 1.46006385e-01 2.54828970e-02 1.84914398e+02] [-1.45936509e-01 9.89283307e-01 -4.59063032e-03 2.92272426e+01] [-2.58800660e-02 8.21043543e-04 9.99664718e-01 -9.04135643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31592 meters Centerline goodness [0,1] 0.9992542507706076 Centerline is valid? [True, True] Translation: X:184.94, Y:29.22, Z:-0.90 [[ 9.88931206e-01 1.46253785e-01 2.49979835e-02 1.84941930e+02] [-1.46186884e-01 9.89246788e-01 -4.49298309e-03 2.92196338e+01] [-2.53862907e-02 7.88873871e-04 9.99677405e-01 -9.03655845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34592 meters Centerline goodness [0,1] 0.9994538774699633 Centerline is valid? [True, True] Translation: X:184.97, Y:29.21, Z:-0.90 [[ 9.88956896e-01 1.46372057e-01 2.32266755e-02 1.84969823e+02] [-1.46314566e-01 9.89229348e-01 -4.16480560e-03 2.92101408e+01] [-2.35861202e-02 7.20412263e-04 9.99721549e-01 -9.02662241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37592 meters Centerline goodness [0,1] 0.9997021297721292 Centerline is valid? [True, True] Translation: X:185.00, Y:29.20, Z:-0.90 [[ 9.88916153e-01 1.46131931e-01 2.62735722e-02 1.84998010e+02] [-1.46058580e-01 9.89264779e-01 -4.69990494e-03 2.92033330e+01] [-2.66783258e-02 8.10331265e-04 9.99643742e-01 -9.04027315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40592 meters Centerline goodness [0,1] 0.9995533720410897 Centerline is valid? [True, True] Translation: X:185.03, Y:29.19, Z:-0.90 [[ 9.88525032e-01 1.48883917e-01 2.55311516e-02 1.85027708e+02] [-1.48815579e-01 9.88854422e-01 -4.56674634e-03 2.91940863e+01] [-2.59265072e-02 7.14909965e-04 9.99663596e-01 -9.04872597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43592 meters Centerline goodness [0,1] 0.9997016261375503 Centerline is valid? [True, True] Translation: X:185.06, Y:29.19, Z:-0.90 [[ 9.88258460e-01 1.50569065e-01 2.59648434e-02 1.85056249e+02] [-1.50499007e-01 9.88599258e-01 -4.64278692e-03 2.91876513e+01] [-2.63678850e-02 6.80590318e-04 9.99652075e-01 -9.03880479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46592 meters Centerline goodness [0,1] 0.999850902042642 Centerline is valid? [True, True] Translation: X:185.09, Y:29.18, Z:-0.90 [[ 9.87426484e-01 1.56253291e-01 2.39551422e-02 1.85085025e+02] [-1.56195366e-01 9.87716899e-01 -4.28194897e-03 2.91814942e+01] [-2.43299674e-02 4.86427612e-04 9.99703864e-01 -9.02179477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49592 meters Centerline goodness [0,1] 0.9998016266613767 Centerline is valid? [True, True] Translation: X:185.11, Y:29.18, Z:-0.90 [[ 9.87050217e-01 1.58635469e-01 2.38045819e-02 1.85113218e+02] [-1.58579205e-01 9.87337134e-01 -4.24499927e-03 2.91758750e+01] [-2.41765551e-02 4.15115786e-04 9.99707618e-01 -9.01646325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.14, Y:29.17, Z:-0.90 [[ 9.86527215e-01 1.61400020e-01 2.67224132e-02 1.85141575e+02] [-1.61330447e-01 9.86888996e-01 -4.75356430e-03 2.91693279e+01] [-2.71392809e-02 3.78381685e-04 9.99631590e-01 -9.03162077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55592000000001 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:185.17, Y:29.16, Z:-0.90 [[ 9.86064076e-01 1.64267405e-01 2.63411719e-02 1.85170862e+02] [-1.64200878e-01 9.86415802e-01 -4.68376983e-03 2.91623624e+01] [-2.67527389e-02 2.93253601e-04 9.99642038e-01 -9.02346613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58592000000002 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:185.20, Y:29.16, Z:-0.90 [[ 9.86009696e-01 1.64517917e-01 2.68092253e-02 1.85198761e+02] [-1.64449275e-01 9.86374054e-01 -4.76047854e-03 2.91567446e+01] [-2.72271082e-02 2.85120328e-04 9.99629233e-01 -9.02737217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61592000000002 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:185.23, Y:29.15, Z:-0.90 [[ 9.86051804e-01 1.64353856e-01 2.62611743e-02 1.85226921e+02] [-1.64288244e-01 9.86401407e-01 -4.65156079e-03 2.91514153e+01] [-2.66685613e-02 2.72277695e-04 9.99644294e-01 -9.02477389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.26, Y:29.15, Z:-0.90 [[ 9.86365248e-01 1.62269969e-01 2.74236197e-02 1.85255624e+02] [-1.62197953e-01 9.86746344e-01 -4.84524799e-03 2.91484460e+01] [-2.78463947e-02 3.31129249e-04 9.99612159e-01 -9.03065181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67592000000002 meters Centerline goodness [0,1] 0.9999007394907936 Centerline is valid? [True, True] Translation: X:185.28, Y:29.14, Z:-0.90 [[ 9.86579224e-01 1.61103561e-01 2.65909140e-02 1.85284659e+02] [-1.61035483e-01 9.86937444e-01 -4.69614707e-03 2.91442348e+01] [-2.70001347e-02 3.51040445e-04 9.99635368e-01 -9.03265148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70592000000002 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:185.31, Y:29.14, Z:-0.90 [[ 9.86870747e-01 1.59139935e-01 2.75791556e-02 1.85312959e+02] [-1.59066269e-01 9.87255952e-01 -4.85877750e-03 2.91393311e+01] [-2.80009110e-02 4.08072011e-04 9.99607814e-01 -9.04408023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73592 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:185.34, Y:29.13, Z:-0.91 [[ 9.87182315e-01 1.57094152e-01 2.81514342e-02 1.85342366e+02] [-1.57016624e-01 9.87583517e-01 -4.95750254e-03 2.91336311e+01] [-2.85806871e-02 4.73715667e-04 9.99591376e-01 -9.05313763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76592 meters Centerline goodness [0,1] 0.999900616179686 Centerline is valid? [True, True] Translation: X:185.37, Y:29.13, Z:-0.90 [[ 9.87255643e-01 1.56620905e-01 2.82167844e-02 1.85372007e+02] [-1.56542825e-01 9.87658673e-01 -4.96895736e-03 2.91280562e+01] [-2.86467944e-02 4.88496057e-04 9.99589477e-01 -9.04157415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79592 meters Centerline goodness [0,1] 0.999800796812749 Centerline is valid? [True, True] Translation: X:185.40, Y:29.12, Z:-0.90 [[ 9.87544213e-01 1.54943908e-01 2.73644393e-02 1.85401987e+02] [-1.54869831e-01 9.87923132e-01 -4.81885994e-03 2.91233658e+01] [-2.77806155e-02 5.20911161e-04 9.99613908e-01 -9.04042535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82592 meters Centerline goodness [0,1] 0.9998509983113142 Centerline is valid? [True, True] Translation: X:185.43, Y:29.12, Z:-0.90 [[ 9.87655115e-01 1.54244210e-01 2.73147885e-02 1.85431837e+02] [-1.54170134e-01 9.88032607e-01 -4.81011647e-03 2.91173690e+01] [-2.77298343e-02 5.39611532e-04 9.99615309e-01 -9.04293176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85592 meters Centerline goodness [0,1] 0.9997515281021716 Centerline is valid? [True, True] Translation: X:185.46, Y:29.11, Z:-0.91 [[ 9.87830286e-01 1.53097897e-01 2.74291699e-02 1.85461621e+02] [-1.53022758e-01 9.88210860e-01 -4.83025896e-03 2.91122764e+01] [-2.78453061e-02 5.74188863e-04 9.99612079e-01 -9.05063245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88592 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:185.49, Y:29.11, Z:-0.90 [[ 9.87925127e-01 1.52579306e-01 2.68979474e-02 1.85491770e+02] [-1.52506857e-01 9.88291061e-01 -4.73671102e-03 2.91076133e+01] [-2.73057250e-02 5.77394418e-04 9.99626962e-01 -9.04497719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91592 meters Centerline goodness [0,1] 0.9997017596182524 Centerline is valid? [True, True] Translation: X:185.52, Y:29.10, Z:-0.90 [[ 9.88022208e-01 1.52043432e-01 2.63611678e-02 1.85521877e+02] [-1.51973656e-01 9.88373643e-01 -4.64218448e-03 2.91011639e+01] [-2.67604971e-02 5.80378320e-04 9.99641705e-01 -9.03319911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94592 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:185.55, Y:29.09, Z:-0.90 [[ 9.88061361e-01 1.51702590e-01 2.68527814e-02 1.85551557e+02] [-1.51630061e-01 9.88426003e-01 -4.72875732e-03 2.90942711e+01] [-2.72593521e-02 6.00613513e-04 9.99628214e-01 -9.04429617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97592 meters Centerline goodness [0,1] 0.9996519836929502 Centerline is valid? [True, True] Translation: X:185.58, Y:29.09, Z:-0.91 [[ 9.88410131e-01 1.49285489e-01 2.75546093e-02 1.85581739e+02] [-1.49208179e-01 9.88793899e-01 -4.85234876e-03 2.90886289e+01] [-2.79702148e-02 6.84737589e-04 9.99608522e-01 -9.05229038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00592 meters Centerline goodness [0,1] 0.9997019522130048 Centerline is valid? [True, True] Translation: X:185.61, Y:29.08, Z:-0.90 [[ 9.88514770e-01 1.48961693e-01 2.54747458e-02 1.85611370e+02] [-1.48895508e-01 9.88842759e-01 -4.48608616e-03 2.90833415e+01] [-2.58587730e-02 6.41487191e-04 9.99665400e-01 -9.04038757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03592 meters Centerline goodness [0,1] 0.9993554145180484 Centerline is valid? [True, True] Translation: X:185.64, Y:29.08, Z:-0.90 [[ 9.88573451e-01 1.48134527e-01 2.79050798e-02 1.85640415e+02] [-1.48054827e-01 9.88966954e-01 -4.91239839e-03 2.90779950e+01] [-2.83248976e-02 7.24784882e-04 9.99598507e-01 -9.04425414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06592 meters Centerline goodness [0,1] 0.9993049004518147 Centerline is valid? [True, True] Translation: X:185.67, Y:29.07, Z:-0.90 [[ 9.88887402e-01 1.46543089e-01 2.50365471e-02 1.85670675e+02] [-1.46478389e-01 9.89204045e-01 -4.40885492e-03 2.90705046e+01] [-2.54123409e-02 6.92547999e-04 9.99676814e-01 -9.03373519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09592 meters Centerline goodness [0,1] 0.9996020098502562 Centerline is valid? [True, True] Translation: X:185.70, Y:29.06, Z:-0.90 [[ 9.89082361e-01 1.45182607e-01 2.52605180e-02 1.85699961e+02] [-1.45116319e-01 9.89404605e-01 -4.44760215e-03 2.90638562e+01] [-2.56385873e-02 7.33331434e-04 9.99671008e-01 -9.04534964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12592 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:185.73, Y:29.06, Z:-0.90 [[ 9.89050950e-01 1.45236106e-01 2.61666356e-02 1.85730117e+02] [-1.45164995e-01 9.89396735e-01 -4.60711475e-03 2.90574971e+01] [-2.65583033e-02 7.58191696e-04 9.99646979e-01 -9.04381774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15592 meters Centerline goodness [0,1] 0.9997518117740495 Centerline is valid? [True, True] Translation: X:185.76, Y:29.05, Z:-0.90 [[ 9.88922601e-01 1.46155995e-01 2.58942741e-02 1.85759923e+02] [-1.46086652e-01 9.89261289e-01 -4.55992564e-03 2.90478133e+01] [-2.62826634e-02 7.26605712e-04 9.99654287e-01 -9.04736105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18592 meters Centerline goodness [0,1] 0.9994533074896874 Centerline is valid? [True, True] Translation: X:185.79, Y:29.04, Z:-0.90 [[ 9.88827916e-01 1.46590480e-01 2.70292980e-02 1.85790115e+02] [-1.46515040e-01 9.89196983e-01 -4.76142896e-03 2.90409442e+01] [-2.74352801e-02 7.48035198e-04 9.99623302e-01 -9.04768820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21592 meters Centerline goodness [0,1] 0.9996520355917881 Centerline is valid? [True, True] Translation: X:185.82, Y:29.03, Z:-0.90 [[ 9.88368900e-01 1.49388285e-01 2.84615139e-02 1.85820759e+02] [-1.49305745e-01 9.88778357e-01 -5.01546751e-03 2.90328391e+01] [-2.88913810e-02 7.07664574e-04 9.99582306e-01 -9.04500337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:185.85, Y:29.03, Z:-0.90 [[ 9.88006686e-01 1.51850211e-01 2.80053706e-02 1.85852813e+02] [-1.51771187e-01 9.88403317e-01 -4.93850750e-03 2.90269452e+01] [-2.84305146e-02 6.28870083e-04 9.99595573e-01 -9.04902485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27592 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:185.88, Y:29.02, Z:-0.90 [[ 9.87608757e-01 1.54355967e-01 2.83403972e-02 1.85884733e+02] [-1.54275969e-01 9.88015139e-01 -5.00112710e-03 2.90212110e+01] [-2.87726953e-02 5.66914674e-04 9.99585820e-01 -9.04123762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30592000000001 meters Centerline goodness [0,1] 0.9997518117740495 Centerline is valid? [True, True] Translation: X:185.92, Y:29.01, Z:-0.90 [[ 9.87083866e-01 1.58035662e-01 2.62710925e-02 1.85915563e+02] [-1.57968179e-01 9.87433312e-01 -4.63765710e-03 2.90147425e+01] [-2.66738671e-02 4.27759850e-04 9.99644098e-01 -9.03578631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33592000000002 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:185.95, Y:29.01, Z:-0.91 [[ 9.86707344e-01 1.59643497e-01 3.03738467e-02 1.85945656e+02] [-1.59554044e-01 9.87174633e-01 -5.36198123e-03 2.90086640e+01] [-3.08402964e-02 4.44436196e-04 9.99524226e-01 -9.05531054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36592000000002 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:185.98, Y:29.00, Z:-0.91 [[ 9.86714149e-01 1.59908065e-01 2.87158259e-02 1.85977405e+02] [-1.59828122e-01 9.87131824e-01 -5.07282362e-03 2.90046143e+01] [-2.91574910e-02 4.15830317e-04 9.99574743e-01 -9.05565388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39592000000002 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:186.01, Y:29.00, Z:-0.90 [[ 9.86448606e-01 1.61585524e-01 2.84475879e-02 1.86008718e+02] [-1.61507712e-01 9.86858645e-01 -5.02727555e-03 2.90003382e+01] [-2.88860830e-02 3.64644110e-04 9.99582644e-01 -9.04652397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.04, Y:29.00, Z:-0.90 [[ 9.86278093e-01 1.62775607e-01 2.75612979e-02 1.86039931e+02] [-1.62702985e-01 9.86663062e-01 -4.87240077e-03 2.89953097e+01] [-2.79868226e-02 3.21236721e-04 9.99608241e-01 -9.03723526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45592000000002 meters Centerline goodness [0,1] 0.9998512199960325 Centerline is valid? [True, True] Translation: X:186.07, Y:28.99, Z:-0.90 [[ 9.86059819e-01 1.64095069e-01 2.75470857e-02 1.86070640e+02] [-1.64023055e-01 9.86444488e-01 -4.86919777e-03 2.89910743e+01] [-2.79726822e-02 2.82963099e-04 9.99608648e-01 -9.03199799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48592 meters Centerline goodness [0,1] 0.9997023071198213 Centerline is valid? [True, True] Translation: X:186.10, Y:28.99, Z:-0.90 [[ 9.85913712e-01 1.64876290e-01 2.81062571e-02 1.86100491e+02] [-1.64801640e-01 9.86314219e-01 -4.96801220e-03 2.89867463e+01] [-2.85407084e-02 2.66074072e-04 9.99592596e-01 -9.03930116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51592 meters Centerline goodness [0,1] 0.9996520009942829 Centerline is valid? [True, True] Translation: X:186.13, Y:28.98, Z:-0.91 [[ 9.85698478e-01 1.66033883e-01 2.88315869e-02 1.86131550e+02] [-1.65955773e-01 9.86120019e-01 -5.09800748e-03 2.89814861e+01] [-2.92778470e-02 2.40329941e-04 9.99571283e-01 -9.06205147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.16, Y:28.98, Z:-0.91 [[ 9.85589516e-01 1.66850010e-01 2.78277021e-02 1.86162878e+02] [-1.66777520e-01 9.85982267e-01 -4.92227720e-03 2.89761526e+01] [-2.82589028e-02 2.10309658e-04 9.99600615e-01 -9.06675664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:186.19, Y:28.97, Z:-0.91 [[ 9.85416556e-01 1.67928877e-01 2.74609352e-02 1.86193292e+02] [-1.67858703e-01 9.85799098e-01 -4.85745560e-03 2.89712287e+01] [-2.78866722e-02 1.77060208e-04 9.99611075e-01 -9.06637446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60592 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:186.22, Y:28.97, Z:-0.91 [[ 9.84873905e-01 1.71370191e-01 2.56056311e-02 1.86222919e+02] [-1.71310384e-01 9.85206705e-01 -4.52768088e-03 2.89670787e+01] [-2.60027490e-02 7.26842390e-05 9.99661869e-01 -9.05552517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:186.25, Y:28.96, Z:-0.90 [[ 9.84635071e-01 1.72973173e-01 2.39594965e-02 1.86251084e+02] [-1.72921541e-01 9.84926536e-01 -4.22604953e-03 2.89621310e+01] [-2.43293371e-02 1.80035180e-05 9.99703998e-01 -9.04790669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.28, Y:28.96, Z:-0.90 [[ 9.84019673e-01 1.76311801e-01 2.48883966e-02 1.86279819e+02] [-1.76257441e-01 9.84334365e-01 -4.37854777e-03 2.89588182e+01] [-2.52704937e-02 -7.81879599e-05 9.99680647e-01 -9.04010902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:186.31, Y:28.96, Z:-0.90 [[ 9.83707307e-01 1.78146302e-01 2.41625490e-02 1.86307687e+02] [-1.78095927e-01 9.84004003e-01 -4.23834144e-03 2.89583990e+01] [-2.45310897e-02 -1.33964123e-04 9.99699059e-01 -9.03883529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72592 meters Centerline goodness [0,1] 0.9999007887295996 Centerline is valid? [True, True] Translation: X:186.34, Y:28.95, Z:-0.90 [[ 9.83715401e-01 1.78025687e-01 2.47156732e-02 1.86335835e+02] [-1.77973227e-01 9.84025830e-01 -4.32395946e-03 2.89545907e+01] [-2.50906367e-02 -1.45182595e-04 9.99685170e-01 -9.04898469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75592 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:186.36, Y:28.95, Z:-0.90 [[ 9.83867629e-01 1.77433266e-01 2.28456784e-02 1.86364391e+02] [-1.77388527e-01 9.84132826e-01 -3.98638253e-03 2.89500272e+01] [-2.31904989e-02 -1.30488523e-04 9.99731056e-01 -9.04163168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:186.39, Y:28.95, Z:-0.91 [[ 9.84038962e-01 1.76256941e-01 2.45114753e-02 1.86393567e+02] [-1.76205354e-01 9.84344186e-01 -4.26579943e-03 2.89493748e+01] [-2.48796049e-02 -1.21340337e-04 9.99690447e-01 -9.05546192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.42, Y:28.95, Z:-0.91 [[ 9.84583297e-01 1.73228801e-01 2.42386934e-02 1.86421409e+02] [-1.73177750e-01 9.84881607e-01 -4.20567889e-03 2.89489937e+01] [-2.46007880e-02 -5.67611960e-05 9.99697353e-01 -9.05818027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84592 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:186.45, Y:28.95, Z:-0.91 [[ 9.84856196e-01 1.71691421e-01 2.40900104e-02 1.86449057e+02] [-1.71640842e-01 9.85150778e-01 -4.16729264e-03 2.89451648e+01] [-2.44477809e-02 -3.06456998e-05 9.99701108e-01 -9.07011895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87592 meters Centerline goodness [0,1] 0.9999007247096198 Centerline is valid? [True, True] Translation: X:186.48, Y:28.94, Z:-0.91 [[ 9.85140952e-01 1.70371761e-01 2.16971966e-02 1.86478160e+02] [-1.70330628e-01 9.85379857e-01 -3.74354874e-03 2.89437856e+01] [-2.20177754e-02 -7.77395324e-06 9.99757579e-01 -9.06094948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.51, Y:28.94, Z:-0.91 [[ 9.85124014e-01 1.70410744e-01 2.21552561e-02 1.86505774e+02] [-1.70368123e-01 9.85373116e-01 -3.81114814e-03 2.89409518e+01] [-2.24806543e-02 -2.00958395e-05 9.99747278e-01 -9.05991344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.53, Y:28.94, Z:-0.91 [[ 9.85212359e-01 1.69908179e-01 2.20866121e-02 1.86533223e+02] [-1.69865951e-01 9.85459898e-01 -3.78790759e-03 2.89387508e+01] [-2.24090670e-02 -1.98699983e-05 9.99748885e-01 -9.05565489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96592 meters Centerline goodness [0,1] 0.9999504287909582 Centerline is valid? [True, True] Translation: X:186.56, Y:28.93, Z:-0.91 [[ 9.85277891e-01 1.69283884e-01 2.38839926e-02 1.86561865e+02] [-1.69234585e-01 9.85567332e-01 -4.08518915e-03 2.89349055e+01] [-2.42308395e-02 -1.69510221e-05 9.99706390e-01 -9.06315921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.59, Y:28.93, Z:-0.91 [[ 9.85587439e-01 1.67402633e-01 2.43671428e-02 1.86590280e+02] [-1.67351056e-01 9.85888613e-01 -4.15522348e-03 2.89336891e+01] [-2.47188840e-02 1.74689915e-05 9.99694442e-01 -9.06489760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.62, Y:28.93, Z:-0.91 [[ 9.85985406e-01 1.64893720e-01 2.53543024e-02 1.86619102e+02] [-1.64837343e-01 9.86311338e-01 -4.31210885e-03 2.89304045e+01] [-2.57182756e-02 7.23405503e-05 9.99669228e-01 -9.05920240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.65, Y:28.93, Z:-0.91 [[ 9.86970921e-01 1.58778132e-01 2.60366332e-02 1.86647728e+02] [-1.58716858e-01 9.87314263e-01 -4.41647715e-03 2.89289988e+01] [-2.64075793e-02 2.26481897e-04 9.99651233e-01 -9.06502929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08592000000002 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:186.68, Y:28.93, Z:-0.91 [[ 9.87410568e-01 1.56002256e-01 2.61470228e-02 1.86676368e+02] [-1.55939794e-01 9.87756656e-01 -4.42370486e-03 2.89253602e+01] [-2.65170037e-02 2.90651582e-04 9.99648320e-01 -9.06197402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.70, Y:28.92, Z:-0.91 [[ 9.88206332e-01 1.50504682e-01 2.82238674e-02 1.86704489e+02] [-1.50429791e-01 9.88609185e-01 -4.77038556e-03 2.89225030e+01] [-2.86203400e-02 4.68414722e-04 9.99590244e-01 -9.08106257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.73, Y:28.92, Z:-0.91 [[ 9.88269657e-01 1.50087929e-01 2.82258371e-02 1.86732279e+02] [-1.50013202e-01 9.88672541e-01 -4.75871674e-03 2.89174907e+01] [-2.86203361e-02 4.68647155e-04 9.99590244e-01 -9.08130668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.76, Y:28.91, Z:-0.91 [[ 9.88587649e-01 1.48296108e-01 2.65089468e-02 1.86759981e+02] [-1.48229861e-01 9.88942888e-01 -4.45780688e-03 2.89118708e+01] [-2.68769098e-02 4.77515325e-04 9.99638637e-01 -9.06816368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20592000000002 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:186.79, Y:28.91, Z:-0.91 [[ 9.88872753e-01 1.46531907e-01 2.56725064e-02 1.86787071e+02] [-1.46469510e-01 9.89205820e-01 -4.30452703e-03 2.89068182e+01] [-2.60261432e-02 4.96390083e-04 9.99661139e-01 -9.06337002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23592 meters Centerline goodness [0,1] 0.9996010969832959 Centerline is valid? [True, True] Translation: X:186.81, Y:28.90, Z:-0.91 [[ 9.89109107e-01 1.45019775e-01 2.51483638e-02 1.86814249e+02] [-1.44959727e-01 9.89428624e-01 -4.20425483e-03 2.89024082e+01] [-2.54922111e-02 5.12966778e-04 9.99674889e-01 -9.05734696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26592 meters Centerline goodness [0,1] 0.9994546896688479 Centerline is valid? [True, True] Translation: X:186.84, Y:28.90, Z:-0.91 [[ 9.89092192e-01 1.45275373e-01 2.43249366e-02 1.86842758e+02] [-1.45219532e-01 9.89391144e-01 -4.05599566e-03 2.88972531e+01] [-2.46561131e-02 4.79297726e-04 9.99695877e-01 -9.06587934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29592 meters Centerline goodness [0,1] 0.9995038205815223 Centerline is valid? [True, True] Translation: X:186.87, Y:28.89, Z:-0.91 [[ 9.89296035e-01 1.43479960e-01 2.65867552e-02 1.86870516e+02] [-1.43412910e-01 9.89653063e-01 -4.42172658e-03 2.88899444e+01] [-2.69460929e-02 5.61512648e-04 9.99636730e-01 -9.08376869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32592 meters Centerline goodness [0,1] 0.999652743327711 Centerline is valid? [True, True] Translation: X:186.90, Y:28.88, Z:-0.91 [[ 9.89394593e-01 1.42671369e-01 2.72620678e-02 1.86899075e+02] [-1.42600886e-01 9.89769941e-01 -4.52227870e-03 2.88842735e+01] [-2.76283749e-02 5.86723080e-04 9.99618091e-01 -9.08467402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35592 meters Centerline goodness [0,1] 0.9993553825556603 Centerline is valid? [True, True] Translation: X:186.93, Y:28.88, Z:-0.91 [[ 9.89555668e-01 1.42036337e-01 2.46020088e-02 1.86928133e+02] [-1.41978888e-01 9.89861297e-01 -4.07523003e-03 2.88803180e+01] [-2.49314071e-02 5.39701111e-04 9.99689018e-01 -9.06738855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38592 meters Centerline goodness [0,1] 0.9996524502259073 Centerline is valid? [True, True] Translation: X:186.96, Y:28.88, Z:-0.91 [[ 9.89659848e-01 1.41297037e-01 2.46684517e-02 1.86955291e+02] [-1.41239346e-01 9.89967094e-01 -4.07433890e-03 2.88763252e+01] [-2.49966474e-02 5.48053635e-04 9.99687385e-01 -9.07561402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41592 meters Centerline goodness [0,1] 0.9996020494453565 Centerline is valid? [True, True] Translation: X:186.98, Y:28.87, Z:-0.91 [[ 9.89705130e-01 1.40877654e-01 2.52436460e-02 1.86983528e+02] [-1.40817383e-01 9.90026854e-01 -4.15845044e-03 2.88711433e+01] [-2.55777202e-02 5.60895578e-04 9.99672679e-01 -9.07909706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44592 meters Centerline goodness [0,1] 0.9995032783628055 Centerline is valid? [True, True] Translation: X:187.01, Y:28.87, Z:-0.91 [[ 9.89775279e-01 1.40425468e-01 2.50116839e-02 1.87010974e+02] [-1.40366465e-01 9.90091097e-01 -4.10801594e-03 2.88689094e+01] [-2.53407156e-02 5.55210982e-04 9.99678718e-01 -9.05956080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47592 meters Centerline goodness [0,1] 0.9993548387096775 Centerline is valid? [True, True] Translation: X:187.04, Y:28.87, Z:-0.91 [[ 9.89944789e-01 1.38945261e-01 2.65241416e-02 1.87039633e+02] [-1.38878682e-01 9.90299870e-01 -4.34497269e-03 2.88659441e+01] [-2.68705674e-02 6.17645245e-04 9.99638730e-01 -9.06557485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50592 meters Centerline goodness [0,1] 0.9993544222078761 Centerline is valid? [True, True] Translation: X:187.07, Y:28.86, Z:-0.91 [[ 9.90337945e-01 1.36264880e-01 2.57417501e-02 1.87068083e+02] [-1.36201552e-01 9.90672220e-01 -4.20588266e-03 2.88612051e+01] [-2.60747508e-02 6.59178888e-04 9.99659779e-01 -9.06007263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53592 meters Centerline goodness [0,1] 0.999499799919968 Centerline is valid? [True, True] Translation: X:187.10, Y:28.86, Z:-0.91 [[ 9.90517912e-01 1.34857791e-01 2.62229402e-02 1.87095888e+02] [-1.34791691e-01 9.90864713e-01 -4.28029524e-03 2.88561388e+01] [-2.65606173e-02 7.05074652e-04 9.99646956e-01 -9.06398736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56592 meters Centerline goodness [0,1] 0.9993041403648293 Centerline is valid? [True, True] Translation: X:187.12, Y:28.85, Z:-0.91 [[ 9.90773257e-01 1.33275870e-01 2.46149418e-02 1.87123508e+02] [-1.33217435e-01 9.91078739e-01 -4.00606167e-03 2.88523037e+01] [-2.49292568e-02 6.89959367e-04 9.99688980e-01 -9.05860121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59592 meters Centerline goodness [0,1] 0.99935461450628 Centerline is valid? [True, True] Translation: X:187.15, Y:28.85, Z:-0.90 [[ 9.91198438e-01 1.30190773e-01 2.40003859e-02 1.87151814e+02] [-1.30134564e-01 9.91488688e-01 -3.89586038e-03 2.88466322e+01] [-2.43033162e-02 7.38290983e-04 9.99704358e-01 -9.04953820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62592 meters Centerline goodness [0,1] 0.9987575170220168 Centerline is valid? [True, True] Translation: X:187.18, Y:28.84, Z:-0.90 [[ 9.91405675e-01 1.28609736e-01 2.39650607e-02 1.87179911e+02] [-1.28553475e-01 9.91694988e-01 -3.88005820e-03 2.88379390e+01] [-2.42650439e-02 7.65919875e-04 9.99705267e-01 -9.04215812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65592 meters Centerline goodness [0,1] 0.9991556570974471 Centerline is valid? [True, True] Translation: X:187.21, Y:28.83, Z:-0.90 [[ 9.91433750e-01 1.28238174e-01 2.47808391e-02 1.87207794e+02] [-1.28178162e-01 9.91743084e-01 -4.00175378e-03 2.88313491e+01] [-2.50894034e-02 7.91111354e-04 9.99684898e-01 -9.04104518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68592 meters Centerline goodness [0,1] 0.999304658786133 Centerline is valid? [True, True] Translation: X:187.24, Y:28.82, Z:-0.90 [[ 9.91350924e-01 1.29100131e-01 2.35902868e-02 1.87235562e+02] [-1.29046228e-01 9.91631299e-01 -3.79959401e-03 2.88245683e+01] [-2.38833949e-02 7.22493497e-04 9.99714490e-01 -9.04239756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71592 meters Centerline goodness [0,1] 0.9988592401547466 Centerline is valid? [True, True] Translation: X:187.26, Y:28.82, Z:-0.90 [[ 9.91359190e-01 1.28962710e-01 2.39911576e-02 1.87262248e+02] [-1.28907199e-01 9.91649178e-01 -3.85262358e-03 2.88180078e+01] [-2.42876564e-02 7.26700863e-04 9.99704747e-01 -9.04983535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74592 meters Centerline goodness [0,1] 0.9988064451959419 Centerline is valid? [True, True] Translation: X:187.29, Y:28.81, Z:-0.90 [[ 9.91174073e-01 1.30799754e-01 2.15726839e-02 1.87289792e+02] [-1.30755507e-01 9.91408624e-01 -3.45510199e-03 2.88078327e+01] [-2.18392713e-02 6.03860283e-04 9.99761312e-01 -9.03806648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77592 meters Centerline goodness [0,1] 0.9986559139784946 Centerline is valid? [True, True] Translation: X:187.32, Y:28.80, Z:-0.90 [[ 9.91027156e-01 1.31901801e-01 2.16122736e-02 1.87317470e+02] [-1.31857856e-01 9.91262623e-01 -3.45218100e-03 2.88013322e+01] [-2.18787879e-02 5.71457065e-04 9.99760467e-01 -9.04182319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80592000000001 meters Centerline goodness [0,1] 0.9991063893163878 Centerline is valid? [True, True] Translation: X:187.35, Y:28.80, Z:-0.90 [[ 9.90914214e-01 1.32330159e-01 2.40364223e-02 1.87345709e+02] [-1.32276178e-01 9.91205504e-01 -3.82908205e-03 2.87955872e+01] [-2.43317371e-02 6.14845763e-04 9.99703750e-01 -9.04990628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83592000000002 meters Centerline goodness [0,1] 0.9993056933148184 Centerline is valid? [True, True] Translation: X:187.37, Y:28.79, Z:-0.90 [[ 9.90677499e-01 1.34367057e-01 2.24407488e-02 1.87374343e+02] [-1.34320646e-01 9.90931492e-01 -3.56968119e-03 2.87888075e+01] [-2.27168923e-02 5.22146947e-04 9.99741802e-01 -9.03891042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86592000000002 meters Centerline goodness [0,1] 0.9991555732167693 Centerline is valid? [True, True] Translation: X:187.40, Y:28.78, Z:-0.90 [[ 9.90406884e-01 1.36182197e-01 2.34225010e-02 1.87401804e+02] [-1.36132377e-01 9.90683687e-01 -3.71599134e-03 2.87814951e+01] [-2.37103415e-02 4.91782658e-04 9.99718749e-01 -9.04135806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89592000000002 meters Centerline goodness [0,1] 0.9989574024426572 Centerline is valid? [True, True] Translation: X:187.43, Y:28.78, Z:-0.90 [[ 9.90481839e-01 1.35538962e-01 2.39774225e-02 1.87429764e+02] [-1.35486815e-01 9.90771886e-01 -3.79368666e-03 2.87768441e+01] [-2.42703485e-02 5.08953129e-04 9.99705302e-01 -9.04660328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92592000000002 meters Centerline goodness [0,1] 0.9986604485016869 Centerline is valid? [True, True] Translation: X:187.46, Y:28.77, Z:-0.90 [[ 9.90258955e-01 1.37005995e-01 2.48306183e-02 1.87457881e+02] [-1.36950801e-01 9.90570102e-01 -3.91796559e-03 2.87707779e+01] [-2.51332528e-02 4.79227442e-04 9.99683995e-01 -9.03249201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95592000000002 meters Centerline goodness [0,1] 0.9988578239062422 Centerline is valid? [True, True] Translation: X:187.49, Y:28.77, Z:-0.90 [[ 9.90182071e-01 1.37388823e-01 2.57638699e-02 1.87487195e+02] [-1.37329561e-01 9.90517075e-01 -4.06407457e-03 2.87651140e+01] [-2.60779114e-02 4.86032845e-04 9.99659795e-01 -9.03321268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98592 meters Centerline goodness [0,1] 0.9990568379250434 Centerline is valid? [True, True] Translation: X:187.52, Y:28.76, Z:-0.90 [[ 9.90135184e-01 1.37862941e-01 2.50225415e-02 1.87515796e+02] [-1.37807230e-01 9.90451210e-01 -3.94560190e-03 2.87580959e+01] [-2.53275588e-02 4.58392112e-04 9.99679101e-01 -9.04825917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01592 meters Centerline goodness [0,1] 0.9988583908274185 Centerline is valid? [True, True] Translation: X:187.55, Y:28.75, Z:-0.91 [[ 9.90191160e-01 1.37442638e-01 2.51194710e-02 1.87545294e+02] [-1.37386399e-01 9.90509617e-01 -3.95935004e-03 2.87523989e+01] [-2.54252611e-02 4.69439737e-04 9.99676616e-01 -9.05556176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04592 meters Centerline goodness [0,1] 0.9992059947397152 Centerline is valid? [True, True] Translation: X:187.57, Y:28.75, Z:-0.91 [[ 9.90078948e-01 1.37998780e-01 2.64577635e-02 1.87574544e+02] [-1.37936629e-01 9.90432284e-01 -4.16867090e-03 2.87461189e+01] [-2.67798946e-02 4.77818596e-04 9.99641240e-01 -9.06625541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07592 meters Centerline goodness [0,1] 0.9990575396825396 Centerline is valid? [True, True] Translation: X:187.60, Y:28.74, Z:-0.91 [[ 9.90146496e-01 1.37729226e-01 2.53096122e-02 1.87604520e+02] [-1.37672267e-01 9.90469810e-01 -3.98771890e-03 2.87409753e+01] [-2.56176323e-02 4.63994217e-04 9.99671707e-01 -9.05988298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10592 meters Centerline goodness [0,1] 0.9989075379878836 Centerline is valid? [True, True] Translation: X:187.63, Y:28.73, Z:-0.91 [[ 9.90073474e-01 1.38052430e-01 2.63826175e-02 1.87634516e+02] [-1.37990652e-01 9.90424808e-01 -4.15677892e-03 2.87328824e+01] [-2.67038523e-02 4.74961941e-04 9.99643276e-01 -9.05477128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13592 meters Centerline goodness [0,1] 0.9990069020308854 Centerline is valid? [True, True] Translation: X:187.67, Y:28.73, Z:-0.90 [[ 9.89992841e-01 1.38504019e-01 2.70335339e-02 1.87665493e+02] [-1.38439279e-01 9.90361757e-01 -4.26095883e-03 2.87256890e+01] [-2.73631381e-02 4.75815798e-04 9.99625446e-01 -9.04793888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16592 meters Centerline goodness [0,1] 0.9991549015708888 Centerline is valid? [True, True] Translation: X:187.70, Y:28.72, Z:-0.91 [[ 9.89863576e-01 1.39233979e-01 2.79999880e-02 1.87695816e+02] [-1.39164768e-01 9.90259398e-01 -4.41502411e-03 2.87186797e+01] [-2.83419727e-02 4.73659708e-04 9.99598173e-01 -9.05057337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19592 meters Centerline goodness [0,1] 0.9991075412762159 Centerline is valid? [True, True] Translation: X:187.73, Y:28.71, Z:-0.91 [[ 9.89550530e-01 1.41213195e-01 2.91304390e-02 1.87726121e+02] [-1.41139085e-01 9.89979113e-01 -4.59508963e-03 2.87113763e+01] [-2.94874134e-02 4.35629859e-04 9.99565057e-01 -9.06341490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22592 meters Centerline goodness [0,1] 0.999156201915918 Centerline is valid? [True, True] Translation: X:187.76, Y:28.71, Z:-0.91 [[ 9.89199979e-01 1.44214618e-01 2.61829096e-02 1.87757118e+02] [-1.44155757e-01 9.89546384e-01 -4.13176162e-03 2.87060676e+01] [-2.65050639e-02 3.12721348e-04 9.99648630e-01 -9.05560718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25592 meters Centerline goodness [0,1] 0.9991566623672984 Centerline is valid? [True, True] Translation: X:187.79, Y:28.70, Z:-0.91 [[ 9.88977044e-01 1.46204859e-01 2.34210498e-02 1.87787495e+02] [-1.46158320e-01 9.89254308e-01 -3.69597711e-03 2.87013406e+01] [-2.37097442e-02 2.32055238e-04 9.99718858e-01 -9.05179257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28592 meters Centerline goodness [0,1] 0.9991055011678179 Centerline is valid? [True, True] Translation: X:187.82, Y:28.70, Z:-0.91 [[ 9.88291138e-01 1.50470392e-01 2.52841567e-02 1.87815785e+02] [-1.50417805e-01 9.88614507e-01 -3.97991299e-03 2.86957097e+01] [-2.55951432e-02 1.30125377e-04 9.99672382e-01 -9.07221304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31592 meters Centerline goodness [0,1] 0.9992545102132101 Centerline is valid? [True, True] Translation: X:187.85, Y:28.69, Z:-0.91 [[ 9.88034099e-01 1.51870144e-01 2.69086978e-02 1.87845094e+02] [-1.51811156e-01 9.88400450e-01 -4.23357651e-03 2.86914878e+01] [-2.72395229e-02 9.78774402e-05 9.99628931e-01 -9.07510103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34592 meters Centerline goodness [0,1] 0.9992556570067487 Centerline is valid? [True, True] Translation: X:187.88, Y:28.69, Z:-0.91 [[ 9.87836331e-01 1.53157100e-01 2.68753812e-02 1.87875070e+02] [-1.53098736e-01 9.88201851e-01 -4.22827995e-03 2.86874433e+01] [-2.72058926e-02 6.22616699e-05 9.99629849e-01 -9.07212365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37592 meters Centerline goodness [0,1] 0.9995508533785807 Centerline is valid? [True, True] Translation: X:187.91, Y:28.69, Z:-0.91 [[ 9.87540858e-01 1.54939600e-01 2.75095150e-02 1.87905588e+02] [-1.54879140e-01 9.87923945e-01 -4.32804766e-03 2.86854126e+01] [-2.78478945e-02 1.34738914e-05 9.99612172e-01 -9.07463882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40592 meters Centerline goodness [0,1] 0.9992058765137979 Centerline is valid? [True, True] Translation: X:187.94, Y:28.68, Z:-0.91 [[ 9.87340898e-01 1.56225161e-01 2.74162260e-02 1.87936629e+02] [-1.56165606e-01 9.87721468e-01 -4.31337059e-03 2.86844418e+01] [-2.77534520e-02 -2.27043513e-05 9.99614799e-01 -9.07393334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43592 meters Centerline goodness [0,1] 0.9992558416431017 Centerline is valid? [True, True] Translation: X:187.97, Y:28.68, Z:-0.91 [[ 9.87109258e-01 1.57726817e-01 2.71581098e-02 1.87966639e+02] [-1.57668993e-01 9.87482783e-01 -4.27105438e-03 2.86817144e+01] [-2.74918256e-02 -6.59944937e-05 9.99622026e-01 -9.06991134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46592 meters Centerline goodness [0,1] 0.9995039682539683 Centerline is valid? [True, True] Translation: X:188.00, Y:28.68, Z:-0.91 [[ 9.86949559e-01 1.58980082e-01 2.56105773e-02 1.87995405e+02] [-1.58929373e-01 9.87281785e-01 -4.01647621e-03 2.86806854e+01] [-2.59233962e-02 -1.06213566e-04 9.99663927e-01 -9.07775919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49592 meters Centerline goodness [0,1] 0.9995047298301223 Centerline is valid? [True, True] Translation: X:188.02, Y:28.68, Z:-0.91 [[ 9.86986477e-01 1.58660304e-01 2.61648875e-02 1.88023723e+02] [-1.58607574e-01 9.87333224e-01 -4.09166617e-03 2.86783695e+01] [-2.64826478e-02 -1.11530165e-04 9.99649267e-01 -9.08378885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52592 meters Centerline goodness [0,1] 0.9999504533518307 Centerline is valid? [True, True] Translation: X:188.05, Y:28.68, Z:-0.91 [[ 9.87070559e-01 1.57902693e-01 2.75399771e-02 1.88052443e+02] [-1.57844171e-01 9.87454672e-01 -4.29984917e-03 2.86792145e+01] [-2.78734368e-02 -1.02770322e-04 9.99611455e-01 -9.08819818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.08, Y:28.68, Z:-0.91 [[ 9.87187948e-01 1.57151221e-01 2.76305912e-02 1.88080995e+02] [-1.57092361e-01 9.87574546e-01 -4.30179065e-03 2.86765030e+01] [-2.79633002e-02 -9.38789078e-05 9.99608946e-01 -9.08637757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.11, Y:28.68, Z:-0.91 [[ 9.87534770e-01 1.55059612e-01 2.70479920e-02 1.88110275e+02] [-1.55002758e-01 9.87905114e-01 -4.19887657e-03 2.86756223e+01] [-2.73719258e-02 -4.59767351e-05 9.99625318e-01 -9.05802028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61592000000002 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:188.14, Y:28.67, Z:-0.91 [[ 9.87675277e-01 1.53788529e-01 2.90970059e-02 1.88138510e+02] [-1.53722569e-01 9.88103784e-01 -4.50380263e-03 2.86728787e+01] [-2.94434948e-02 -2.45719832e-05 9.99566446e-01 -9.06774811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.17, Y:28.67, Z:-0.91 [[ 9.88016947e-01 1.51400956e-01 3.00043773e-02 1.88167164e+02] [-1.51330123e-01 9.88472432e-01 -4.63082225e-03 2.86722456e+01] [-3.03596107e-02 3.47647481e-05 9.99539040e-01 -9.07783299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67592000000002 meters Centerline goodness [0,1] 0.9998513895080993 Centerline is valid? [True, True] Translation: X:188.20, Y:28.67, Z:-0.91 [[ 9.88261588e-01 1.50023637e-01 2.88433954e-02 1.88195894e+02] [-1.49957970e-01 9.88682408e-01 -4.43877068e-03 2.86695905e+01] [-2.91828782e-02 6.13695526e-05 9.99574087e-01 -9.08652574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.22, Y:28.67, Z:-0.91 [[ 9.88443870e-01 1.48895411e-01 2.84406887e-02 1.88224574e+02] [-1.48831461e-01 9.88852947e-01 -4.36420396e-03 2.86669095e+01] [-2.87734688e-02 8.09013935e-05 9.99585955e-01 -9.09087272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73592 meters Centerline goodness [0,1] 0.9999504631693664 Centerline is valid? [True, True] Translation: X:188.25, Y:28.66, Z:-0.91 [[ 9.88641143e-01 1.47516894e-01 2.87655223e-02 1.88253509e+02] [-1.47451263e-01 9.89059530e-01 -4.40125853e-03 2.86649277e+01] [-2.91000739e-02 1.09752663e-04 9.99576497e-01 -9.10407351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:188.28, Y:28.66, Z:-0.91 [[ 9.88833126e-01 1.46239067e-01 2.86911934e-02 1.88282408e+02] [-1.46173605e-01 9.89249269e-01 -4.37722086e-03 2.86612294e+01] [-2.90228628e-02 1.34445815e-04 9.99578739e-01 -9.09392686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79592 meters Centerline goodness [0,1] 0.9997014331210191 Centerline is valid? [True, True] Translation: X:188.31, Y:28.66, Z:-0.91 [[ 9.89097727e-01 1.44208345e-01 2.98268384e-02 1.88311327e+02] [-1.44137074e-01 9.89547330e-01 -4.53719472e-03 2.86608167e+01] [-3.01693696e-02 1.88575759e-04 9.99544783e-01 -9.08155750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82592 meters Centerline goodness [0,1] 0.9999009508716323 Centerline is valid? [True, True] Translation: X:188.34, Y:28.66, Z:-0.91 [[ 9.89724093e-01 1.39930672e-01 2.94215485e-02 1.88340126e+02] [-1.39859822e-01 9.90161258e-01 -4.46252309e-03 2.86605841e+01] [-2.97565213e-02 3.01774079e-04 9.99557131e-01 -9.08728125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85592 meters Centerline goodness [0,1] 0.9998015873015873 Centerline is valid? [True, True] Translation: X:188.37, Y:28.66, Z:-0.91 [[ 9.89939337e-01 1.38482139e-01 2.90311233e-02 1.88369768e+02] [-1.38412598e-01 9.90364873e-01 -4.40118365e-03 2.86571655e+01] [-2.93608901e-02 3.38631631e-04 9.99568819e-01 -9.09597739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88592 meters Centerline goodness [0,1] 0.9997521930911434 Centerline is valid? [True, True] Translation: X:188.40, Y:28.65, Z:-0.91 [[ 9.90135224e-01 1.37275390e-01 2.80660810e-02 1.88398693e+02] [-1.37210246e-01 9.90532859e-01 -4.24308675e-03 2.86533834e+01] [-2.83828469e-02 3.50275777e-04 9.99597064e-01 -9.10002658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91592 meters Centerline goodness [0,1] 0.9996528982992017 Centerline is valid? [True, True] Translation: X:188.43, Y:28.65, Z:-0.91 [[ 9.90669768e-01 1.33933569e-01 2.52033829e-02 1.88427721e+02] [-1.33880234e-01 9.90990236e-01 -3.79944900e-03 2.86532241e+01] [-2.54851801e-02 3.89764463e-04 9.99675124e-01 -9.09749050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94592 meters Centerline goodness [0,1] 0.9994048504686802 Centerline is valid? [True, True] Translation: X:188.46, Y:28.65, Z:-0.91 [[ 9.90857845e-01 1.32522963e-01 2.52664670e-02 1.88456575e+02] [-1.32469179e-01 9.91179848e-01 -3.79808936e-03 2.86507971e+01] [-2.55469470e-02 4.16338484e-04 9.99673537e-01 -9.09246957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97592 meters Centerline goodness [0,1] 0.9996029579631743 Centerline is valid? [True, True] Translation: X:188.49, Y:28.65, Z:-0.91 [[ 9.91160127e-01 1.30256051e-01 2.51984839e-02 1.88485540e+02] [-1.30202101e-01 9.91480281e-01 -3.77698617e-03 2.86475862e+01] [-2.54757752e-02 4.62702535e-04 9.99675333e-01 -9.09430993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00592 meters Centerline goodness [0,1] 0.9996029579631743 Centerline is valid? [True, True] Translation: X:188.51, Y:28.64, Z:-0.91 [[ 9.91222587e-01 1.29779535e-01 2.52002887e-02 1.88512564e+02] [-1.29725738e-01 9.91542767e-01 -3.76492504e-03 2.86431999e+01] [-2.54757742e-02 4.62752675e-04 9.99675333e-01 -9.09454722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03592 meters Centerline goodness [0,1] 0.9995540801664767 Centerline is valid? [True, True] Translation: X:188.54, Y:28.64, Z:-0.91 [[ 9.91258466e-01 1.29637993e-01 2.45080438e-02 1.88541078e+02] [-1.29587330e-01 9.91561291e-01 -3.65094922e-03 2.86394569e+01] [-2.47745293e-02 4.43102359e-04 9.99692966e-01 -9.09271415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06592 meters Centerline goodness [0,1] 0.9993557339676876 Centerline is valid? [True, True] Translation: X:188.57, Y:28.64, Z:-0.91 [[ 9.91500147e-01 1.27831844e-01 2.42173278e-02 1.88570118e+02] [-1.27782090e-01 9.91795743e-01 -3.59732743e-03 2.86389060e+01] [-2.44784956e-02 4.72209916e-04 9.99700245e-01 -9.08215036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09592 meters Centerline goodness [0,1] 0.9994551758296186 Centerline is valid? [True, True] Translation: X:188.60, Y:28.63, Z:-0.91 [[ 9.91548022e-01 1.27488468e-01 2.40668023e-02 1.88598017e+02] [-1.27439513e-01 9.91839943e-01 -3.56332753e-03 2.86349932e+01] [-2.43246990e-02 4.66148803e-04 9.99704002e-01 -9.07961471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12592 meters Centerline goodness [0,1] 0.9991077624665411 Centerline is valid? [True, True] Translation: X:188.63, Y:28.63, Z:-0.91 [[ 9.91670975e-01 1.26654785e-01 2.33932081e-02 1.88625506e+02] [-1.26608571e-01 9.91946749e-01 -3.45215769e-03 2.86322751e+01] [-2.36420490e-02 4.61623945e-04 9.99720381e-01 -9.08101572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15592 meters Centerline goodness [0,1] 0.9991571223164262 Centerline is valid? [True, True] Translation: X:188.65, Y:28.63, Z:-0.91 [[ 9.91941829e-01 1.24692445e-01 2.24321821e-02 1.88653291e+02] [-1.24649696e-01 9.92195327e-01 -3.29943185e-03 2.86296933e+01] [-2.26685204e-02 4.76679791e-04 9.99742922e-01 -9.07632611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18592 meters Centerline goodness [0,1] 0.9989056359747301 Centerline is valid? [True, True] Translation: X:188.68, Y:28.63, Z:-0.91 [[ 9.91918077e-01 1.24629069e-01 2.37933628e-02 1.88681438e+02] [-1.24581050e-01 9.92203277e-01 -3.49572984e-03 2.86264685e+01] [-2.40435221e-02 5.03275509e-04 9.99710786e-01 -9.07081843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21592 meters Centerline goodness [0,1] 0.998012916045703 Centerline is valid? [True, True] Translation: X:188.71, Y:28.62, Z:-0.91 [[ 9.92192776e-01 1.22629479e-01 2.27047443e-02 1.88709510e+02] [-1.22585478e-01 9.92452389e-01 -3.32500145e-03 2.86243243e+01] [-2.29411209e-02 5.15770480e-04 9.99736685e-01 -9.06402458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24592 meters Centerline goodness [0,1] 0.9987112763320942 Centerline is valid? [True, True] Translation: X:188.74, Y:28.62, Z:-0.91 [[ 9.92166821e-01 1.22815875e-01 2.28311339e-02 1.88736711e+02] [-1.22771688e-01 9.92429346e-01 -3.33241069e-03 2.86203387e+01] [-2.30675602e-02 5.03290458e-04 9.99733782e-01 -9.07135836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27592 meters Centerline goodness [0,1] 0.9984640539067532 Centerline is valid? [True, True] Translation: X:188.77, Y:28.62, Z:-0.91 [[ 9.92277885e-01 1.21820226e-01 2.33330641e-02 1.88765131e+02] [-1.21774035e-01 9.92552041e-01 -3.39570960e-03 2.86162492e+01] [-2.35729465e-02 5.28126178e-04 9.99721980e-01 -9.07424886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30592000000001 meters Centerline goodness [0,1] 0.9987602895963503 Centerline is valid? [True, True] Translation: X:188.79, Y:28.61, Z:-0.91 [[ 9.92459466e-01 1.20530627e-01 2.22840067e-02 1.88792520e+02] [-1.20488397e-01 9.92709471e-01 -3.23301574e-03 2.86122664e+01] [-2.25112219e-02 5.23672821e-04 9.99746453e-01 -9.06352800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33592000000002 meters Centerline goodness [0,1] 0.9985624349377882 Centerline is valid? [True, True] Translation: X:188.82, Y:28.61, Z:-0.91 [[ 9.92390958e-01 1.21083147e-01 2.23396114e-02 1.88821108e+02] [-1.21041062e-01 9.92642241e-01 -3.23151271e-03 2.86090998e+01] [-2.25665236e-02 5.02913710e-04 9.99745217e-01 -9.05423029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36592000000002 meters Centerline goodness [0,1] 0.9984624541216149 Centerline is valid? [True, True] Translation: X:188.85, Y:28.61, Z:-0.91 [[ 9.92370972e-01 1.21139190e-01 2.29161812e-02 1.88848246e+02] [-1.21095177e-01 9.92635403e-01 -3.30379136e-03 2.86053331e+01] [-2.31476314e-02 5.03547620e-04 9.99731931e-01 -9.05272742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39592000000002 meters Centerline goodness [0,1] 0.9988104678826328 Centerline is valid? [True, True] Translation: X:188.88, Y:28.60, Z:-0.91 [[ 9.92327031e-01 1.21729440e-01 2.16565879e-02 1.88876114e+02] [-1.21690476e-01 9.92563216e-01 -3.11293190e-03 2.86004137e+01] [-2.18744680e-02 4.53645964e-04 9.99760622e-01 -9.06088926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42592000000002 meters Centerline goodness [0,1] 0.9991578321609036 Centerline is valid? [True, True] Translation: X:188.90, Y:28.60, Z:-0.91 [[ 9.92311027e-01 1.21952878e-01 2.11263092e-02 1.88904149e+02] [-1.21916028e-01 9.92535798e-01 -3.02833364e-03 2.85962168e+01] [-2.13379322e-02 4.29413155e-04 9.99772228e-01 -9.06365534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45592000000002 meters Centerline goodness [0,1] 0.9993055555555556 Centerline is valid? [True, True] Translation: X:188.93, Y:28.60, Z:-0.91 [[ 9.92110411e-01 1.23239182e-01 2.30007767e-02 1.88931969e+02] [-1.23196111e-01 9.92376905e-01 -3.28569086e-03 2.85960297e+01] [-2.32303654e-02 4.26161880e-04 9.99730048e-01 -9.07412885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48592 meters Centerline goodness [0,1] 0.9993555423359112 Centerline is valid? [True, True] Translation: X:188.96, Y:28.59, Z:-0.91 [[ 9.92066802e-01 1.23865492e-01 2.14662386e-02 1.88960781e+02] [-1.23828322e-01 9.92298947e-01 -3.05731724e-03 2.85929068e+01] [-2.16796221e-02 3.74934629e-04 9.99764899e-01 -9.06450114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51592 meters Centerline goodness [0,1] 0.999207881578296 Centerline is valid? [True, True] Translation: X:188.99, Y:28.59, Z:-0.91 [[ 9.92013474e-01 1.24262874e-01 2.16334407e-02 1.88988091e+02] [-1.24225450e-01 9.92249268e-01 -3.07052956e-03 2.85900896e+01] [-2.18473186e-02 3.58582798e-04 9.99761255e-01 -9.06272850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54592 meters Centerline goodness [0,1] 0.9993550947514634 Centerline is valid? [True, True] Translation: X:189.02, Y:28.59, Z:-0.91 [[ 9.91906766e-01 1.24968074e-01 2.24487858e-02 1.89016134e+02] [-1.24928206e-01 9.92160703e-01 -3.17523194e-03 2.85878267e+01] [-2.26696058e-02 3.45047509e-04 9.99742952e-01 -9.06810261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57592 meters Centerline goodness [0,1] 0.9989081343987295 Centerline is valid? [True, True] Translation: X:189.04, Y:28.59, Z:-0.91 [[ 9.91915555e-01 1.24887346e-01 2.25096227e-02 1.89044145e+02] [-1.24847492e-01 9.92170871e-01 -3.17273304e-03 2.85855465e+01] [-2.27296261e-02 3.36813310e-04 9.99741592e-01 -9.06653706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60592 meters Centerline goodness [0,1] 0.9996534825008663 Centerline is valid? [True, True] Translation: X:189.07, Y:28.58, Z:-0.91 [[ 9.91928417e-01 1.24494512e-01 2.40651562e-02 1.89073031e+02] [-1.24449096e-01 9.92220231e-01 -3.38158735e-03 2.85847624e+01] [-2.42989239e-02 3.59405660e-04 9.99704673e-01 -9.06529876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63592 meters Centerline goodness [0,1] 0.9992559892862457 Centerline is valid? [True, True] Translation: X:189.10, Y:28.58, Z:-0.91 [[ 9.91975121e-01 1.24038503e-01 2.44909890e-02 1.89101116e+02] [-1.23991622e-01 9.92277338e-01 -3.42947367e-03 2.85822971e+01] [-2.47272402e-02 3.65275092e-04 9.99694168e-01 -9.06585517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66592 meters Centerline goodness [0,1] 0.9995050240063357 Centerline is valid? [True, True] Translation: X:189.13, Y:28.58, Z:-0.91 [[ 9.91774927e-01 1.25951224e-01 2.27768119e-02 1.89129642e+02] [-1.25911407e-01 9.92036394e-01 -3.17964446e-03 2.85812095e+01] [-2.29959065e-02 2.85631220e-04 9.99735518e-01 -9.05562288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69592 meters Centerline goodness [0,1] 0.9995548961424332 Centerline is valid? [True, True] Translation: X:189.16, Y:28.58, Z:-0.91 [[ 9.91933428e-01 1.24612765e-01 2.32321773e-02 1.89158774e+02] [-1.24571208e-01 9.92205402e-01 -3.23317146e-03 2.85800333e+01] [-2.34539862e-02 3.13030460e-04 9.99724868e-01 -9.05608622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72592 meters Centerline goodness [0,1] 0.9995546318289786 Centerline is valid? [True, True] Translation: X:189.19, Y:28.58, Z:-0.91 [[ 9.91880833e-01 1.24808588e-01 2.43973251e-02 1.89187862e+02] [-1.24763075e-01 9.92180789e-01 -3.38484605e-03 2.85776557e+01] [-2.46290151e-02 3.13478628e-04 9.99696611e-01 -9.05962300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75592 meters Centerline goodness [0,1] 0.9996530875210625 Centerline is valid? [True, True] Translation: X:189.22, Y:28.58, Z:-0.91 [[ 9.91859346e-01 1.24466809e-01 2.68896230e-02 1.89216705e+02] [-1.24411708e-01 9.92223712e-01 -3.71905590e-03 2.85785102e+01] [-2.71434206e-02 3.43396415e-04 9.99631491e-01 -9.05932230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78592 meters Centerline goodness [0,1] 0.9997521808088818 Centerline is valid? [True, True] Translation: X:189.25, Y:28.58, Z:-0.91 [[ 9.92204268e-01 1.21956454e-01 2.56381358e-02 1.89245124e+02] [-1.21905852e-01 9.92535379e-01 -3.53337567e-03 2.85795591e+01] [-2.58776748e-02 3.80391640e-04 9.99665045e-01 -9.06136361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81592 meters Centerline goodness [0,1] 0.9995054156981057 Centerline is valid? [True, True] Translation: X:189.27, Y:28.58, Z:-0.91 [[ 9.92489255e-01 1.19382422e-01 2.67005000e-02 1.89273820e+02] [-1.19326916e-01 9.92848242e-01 -3.66831453e-03 2.85778483e+01] [-2.69474767e-02 4.54674445e-04 9.99636747e-01 -9.07303898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84592 meters Centerline goodness [0,1] 0.9998510796723753 Centerline is valid? [True, True] Translation: X:189.30, Y:28.58, Z:-0.91 [[ 9.92940128e-01 1.15939362e-01 2.50592587e-02 1.89303486e+02] [-1.15889643e-01 9.93256166e-01 -3.43222862e-03 2.85799919e+01] [-2.52881936e-02 5.03888969e-04 9.99680076e-01 -9.06289731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87592 meters Centerline goodness [0,1] 0.9997026906496209 Centerline is valid? [True, True] Translation: X:189.33, Y:28.58, Z:-0.91 [[ 9.93126731e-01 1.14324843e-01 2.50823781e-02 1.89331927e+02] [-1.14274788e-01 9.93443277e-01 -3.42472357e-03 2.85796046e+01] [-2.53094509e-02 5.34901093e-04 9.99679521e-01 -9.05552624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90592 meters Centerline goodness [0,1] 0.9999504680766754 Centerline is valid? [True, True] Translation: X:189.36, Y:28.58, Z:-0.91 [[ 9.93162029e-01 1.13755465e-01 2.62464891e-02 1.89360531e+02] [-1.13700748e-01 9.93508619e-01 -3.57262425e-03 2.85777980e+01] [-2.64825187e-02 5.63949301e-04 9.99649118e-01 -9.06186708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93592 meters Centerline goodness [0,1] 0.999900965585541 Centerline is valid? [True, True] Translation: X:189.39, Y:28.58, Z:-0.91 [[ 9.93173416e-01 1.13943200e-01 2.49702373e-02 1.89388886e+02] [-1.13894002e-01 9.93487129e-01 -3.38836852e-03 2.85762930e+01] [-2.51936909e-02 5.21277285e-04 9.99682453e-01 -9.06670513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96592 meters Centerline goodness [0,1] 0.9998019605901575 Centerline is valid? [True, True] Translation: X:189.42, Y:28.57, Z:-0.91 [[ 9.93093493e-01 1.14539081e-01 2.54187442e-02 1.89416936e+02] [-1.14488609e-01 9.93418616e-01 -3.43692182e-03 2.85746158e+01] [-2.56451156e-02 5.03028018e-04 9.99670983e-01 -9.07279879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99592 meters Centerline goodness [0,1] 0.9996528638730473 Centerline is valid? [True, True] Translation: X:189.45, Y:28.58, Z:-0.91 [[ 9.92742083e-01 1.17361447e-01 2.62573183e-02 1.89445948e+02] [-1.17308743e-01 9.93089170e-01 -3.54400058e-03 2.85760926e+01] [-2.64917875e-02 4.38065518e-04 9.99648935e-01 -9.07312352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02592 meters Centerline goodness [0,1] 0.9999505709060353 Centerline is valid? [True, True] Translation: X:189.47, Y:28.58, Z:-0.91 [[ 9.92722624e-01 1.17631380e-01 2.57808205e-02 1.89474708e+02] [-1.17580948e-01 9.93057243e-01 -3.46874513e-03 2.85751426e+01] [-2.60098638e-02 4.12168452e-04 9.99661601e-01 -9.08008774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05592000000001 meters Centerline goodness [0,1] 0.9998515880083111 Centerline is valid? [True, True] Translation: X:189.50, Y:28.58, Z:-0.91 [[ 9.92711317e-01 1.17604396e-01 2.63333961e-02 1.89502376e+02] [-1.17552103e-01 9.93060441e-01 -3.53048544e-03 2.85754364e+01] [-2.65658545e-02 4.09206757e-04 9.99646982e-01 -9.08635548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.53, Y:28.57, Z:-0.91 [[ 9.92759627e-01 1.17152987e-01 2.65235877e-02 1.89529802e+02] [-1.17100115e-01 9.93113794e-01 -3.54327793e-03 2.85741156e+01] [-2.67560464e-02 4.11708086e-04 9.99641908e-01 -9.07682688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11592000000002 meters Centerline goodness [0,1] 0.9999505831191935 Centerline is valid? [True, True] Translation: X:189.56, Y:28.57, Z:-0.91 [[ 9.92896438e-01 1.15734369e-01 2.76083029e-02 1.89558523e+02] [-1.15676861e-01 9.93280095e-01 -3.67651726e-03 2.85730734e+01] [-2.78482772e-02 4.56759087e-04 9.99612057e-01 -9.07376438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14592000000002 meters Centerline goodness [0,1] 0.9996544574982723 Centerline is valid? [True, True] Translation: X:189.59, Y:28.57, Z:-0.91 [[ 9.93309004e-01 1.12451576e-01 2.63033383e-02 1.89587646e+02] [-1.12398518e-01 9.93657074e-01 -3.49170897e-03 2.85740613e+01] [-2.65291463e-02 5.11889710e-04 9.99647909e-01 -9.06546936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17592000000002 meters Centerline goodness [0,1] 0.9997034254362117 Centerline is valid? [True, True] Translation: X:189.62, Y:28.57, Z:-0.91 [[ 9.93508537e-01 1.10958550e-01 2.50796254e-02 1.89615715e+02] [-1.10910144e-01 9.93824902e-01 -3.31722872e-03 2.85723576e+01] [-2.52928311e-02 5.14110195e-04 9.99679953e-01 -9.06688156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20592000000002 meters Centerline goodness [0,1] 0.9998021271333168 Centerline is valid? [True, True] Translation: X:189.64, Y:28.57, Z:-0.91 [[ 9.93942046e-01 1.07122142e-01 2.45775353e-02 1.89644997e+02] [-1.07074739e-01 9.94245694e-01 -3.24049061e-03 2.85735915e+01] [-2.47832369e-02 5.89226697e-04 9.99692675e-01 -9.07174340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23592 meters Centerline goodness [0,1] 0.9995553139977271 Centerline is valid? [True, True] Translation: X:189.67, Y:28.57, Z:-0.91 [[ 9.94004911e-01 1.06102668e-01 2.63905446e-02 1.89674041e+02] [-1.06047944e-01 9.94354968e-01 -3.46857781e-03 2.85716854e+01] [-2.66095945e-02 6.49120373e-04 9.99645691e-01 -9.07952637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26592 meters Centerline goodness [0,1] 0.9995557749259625 Centerline is valid? [True, True] Translation: X:189.70, Y:28.57, Z:-0.91 [[ 9.94296482e-01 1.03078455e-01 2.73740292e-02 1.89702983e+02] [-1.03018738e-01 9.94672949e-01 -3.58667662e-03 2.85715310e+01] [-2.75979154e-02 7.46182000e-04 9.99618826e-01 -9.06743001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29592 meters Centerline goodness [0,1] 0.9993086761147598 Centerline is valid? [True, True] Translation: X:189.73, Y:28.57, Z:-0.90 [[ 9.94602419e-01 1.00595444e-01 2.54280487e-02 1.89730893e+02] [-1.00543406e-01 9.94927133e-01 -3.32002623e-03 2.85693672e+01] [-2.56330351e-02 7.45483486e-04 9.99671142e-01 -9.04893849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32592 meters Centerline goodness [0,1] 0.9991593729911487 Centerline is valid? [True, True] Translation: X:189.76, Y:28.57, Z:-0.90 [[ 9.94813519e-01 9.89003276e-02 2.37652658e-02 1.89759023e+02] [-9.88546554e-02 9.95097079e-01 -3.09188927e-03 2.85673519e+01] [-2.39545355e-02 7.26546083e-04 9.99712785e-01 -9.04414043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35592 meters Centerline goodness [0,1] 0.998369242933386 Centerline is valid? [True, True] Translation: X:189.79, Y:28.57, Z:-0.90 [[ 9.95251251e-01 9.46803410e-02 2.25960340e-02 1.89787704e+02] [-9.46381776e-02 9.95507422e-01 -2.93049602e-03 2.85670977e+01] [-2.27719799e-02 7.78132355e-04 9.99740382e-01 -9.04823048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38592 meters Centerline goodness [0,1] 0.999110056363097 Centerline is valid? [True, True] Translation: X:189.82, Y:28.56, Z:-0.91 [[ 9.95369974e-01 9.33180007e-02 2.30296583e-02 1.89815775e+02] [-9.32739213e-02 9.95636016e-01 -2.98318704e-03 2.85638217e+01] [-2.32075422e-02 8.21308270e-04 9.99730331e-01 -9.05331988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41592 meters Centerline goodness [0,1] 0.9990118577075099 Centerline is valid? [True, True] Translation: X:189.84, Y:28.56, Z:-0.91 [[ 9.95672095e-01 8.95421307e-02 2.48854517e-02 1.89844652e+02] [-8.94895364e-02 9.95982553e-01 -3.22138910e-03 2.85611300e+01] [-2.50739258e-02 9.80459700e-04 9.99685119e-01 -9.05154256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44592 meters Centerline goodness [0,1] 0.998470117948971 Centerline is valid? [True, True] Translation: X:189.87, Y:28.56, Z:-0.91 [[ 9.95701731e-01 8.89243805e-02 2.58943471e-02 1.89872963e+02] [-8.88674907e-02 9.96037851e-01 -3.34183136e-03 2.85578069e+01] [-2.60889202e-02 1.02630162e-03 9.99659099e-01 -9.05408073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47592 meters Centerline goodness [0,1] 0.9984694381356769 Centerline is valid? [True, True] Translation: X:189.90, Y:28.55, Z:-0.91 [[ 9.95891105e-01 8.71795200e-02 2.45079266e-02 1.89901215e+02] [-8.71282715e-02 9.96192111e-01 -3.15324125e-03 2.85539561e+01] [-2.46895012e-02 1.00495163e-03 9.99694663e-01 -9.05125212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50592 meters Centerline goodness [0,1] 0.9982204646564509 Centerline is valid? [True, True] Translation: X:189.93, Y:28.55, Z:-0.91 [[ 9.96050785e-01 8.58987299e-02 2.24553370e-02 1.89928688e+02] [-8.58556114e-02 9.96303430e-01 -2.87905313e-03 2.85474336e+01] [-2.26196363e-02 9.39766438e-04 9.99743702e-01 -9.06214156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53592 meters Centerline goodness [0,1] 0.9983703703703704 Centerline is valid? [True, True] Translation: X:189.96, Y:28.54, Z:-0.91 [[ 9.96099466e-01 8.52908801e-02 2.26123678e-02 1.89956106e+02] [-8.52472349e-02 9.96355641e-01 -2.88887827e-03 2.85391143e+01] [-2.27763552e-02 9.49968277e-04 9.99740134e-01 -9.08043175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56592 meters Centerline goodness [0,1] 0.9979232594936709 Centerline is valid? [True, True] Translation: X:189.98, Y:28.53, Z:-0.91 [[ 9.96143151e-01 8.41986590e-02 2.46861904e-02 1.89984735e+02] [-8.41465511e-02 9.96448430e-01 -3.14390483e-03 2.85339220e+01] [-2.48632282e-02 1.05452148e-03 9.99690306e-01 -9.07894393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59592 meters Centerline goodness [0,1] 0.9979180092202449 Centerline is valid? [True, True] Translation: X:190.01, Y:28.53, Z:-0.91 [[ 9.96074551e-01 8.47899300e-02 2.54196139e-02 1.90012962e+02] [-8.47350174e-02 9.96398281e-01 -3.23159952e-03 2.85279424e+01] [-2.56020666e-02 1.06498261e-03 9.99671646e-01 -9.06454907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62592 meters Centerline goodness [0,1] 0.9980210755454411 Centerline is valid? [True, True] Translation: X:190.04, Y:28.52, Z:-0.91 [[ 9.95972187e-01 8.56374530e-02 2.65637001e-02 1.90041048e+02] [-8.55780676e-02 9.96325781e-01 -3.36651455e-03 2.85209696e+01] [-2.67543989e-02 1.07968474e-03 9.99641454e-01 -9.06444635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65592 meters Centerline goodness [0,1] 0.9977272727272727 Centerline is valid? [True, True] Translation: X:190.07, Y:28.52, Z:-0.91 [[ 9.95886242e-01 8.66701054e-02 2.64364630e-02 1.90069077e+02] [-8.66119359e-02 9.96236528e-01 -3.33968675e-03 2.85156896e+01] [-2.66264211e-02 1.03623485e-03 9.99644917e-01 -9.07449802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68592 meters Centerline goodness [0,1] 0.997970397505074 Centerline is valid? [True, True] Translation: X:190.10, Y:28.51, Z:-0.91 [[ 9.95708412e-01 8.85442553e-02 2.69197503e-02 1.90096852e+02] [-8.84849143e-02 9.96071748e-01 -3.38999046e-03 2.85074002e+01] [-2.71141669e-02 9.93450224e-04 9.99631850e-01 -9.08351955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71592 meters Centerline goodness [0,1] 0.9982148170187444 Centerline is valid? [True, True] Translation: X:190.12, Y:28.50, Z:-0.91 [[ 9.95561679e-01 9.01125836e-02 2.71416000e-02 1.90124785e+02] [-9.00531400e-02 9.95931134e-01 -3.40703573e-03 2.85016235e+01] [-2.73381813e-02 9.47727907e-04 9.99625793e-01 -9.08236995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74592 meters Centerline goodness [0,1] 0.9989113761195507 Centerline is valid? [True, True] Translation: X:190.15, Y:28.50, Z:-0.91 [[ 9.95094188e-01 9.46980976e-02 2.86326295e-02 1.90152975e+02] [-9.46341712e-02 9.95505670e-01 -3.58259978e-03 2.84953720e+01] [-2.88432104e-02 8.55399054e-04 9.99583582e-01 -9.08691506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77592 meters Centerline goodness [0,1] 0.9992554722787512 Centerline is valid? [True, True] Translation: X:190.18, Y:28.49, Z:-0.91 [[ 9.94933094e-01 9.62566992e-02 2.90307756e-02 1.90180844e+02] [-9.61919909e-02 9.95356214e-01 -3.62058888e-03 2.84902587e+01] [-2.92444688e-02 8.09715600e-04 9.99571961e-01 -9.10050639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80592000000001 meters Centerline goodness [0,1] 0.999405734660526 Centerline is valid? [True, True] Translation: X:190.21, Y:28.49, Z:-0.91 [[ 9.94734086e-01 9.84482247e-02 2.84964098e-02 1.90209034e+02] [-9.83871110e-02 9.95141914e-01 -3.54226625e-03 2.84851313e+01] [-2.87067017e-02 7.19933544e-04 9.99587618e-01 -9.08674312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83592000000002 meters Centerline goodness [0,1] 0.9996045281526521 Centerline is valid? [True, True] Translation: X:190.24, Y:28.48, Z:-0.91 [[ 9.94218677e-01 1.03050629e-01 3.01627384e-02 1.90237097e+02] [-1.02984653e-01 9.94675926e-01 -3.73689403e-03 2.84791477e+01] [-3.03872390e-02 6.08990705e-04 9.99538016e-01 -9.09108381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86592000000002 meters Centerline goodness [0,1] 0.9998516320474777 Centerline is valid? [True, True] Translation: X:190.27, Y:28.47, Z:-0.91 [[ 9.93802902e-01 1.06648008e-01 3.13367971e-02 1.90265359e+02] [-1.06578997e-01 9.94296710e-01 -3.86914731e-03 2.84748952e+01] [-3.15707111e-02 5.05325411e-04 9.99501393e-01 -9.10346137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89592000000002 meters Centerline goodness [0,1] 0.9998022249690977 Centerline is valid? [True, True] Translation: X:190.29, Y:28.47, Z:-0.91 [[ 9.93792365e-01 1.06430434e-01 3.23928822e-02 1.90293450e+02] [-1.06357017e-01 9.94320017e-01 -3.98606033e-03 2.84705631e+01] [-3.26331293e-02 5.16106000e-04 9.99467264e-01 -9.11249125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92592000000002 meters Centerline goodness [0,1] 0.9999506124061636 Centerline is valid? [True, True] Translation: X:190.32, Y:28.47, Z:-0.91 [[ 9.93729152e-01 1.07281612e-01 3.15123429e-02 1.90322529e+02] [-1.07212630e-01 9.94228561e-01 -3.87554239e-03 2.84668905e+01] [-3.17462457e-02 4.72718300e-04 9.99495849e-01 -9.10627999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95592000000002 meters Centerline goodness [0,1] 0.9999506124061636 Centerline is valid? [True, True] Translation: X:190.35, Y:28.46, Z:-0.91 [[ 9.93779393e-01 1.06814690e-01 3.15141162e-02 1.90349624e+02] [-1.06745931e-01 9.94278833e-01 -3.86109532e-03 2.84632147e+01] [-3.17462404e-02 4.73073300e-04 9.99495849e-01 -9.10651623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98592 meters Centerline goodness [0,1] 0.9999504901475393 Centerline is valid? [True, True] Translation: X:190.38, Y:28.46, Z:-0.91 [[ 9.93733309e-01 1.06983310e-01 3.23833649e-02 1.90378089e+02] [-1.06911236e-01 9.94260707e-01 -3.95404457e-03 2.84600162e+01] [-3.26205241e-02 4.67120226e-04 9.99467700e-01 -9.10697203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01592 meters Centerline goodness [0,1] 0.9998518225822385 Centerline is valid? [True, True] Translation: X:190.41, Y:28.46, Z:-0.91 [[ 9.93851838e-01 1.06359388e-01 3.07604407e-02 1.90406836e+02] [-1.06294461e-01 9.94327651e-01 -3.74295466e-03 2.84575203e+01] [-3.09840552e-02 4.50277901e-04 9.99519777e-01 -9.11102543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04592 meters Centerline goodness [0,1] 0.9999012589484078 Centerline is valid? [True, True] Translation: X:190.44, Y:28.45, Z:-0.91 [[ 9.93931223e-01 1.05879933e-01 2.98356186e-02 1.90435241e+02] [-1.05819011e-01 9.94378825e-01 -3.61795448e-03 2.84547801e+01] [-3.00509762e-02 4.38822262e-04 9.99548271e-01 -9.11008430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07592 meters Centerline goodness [0,1] 0.9998514189490367 Centerline is valid? [True, True] Translation: X:190.46, Y:28.45, Z:-0.91 [[ 9.93938222e-01 1.05575105e-01 3.06709738e-02 1.90463582e+02] [-1.05510977e-01 9.94411231e-01 -3.70635284e-03 2.84518984e+01] [-3.08908594e-02 4.47761347e-04 9.99522663e-01 -9.12878898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10592 meters Centerline goodness [0,1] 0.9999011564693091 Centerline is valid? [True, True] Translation: X:190.49, Y:28.45, Z:-0.91 [[ 9.94091852e-01 1.03759071e-01 3.18660482e-02 1.90492118e+02] [-1.03689342e-01 9.94602330e-01 -3.83744030e-03 2.84494460e+01] [-3.20922151e-02 5.10598561e-04 9.99484782e-01 -9.12270509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13592 meters Centerline goodness [0,1] 0.9999009606813906 Centerline is valid? [True, True] Translation: X:190.52, Y:28.45, Z:-0.91 [[ 9.94479924e-01 1.00213281e-01 3.10962900e-02 1.90521207e+02] [-1.00145551e-01 9.94965799e-01 -3.73186106e-03 2.84482026e+01] [-3.13137270e-02 5.97105816e-04 9.99509427e-01 -9.10491034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16592 meters Centerline goodness [0,1] 0.9999012199338173 Centerline is valid? [True, True] Translation: X:190.55, Y:28.45, Z:-0.91 [[ 9.94716829e-01 9.78658110e-02 3.09953709e-02 1.90549995e+02] [-9.77977835e-02 9.95199403e-01 -3.70686437e-03 2.84452528e+01] [-3.12093500e-02 6.56001788e-04 9.99512654e-01 -9.11248047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19592 meters Centerline goodness [0,1] 0.999554786049963 Centerline is valid? [True, True] Translation: X:190.58, Y:28.44, Z:-0.91 [[ 9.95229401e-01 9.25865586e-02 3.07598669e-02 1.90578906e+02] [-9.25171609e-02 9.95704309e-01 -3.67481315e-03 2.84415999e+01] [-3.09679703e-02 8.11466535e-04 9.99520048e-01 -9.11830514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22592 meters Centerline goodness [0,1] 0.9996525882177776 Centerline is valid? [True, True] Translation: X:190.61, Y:28.44, Z:-0.91 [[ 9.95498482e-01 9.02418455e-02 2.89686342e-02 1.90608874e+02] [-9.01793080e-02 9.95919533e-01 -3.46072321e-03 2.84384278e+01] [-2.91627307e-02 8.32773315e-04 9.99574330e-01 -9.11125159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25592 meters Centerline goodness [0,1] 0.9989616297468354 Centerline is valid? [True, True] Translation: X:190.64, Y:28.43, Z:-0.91 [[ 9.95850357e-01 8.65692537e-02 2.80683329e-02 1.90638390e+02] [-8.65091309e-02 9.96245420e-01 -3.35159220e-03 2.84347077e+01] [-2.82530929e-02 9.09517207e-04 9.99600388e-01 -9.10881854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28592 meters Centerline goodness [0,1] 0.9993579295698128 Centerline is valid? [True, True] Translation: X:190.67, Y:28.43, Z:-0.91 [[ 9.95827980e-01 8.68194680e-02 2.80893797e-02 1.90667479e+02] [-8.67593997e-02 9.96223653e-01 -3.35250459e-03 2.84298595e+01] [-2.82743671e-02 9.01500149e-04 9.99599794e-01 -9.10134881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31592 meters Centerline goodness [0,1] 0.998913741174147 Centerline is valid? [True, True] Translation: X:190.70, Y:28.42, Z:-0.91 [[ 9.95819165e-01 8.72611891e-02 2.70124910e-02 1.90696332e+02] [-8.72058235e-02 9.96185101e-01 -3.22317906e-03 2.84249530e+01] [-2.71906995e-02 8.54056963e-04 9.99629900e-01 -9.07985140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34592 meters Centerline goodness [0,1] 0.9985190304586069 Centerline is valid? [True, True] Translation: X:190.72, Y:28.42, Z:-0.91 [[ 9.95690660e-01 8.91721004e-02 2.54645868e-02 1.90724950e+02] [-8.91237637e-02 9.96015953e-01 -3.02912620e-03 2.84190842e+01] [-2.56332483e-02 7.46572848e-04 9.99671136e-01 -9.06789191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37592 meters Centerline goodness [0,1] 0.9986632339835627 Centerline is valid? [True, True] Translation: X:190.75, Y:28.41, Z:-0.91 [[ 9.95717635e-01 8.93373489e-02 2.37745542e-02 1.90753240e+02] [-8.92954941e-02 9.96001190e-01 -2.81846094e-03 2.84139992e+01] [-2.39312782e-02 6.83430698e-04 9.99713372e-01 -9.06026588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40592 meters Centerline goodness [0,1] 0.9989608076009501 Centerline is valid? [True, True] Translation: X:190.78, Y:28.41, Z:-0.91 [[ 9.95623717e-01 9.03794517e-02 2.37690706e-02 1.90781294e+02] [-9.03381456e-02 9.95907192e-01 -2.80808559e-03 2.84064197e+01] [-2.39255816e-02 6.48542857e-04 9.99713532e-01 -9.05798885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43592 meters Centerline goodness [0,1] 0.9989616810877626 Centerline is valid? [True, True] Translation: X:190.81, Y:28.40, Z:-0.91 [[ 9.95583512e-01 9.06523579e-02 2.44053331e-02 1.90808675e+02] [-9.06091721e-02 9.95882388e-01 -2.87186344e-03 2.84013896e+01] [-2.45651825e-02 6.47832869e-04 9.99698020e-01 -9.05315670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46592 meters Centerline goodness [0,1] 0.9988635240636426 Centerline is valid? [True, True] Translation: X:190.84, Y:28.40, Z:-0.90 [[ 9.95546356e-01 9.09006818e-02 2.49903950e-02 1.90836274e+02] [-9.08557750e-02 9.95859754e-01 -2.92892032e-03 2.83967579e+01] [-2.51531694e-02 6.45354244e-04 9.99683401e-01 -9.04693896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49592 meters Centerline goodness [0,1] 0.9981688607344353 Centerline is valid? [True, True] Translation: X:190.86, Y:28.39, Z:-0.90 [[ 9.95642400e-01 9.02218473e-02 2.35845291e-02 1.90864906e+02] [-9.01818912e-02 9.95921503e-01 -2.75448102e-03 2.83912255e+01] [-2.37368540e-02 6.15580659e-04 9.99718052e-01 -9.03611673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52592 meters Centerline goodness [0,1] 0.9979203802733214 Centerline is valid? [True, True] Translation: X:190.89, Y:28.38, Z:-0.90 [[ 9.95637271e-01 9.03561475e-02 2.32849851e-02 1.90893284e+02] [-9.03174598e-02 9.95909339e-01 -2.70998298e-03 2.83835840e+01] [-2.34345977e-02 5.95119362e-04 9.99725195e-01 -9.04060162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55592000000001 meters Centerline goodness [0,1] 0.9977268234829018 Centerline is valid? [True, True] Translation: X:190.92, Y:28.38, Z:-0.90 [[ 9.95692012e-01 8.98119182e-02 2.30485523e-02 1.90920724e+02] [-8.97741168e-02 9.95958568e-01 -2.67168707e-03 2.83790141e+01] [-2.31953525e-02 5.91014048e-04 9.99730777e-01 -9.03256945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58592000000002 meters Centerline goodness [0,1] 0.99723429474516 Centerline is valid? [True, True] Translation: X:190.95, Y:28.37, Z:-0.90 [[ 9.95687622e-01 9.00616103e-02 2.22500551e-02 1.90949096e+02] [-9.00266507e-02 9.95936041e-01 -2.56996125e-03 2.83734272e+01] [-2.23910866e-02 5.55780669e-04 9.99749134e-01 -9.03326097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61592000000002 meters Centerline goodness [0,1] 0.9971288550071779 Centerline is valid? [True, True] Translation: X:190.98, Y:28.37, Z:-0.90 [[ 9.95641558e-01 9.05069687e-02 2.25028006e-02 1.90976149e+02] [-9.04715636e-02 9.95895675e-01 -2.58857544e-03 2.83667655e+01] [-2.26447259e-02 5.41429737e-04 9.99743429e-01 -9.02907057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64592000000002 meters Centerline goodness [0,1] 0.9969709007845864 Centerline is valid? [True, True] Translation: X:191.00, Y:28.36, Z:-0.90 [[ 9.95641984e-01 9.04636929e-02 2.26574656e-02 1.91003360e+02] [-9.04280317e-02 9.95899610e-01 -2.59568730e-03 2.83615784e+01] [-2.27993766e-02 5.35505235e-04 9.99739917e-01 -9.01669992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67592000000002 meters Centerline goodness [0,1] 0.996235760277365 Centerline is valid? [True, True] Translation: X:191.03, Y:28.35, Z:-0.90 [[ 9.95702771e-01 9.01049507e-02 2.13796591e-02 1.91031273e+02] [-9.00733063e-02 9.95932148e-01 -2.44047113e-03 2.83541651e+01] [-2.15125884e-02 5.04247280e-04 9.99768450e-01 -9.00818576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70592000000002 meters Centerline goodness [0,1] 0.9964391691394658 Centerline is valid? [True, True] Translation: X:191.06, Y:28.35, Z:-0.90 [[ 9.95791775e-01 8.90716643e-02 2.15633979e-02 1.91059386e+02] [-8.90394262e-02 9.96025083e-01 -2.45247174e-03 2.83485665e+01] [-2.16961309e-02 5.22158609e-04 9.99764475e-01 -9.02136357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73592 meters Centerline goodness [0,1] 0.9961843409316155 Centerline is valid? [True, True] Translation: X:191.09, Y:28.34, Z:-0.90 [[ 9.95932038e-01 8.75345385e-02 2.13794376e-02 1.91087734e+02] [-8.75026828e-02 9.96161338e-01 -2.42278165e-03 2.83418205e+01] [-2.15094462e-02 5.42167721e-04 9.99768498e-01 -9.02761368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76592 meters Centerline goodness [0,1] 0.9953980899599189 Centerline is valid? [True, True] Translation: X:191.12, Y:28.33, Z:-0.90 [[ 9.96162925e-01 8.49155093e-02 2.11844866e-02 1.91115643e+02] [-8.48838253e-02 9.96387984e-01 -2.39200461e-03 2.83338399e+01] [-2.13110862e-02 5.84606050e-04 9.99772722e-01 -9.02382424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79592 meters Centerline goodness [0,1] 0.9947063770840548 Centerline is valid? [True, True] Translation: X:191.14, Y:28.33, Z:-0.90 [[ 9.96278819e-01 8.36637658e-02 2.07096178e-02 1.91143460e+02] [-8.36333923e-02 9.96493867e-01 -2.32994290e-03 2.83284572e+01] [-2.08319389e-02 5.89257179e-04 9.99782818e-01 -9.01532072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82592 meters Centerline goodness [0,1] 0.9952933016250496 Centerline is valid? [True, True] Translation: X:191.17, Y:28.32, Z:-0.90 [[ 9.96295312e-01 8.32868988e-02 2.14229683e-02 1.91171561e+02] [-8.32544984e-02 9.96525424e-01 -2.40142897e-03 2.83186934e+01] [-2.15485401e-02 6.08973946e-04 9.99767618e-01 -9.00753516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85592 meters Centerline goodness [0,1] 0.9956427015250545 Centerline is valid? [True, True] Translation: X:191.20, Y:28.31, Z:-0.90 [[ 9.96255889e-01 8.34761935e-02 2.24928574e-02 1.91199592e+02] [-8.34407350e-02 9.96509575e-01 -2.51202166e-03 2.83110400e+01] [-2.26240418e-02 6.25795819e-04 9.99743848e-01 -9.00838828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88592 meters Centerline goodness [0,1] 0.9962281006501563 Centerline is valid? [True, True] Translation: X:191.23, Y:28.30, Z:-0.90 [[ 9.96230431e-01 8.36822661e-02 2.28518399e-02 1.91228591e+02] [-8.36457587e-02 9.96492289e-01 -2.55045465e-03 2.83040315e+01] [-2.29851101e-02 6.29381053e-04 9.99735609e-01 -9.00029647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91592 meters Centerline goodness [0,1] 0.9973218271090611 Centerline is valid? [True, True] Translation: X:191.26, Y:28.30, Z:-0.90 [[ 9.96046336e-01 8.51624931e-02 2.52793782e-02 1.91258389e+02] [-8.51182933e-02 9.96366858e-01 -2.82133207e-03 2.82959326e+01] [-2.54278063e-02 6.58439941e-04 9.99676444e-01 -9.00569148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94592 meters Centerline goodness [0,1] 0.9975254874789666 Centerline is valid? [True, True] Translation: X:191.29, Y:28.29, Z:-0.90 [[ 9.95850519e-01 8.75389727e-02 2.48731073e-02 1.91289163e+02] [-8.74968874e-02 9.96160921e-01 -2.77741581e-03 2.82871353e+01] [-2.50207496e-02 5.89571511e-04 9.99686758e-01 -9.00221999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97592 meters Centerline goodness [0,1] 0.9977172348766811 Centerline is valid? [True, True] Translation: X:191.32, Y:28.28, Z:-0.90 [[ 9.95785966e-01 8.83033879e-02 2.47552154e-02 1.91319547e+02] [-8.82619354e-02 9.96093464e-01 -2.76430230e-03 2.82803271e+01] [-2.49026055e-02 5.67710215e-04 9.99689721e-01 -9.00839347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00592 meters Centerline goodness [0,1] 0.9973240832507433 Centerline is valid? [True, True] Translation: X:191.35, Y:28.27, Z:-0.90 [[ 9.95626429e-01 8.97860493e-02 2.58162672e-02 1.91349635e+02] [-8.97414644e-02 9.95960922e-01 -2.88278513e-03 2.82736320e+01] [-2.59708272e-02 5.53387438e-04 9.99662548e-01 -9.00620900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03592 meters Centerline goodness [0,1] 0.9969803475075492 Centerline is valid? [True, True] Translation: X:191.38, Y:28.27, Z:-0.90 [[ 9.95574816e-01 9.05342944e-02 2.51858610e-02 1.91380753e+02] [-9.04920628e-02 9.95893201e-01 -2.81386257e-03 2.82666563e+01] [-2.53371788e-02 5.22290194e-04 9.99678826e-01 -8.98618914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06592 meters Centerline goodness [0,1] 0.9975747376757078 Centerline is valid? [True, True] Translation: X:191.41, Y:28.26, Z:-0.90 [[ 9.95487445e-01 9.12006959e-02 2.62141125e-02 1.91411909e+02] [-9.11551339e-02 9.95832393e-01 -2.93032416e-03 2.82619248e+01] [-2.63721100e-02 5.27549974e-04 9.99652056e-01 -8.99132007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09592 meters Centerline goodness [0,1] 0.9973178363880196 Centerline is valid? [True, True] Translation: X:191.44, Y:28.25, Z:-0.90 [[ 9.95273956e-01 9.29120092e-02 2.82331720e-02 1.91442774e+02] [-9.28597951e-02 9.95674187e-01 -3.15776069e-03 2.82546017e+01] [-2.84044345e-02 5.21110402e-04 9.99596377e-01 -8.98759702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12592 meters Centerline goodness [0,1] 0.9974737467802655 Centerline is valid? [True, True] Translation: X:191.47, Y:28.25, Z:-0.90 [[ 9.95238508e-01 9.32948347e-02 2.82203198e-02 1.91474436e+02] [-9.32427257e-02 9.95638393e-01 -3.15971661e-03 2.82506709e+01] [-2.83920191e-02 5.13332102e-04 9.99596734e-01 -8.99424985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15592 meters Centerline goodness [0,1] 0.9969270420301348 Centerline is valid? [True, True] Translation: X:191.51, Y:28.25, Z:-0.90 [[ 9.95197763e-01 9.38851099e-02 2.76947526e-02 1.91506765e+02] [-9.38350591e-02 9.95582917e-01 -3.10422786e-03 2.82465199e+01] [-2.78638634e-02 4.90581875e-04 9.99611607e-01 -8.99596069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18592 meters Centerline goodness [0,1] 0.9971227304296061 Centerline is valid? [True, True] Translation: X:191.54, Y:28.24, Z:-0.90 [[ 9.95198206e-01 9.38723671e-02 2.77219866e-02 1.91538435e+02] [-9.38221195e-02 9.95584117e-01 -3.11062214e-03 2.82420943e+01] [-2.78915710e-02 4.94750032e-04 9.99610832e-01 -8.98050848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21592 meters Centerline goodness [0,1] 0.9965785689492735 Centerline is valid? [True, True] Translation: X:191.57, Y:28.24, Z:-0.90 [[ 9.95261986e-01 9.33340712e-02 2.72457257e-02 1.91570467e+02] [-9.32852432e-02 9.95634721e-01 -3.06049302e-03 2.82378022e+01] [-2.74124388e-02 5.04368213e-04 9.99624081e-01 -8.97557736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24592 meters Centerline goodness [0,1] 0.996335908100614 Centerline is valid? [True, True] Translation: X:191.60, Y:28.23, Z:-0.90 [[ 9.95316319e-01 9.28858364e-02 2.67889365e-02 1.91602242e+02] [-9.28383825e-02 9.95676634e-01 -3.01243095e-03 2.82343093e+01] [-2.69529303e-02 5.11280151e-04 9.99636573e-01 -8.97807707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27592 meters Centerline goodness [0,1] 0.9963360895182453 Centerline is valid? [True, True] Translation: X:191.63, Y:28.23, Z:-0.90 [[ 9.95340939e-01 9.24705988e-02 2.73057325e-02 1.91633424e+02] [-9.24210935e-02 9.95715272e-01 -3.07222863e-03 2.82313558e+01] [-2.74728257e-02 5.34289272e-04 9.99622408e-01 -8.97741595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30592000000001 meters Centerline goodness [0,1] 0.9963791478597291 Centerline is valid? [True, True] Translation: X:191.67, Y:28.23, Z:-0.90 [[ 9.95326165e-01 9.25910806e-02 2.74356806e-02 1.91665308e+02] [-9.25410590e-02 9.95704074e-01 -3.09009408e-03 2.82297191e+01] [-2.76039341e-02 5.36724561e-04 9.99618795e-01 -8.97713314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33592000000002 meters Centerline goodness [0,1] 0.9964802696807455 Centerline is valid? [True, True] Translation: X:191.70, Y:28.23, Z:-0.90 [[ 9.95332394e-01 9.25075961e-02 2.74912832e-02 1.91696980e+02] [-9.24572478e-02 9.95711830e-01 -3.09967738e-03 2.82270494e+01] [-2.76601396e-02 5.43440928e-04 9.99617237e-01 -8.98136927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36592000000002 meters Centerline goodness [0,1] 0.9961860419040072 Centerline is valid? [True, True] Translation: X:191.73, Y:28.22, Z:-0.90 [[ 9.95330905e-01 9.18678175e-02 2.96090157e-02 1.91728618e+02] [-9.18090470e-02 9.95771026e-01 -3.34117914e-03 2.82246182e+01] [-2.97907468e-02 6.07203342e-04 9.99555973e-01 -8.98865098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39592000000002 meters Centerline goodness [0,1] 0.9960862026257121 Centerline is valid? [True, True] Translation: X:191.76, Y:28.22, Z:-0.90 [[ 9.95344910e-01 9.13751095e-02 3.06447370e-02 1.91760707e+02] [-9.13118082e-02 9.95816334e-01 -3.46170507e-03 2.82214974e+01] [-3.08328433e-02 6.47364182e-04 9.99524345e-01 -8.98085369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42592000000002 meters Centerline goodness [0,1] 0.9960419552740946 Centerline is valid? [True, True] Translation: X:191.79, Y:28.22, Z:-0.90 [[ 9.95303709e-01 9.18161866e-02 3.06645492e-02 1.91792761e+02] [-9.17528984e-02 9.95775768e-01 -3.46764143e-03 2.82184877e+01] [-3.08534007e-02 6.37795104e-04 9.99523717e-01 -8.98302211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45592 meters Centerline goodness [0,1] 0.9961351699534239 Centerline is valid? [True, True] Translation: X:191.82, Y:28.22, Z:-0.90 [[ 9.95301029e-01 9.20251255e-02 3.01203807e-02 1.91824518e+02] [-9.19640509e-02 9.95756490e-01 -3.40969937e-03 2.82159552e+01] [-3.03063426e-02 6.23685074e-04 9.99540463e-01 -8.98969606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48592 meters Centerline goodness [0,1] 0.9963319123624467 Centerline is valid? [True, True] Translation: X:191.86, Y:28.21, Z:-0.90 [[ 9.95317025e-01 9.20729994e-02 2.94377783e-02 1.91856828e+02] [-9.20145787e-02 9.95752072e-01 -3.33595683e-03 2.82131179e+01] [-2.96198803e-02 6.11629855e-04 9.99561048e-01 -8.99377445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51592 meters Centerline goodness [0,1] 0.9961340206185567 Centerline is valid? [True, True] Translation: X:191.89, Y:28.21, Z:-0.90 [[ 9.95412243e-01 9.07308381e-02 3.03707421e-02 1.91889073e+02] [-9.06679192e-02 9.95875222e-01 -3.44531193e-03 2.82112605e+01] [-3.05580656e-02 6.75853677e-04 9.99532765e-01 -9.00673079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54592 meters Centerline goodness [0,1] 0.9962365058928394 Centerline is valid? [True, True] Translation: X:191.92, Y:28.21, Z:-0.90 [[ 9.95355717e-01 9.09207242e-02 3.16294005e-02 1.91921102e+02] [-9.08524556e-02 9.95857886e-01 -3.59188431e-03 2.82072888e+01] [-3.18249647e-02 7.01593878e-04 9.99493211e-01 -9.00583951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57592 meters Centerline goodness [0,1] 0.9962788389977673 Centerline is valid? [True, True] Translation: X:191.95, Y:28.20, Z:-0.90 [[ 9.95460526e-01 8.93161387e-02 3.28780793e-02 1.91953006e+02] [-8.92413672e-02 9.96003016e-01 -3.73760121e-03 2.82029055e+01] [-3.30804943e-02 7.86549716e-04 9.99452381e-01 -9.01410776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60592 meters Centerline goodness [0,1] 0.9953962675115093 Centerline is valid? [True, True] Translation: X:191.98, Y:28.20, Z:-0.90 [[ 9.95709775e-01 8.60220664e-02 3.40917501e-02 1.91984386e+02] [-8.59396354e-02 9.96292796e-01 -3.87865143e-03 2.81980940e+01] [-3.42990146e-02 9.32178574e-04 9.99411181e-01 -9.02208909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63592 meters Centerline goodness [0,1] 0.995244228673338 Centerline is valid? [True, True] Translation: X:192.02, Y:28.19, Z:-0.90 [[ 9.95767605e-01 8.55910124e-02 3.34821778e-02 1.92017006e+02] [-8.55110638e-02 9.96329917e-01 -3.81513540e-03 2.81941199e+01] [-3.36858367e-02 9.35891591e-04 9.99432033e-01 -9.02196107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66592 meters Centerline goodness [0,1] 0.9945945945945946 Centerline is valid? [True, True] Translation: X:192.05, Y:28.19, Z:-0.90 [[ 9.96006168e-01 8.26652274e-02 3.37368145e-02 1.92048651e+02] [-8.25822450e-02 9.96576823e-01 -3.84814965e-03 2.81891301e+01] [-3.39394356e-02 1.04671891e-03 9.99423343e-01 -9.02762382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69592 meters Centerline goodness [0,1] 0.9946882446386021 Centerline is valid? [True, True] Translation: X:192.08, Y:28.18, Z:-0.90 [[ 9.96044979e-01 8.20890012e-02 3.39969908e-02 1.92080503e+02] [-8.20042617e-02 9.96624419e-01 -3.88181364e-03 2.81832768e+01] [-3.42008854e-02 1.07856285e-03 9.99414397e-01 -9.02819083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72592 meters Centerline goodness [0,1] 0.9945535401988708 Centerline is valid? [True, True] Translation: X:192.11, Y:28.17, Z:-0.90 [[ 9.96202649e-01 8.12596811e-02 3.12593430e-02 1.92112016e+02] [-8.11874938e-02 9.96692440e-01 -3.57376207e-03 2.81737372e+01] [-3.14463536e-02 1.02232352e-03 9.99504918e-01 -9.00545658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75592 meters Centerline goodness [0,1] 0.994887830057574 Centerline is valid? [True, True] Translation: X:192.14, Y:28.17, Z:-0.90 [[ 9.96198606e-01 8.13982646e-02 3.10267653e-02 1.92144106e+02] [-8.13270992e-02 9.96681140e-01 -3.55087747e-03 2.81678809e+01] [-3.12128270e-02 1.01406237e-03 9.99512247e-01 -9.01918575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78592 meters Centerline goodness [0,1] 0.9946497572575052 Centerline is valid? [True, True] Translation: X:192.18, Y:28.16, Z:-0.90 [[ 9.96175881e-01 8.18603726e-02 3.05367474e-02 1.92175938e+02] [-8.17915450e-02 9.96643319e-01 -3.49837324e-03 2.81614594e+01] [-3.07206234e-02 9.87347299e-04 9.99527523e-01 -9.01748829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81592 meters Centerline goodness [0,1] 0.995434016576505 Centerline is valid? [True, True] Translation: X:192.21, Y:28.15, Z:-0.90 [[ 9.95819000e-01 8.52505518e-02 3.28155825e-02 1.92207141e+02] [-8.51727746e-02 9.96359090e-01 -3.76330204e-03 2.81513030e+01] [-3.30169275e-02 9.52573460e-04 9.99454339e-01 -9.02702229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84592 meters Centerline goodness [0,1] 0.995434016576505 Centerline is valid? [True, True] Translation: X:192.24, Y:28.15, Z:-0.90 [[ 9.95803979e-01 8.54260818e-02 3.28149249e-02 1.92239518e+02] [-8.53482111e-02 9.96344056e-01 -3.76903148e-03 2.81476525e+01] [-3.30169290e-02 9.52521405e-04 9.99454339e-01 -9.02730336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87592 meters Centerline goodness [0,1] 0.9960840686031526 Centerline is valid? [True, True] Translation: X:192.27, Y:28.14, Z:-0.90 [[ 9.95661167e-01 8.74818590e-02 3.17137913e-02 1.92271524e+02] [-8.74100485e-02 9.96165743e-01 -3.64636645e-03 2.81412717e+01] [-3.19111834e-02 8.58441435e-04 9.99490340e-01 -9.01896890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90592 meters Centerline goodness [0,1] 0.9970681773007355 Centerline is valid? [True, True] Translation: X:192.30, Y:28.13, Z:-0.90 [[ 9.95323657e-01 9.13840420e-02 3.13013411e-02 1.92302861e+02] [-9.13158975e-02 9.95815459e-01 -3.60267952e-03 2.81326383e+01] [-3.14995867e-02 7.27522107e-04 9.99503500e-01 -9.03168294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93592 meters Centerline goodness [0,1] 0.9976199920666402 Centerline is valid? [True, True] Translation: X:192.34, Y:28.13, Z:-0.90 [[ 9.95086742e-01 9.40806919e-02 3.08415244e-02 1.92335053e+02] [-9.40156865e-02 9.95564371e-01 -3.55435648e-03 2.81264620e+01] [-3.10391192e-02 6.37305920e-04 9.99517967e-01 -9.03001212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96592 meters Centerline goodness [0,1] 0.9979153223805033 Centerline is valid? [True, True] Translation: X:192.37, Y:28.12, Z:-0.90 [[ 9.94961247e-01 9.54639764e-02 3.06389513e-02 1.92366461e+02] [-9.54003626e-02 9.95432708e-01 -3.53474419e-03 2.81214344e+01] [-3.08364550e-02 5.93966431e-04 9.99524267e-01 -9.03249958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99592 meters Centerline goodness [0,1] 0.9983150800336984 Centerline is valid? [True, True] Translation: X:192.40, Y:28.12, Z:-0.90 [[ 9.94640307e-01 9.84187895e-02 3.16923101e-02 1.92398462e+02] [-9.83521010e-02 9.95144948e-01 -3.66010764e-03 2.81152413e+01] [-3.18986657e-02 5.23485304e-04 9.99490971e-01 -9.03432865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02592 meters Centerline goodness [0,1] 0.9989591078066915 Centerline is valid? [True, True] Translation: X:192.43, Y:28.11, Z:-0.90 [[ 9.94410801e-01 1.00723077e-01 3.16547006e-02 1.92430629e+02] [-1.00657591e-01 9.94914397e-01 -3.65961371e-03 2.81111895e+01] [-3.18623249e-02 4.52873492e-04 9.99492165e-01 -9.03615472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05592000000001 meters Centerline goodness [0,1] 0.9988101730206732 Centerline is valid? [True, True] Translation: X:192.46, Y:28.11, Z:-0.90 [[ 9.94368417e-01 1.01690680e-01 2.98405198e-02 1.92462350e+02] [-1.01632814e-01 9.94815985e-01 -3.45350968e-03 2.81069615e+01] [-3.00370158e-02 4.01284973e-04 9.99548706e-01 -9.02850109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08592000000002 meters Centerline goodness [0,1] 0.9992050874403816 Centerline is valid? [True, True] Translation: X:192.49, Y:28.10, Z:-0.90 [[ 9.94217854e-01 1.02721945e-01 3.12899605e-02 1.92494407e+02] [-1.02658707e-01 9.94710032e-01 -3.62511366e-03 2.81025007e+01] [-3.14968163e-02 3.91965843e-04 9.99503775e-01 -9.04088096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11592000000002 meters Centerline goodness [0,1] 0.9990088214887501 Centerline is valid? [True, True] Translation: X:192.53, Y:28.10, Z:-0.90 [[ 9.94227624e-01 1.02863410e-01 3.05049267e-02 1.92526108e+02] [-1.02803258e-01 9.94695417e-01 -3.53792464e-03 2.80992234e+01] [-3.07070338e-02 3.81496571e-04 9.99528355e-01 -9.03956060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14592000000002 meters Centerline goodness [0,1] 0.998859918707247 Centerline is valid? [True, True] Translation: X:192.56, Y:28.10, Z:-0.90 [[ 9.94274418e-01 1.02641957e-01 2.97155028e-02 1.92558208e+02] [-1.02584671e-01 9.94718293e-01 -3.45001098e-03 2.80958478e+01] [-2.99126701e-02 3.81902591e-04 9.99552443e-01 -9.03469599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17592000000002 meters Centerline goodness [0,1] 0.9989589013930891 Centerline is valid? [True, True] Translation: X:192.59, Y:28.09, Z:-0.90 [[ 9.94383013e-01 1.01976170e-01 2.83422747e-02 1.92590305e+02] [-1.01923687e-01 9.94786767e-01 -3.29404357e-03 2.80935856e+01] [-2.85304337e-02 3.86791826e-04 9.99592849e-01 -9.03251475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20592 meters Centerline goodness [0,1] 0.9986082115518441 Centerline is valid? [True, True] Translation: X:192.62, Y:28.09, Z:-0.90 [[ 9.94455119e-01 1.01518993e-01 2.74392177e-02 1.92622711e+02] [-1.01469536e-01 9.94833525e-01 -3.19243202e-03 2.80906839e+01] [-2.76215462e-02 3.90485672e-04 9.99618376e-01 -9.02258214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23592 meters Centerline goodness [0,1] 0.9988599752168525 Centerline is valid? [True, True] Translation: X:192.66, Y:28.09, Z:-0.90 [[ 9.94433191e-01 1.01658381e-01 2.77164554e-02 1.92655162e+02] [-1.01607879e-01 9.94819289e-01 -3.22808554e-03 2.80877058e+01] [-2.79010264e-02 3.93905163e-04 9.99610613e-01 -9.03123324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26592 meters Centerline goodness [0,1] 0.998215082552432 Centerline is valid? [True, True] Translation: X:192.69, Y:28.09, Z:-0.90 [[ 9.94625006e-01 1.00232646e-01 2.59713950e-02 1.92687676e+02] [-1.00187736e-01 9.94963943e-01 -3.02801094e-03 2.80857307e+01] [-2.61441071e-02 4.09720136e-04 9.99658100e-01 -9.01044174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29592 meters Centerline goodness [0,1] 0.9979673789103168 Centerline is valid? [True, True] Translation: X:192.72, Y:28.08, Z:-0.90 [[ 9.94784584e-01 9.84452303e-02 2.66864611e-02 1.92718681e+02] [-9.83971237e-02 9.95142359e-01 -3.11307358e-03 2.80831751e+01] [-2.68632951e-02 4.70966596e-04 9.99639006e-01 -9.01863117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32592 meters Centerline goodness [0,1] 0.9984621490227205 Centerline is valid? [True, True] Translation: X:192.75, Y:28.08, Z:-0.90 [[ 9.95000308e-01 9.65968534e-02 2.53660080e-02 1.92750279e+02] [-9.65527122e-02 9.95323465e-01 -2.96209187e-03 2.80794103e+01] [-2.55335117e-02 4.98125457e-04 9.99673843e-01 -9.02031379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35592 meters Centerline goodness [0,1] 0.9986553115194979 Centerline is valid? [True, True] Translation: X:192.78, Y:28.08, Z:-0.90 [[ 9.95151901e-01 9.45606654e-02 2.70365259e-02 1.92781752e+02] [-9.45097201e-02 9.95518927e-01 -3.15885571e-03 2.80750918e+01] [-2.72140768e-02 5.88326768e-04 9.99629455e-01 -9.03043014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38592 meters Centerline goodness [0,1] 0.9984633686923763 Centerline is valid? [True, True] Translation: X:192.81, Y:28.07, Z:-0.90 [[ 9.95163603e-01 9.43312183e-02 2.74048142e-02 1.92813954e+02] [-9.42786969e-02 9.95540684e-01 -3.20519984e-03 2.80715124e+01] [-2.75849579e-02 6.06008050e-04 9.99619279e-01 -9.03343479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41592 meters Centerline goodness [0,1] 0.9980188211986132 Centerline is valid? [True, True] Translation: X:192.85, Y:28.07, Z:-0.90 [[ 9.95245495e-01 9.30934133e-02 2.86360252e-02 1.92846283e+02] [-9.30354536e-02 9.95657152e-01 -3.35265555e-03 2.80691727e+01] [-2.88237735e-02 6.72549731e-04 9.99584282e-01 -9.03263146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44592 meters Centerline goodness [0,1] 0.9981666831830344 Centerline is valid? [True, True] Translation: X:192.88, Y:28.07, Z:-0.90 [[ 9.95280946e-01 9.29865451e-02 2.77369993e-02 1.92878226e+02] [-9.29320336e-02 9.95667148e-01 -3.25074456e-03 2.80655808e+01] [-2.79190945e-02 6.57748371e-04 9.99609970e-01 -9.02701227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47592 meters Centerline goodness [0,1] 0.9982141085425141 Centerline is valid? [True, True] Translation: X:192.91, Y:28.06, Z:-0.90 [[ 9.95280926e-01 9.34232025e-02 2.62294410e-02 1.92910293e+02] [-9.33745250e-02 9.95626300e-01 -3.07721751e-03 2.80607018e+01] [-2.64022048e-02 6.13534298e-04 9.99651213e-01 -9.03803419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50592 meters Centerline goodness [0,1] 0.9983130736789878 Centerline is valid? [True, True] Translation: X:192.94, Y:28.06, Z:-0.90 [[ 9.95290003e-01 9.30644001e-02 2.71445724e-02 1.92942404e+02] [-9.30120435e-02 9.95659880e-01 -3.18783455e-03 2.80569482e+01] [-2.73234356e-02 6.48047708e-04 9.99626435e-01 -9.04286717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53592 meters Centerline goodness [0,1] 0.9974697360587418 Centerline is valid? [True, True] Translation: X:192.97, Y:28.05, Z:-0.90 [[ 9.95252355e-01 9.32851861e-02 2.77601268e-02 1.92974547e+02] [-9.32304202e-02 9.95639211e-01 -3.26345327e-03 2.80521536e+01] [-2.79435026e-02 6.59871266e-04 9.99609286e-01 -9.04081188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56592 meters Centerline goodness [0,1] 0.9977148534525584 Centerline is valid? [True, True] Translation: X:193.01, Y:28.05, Z:-0.90 [[ 9.95318229e-01 9.26454963e-02 2.75396910e-02 1.93006897e+02] [-9.25912606e-02 9.95698928e-01 -3.24084384e-03 2.80478432e+01] [-2.77214904e-02 6.75736245e-04 9.99615457e-01 -9.03100210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59592 meters Centerline goodness [0,1] 0.9980141984808618 Centerline is valid? [True, True] Translation: X:193.04, Y:28.04, Z:-0.90 [[ 9.95291913e-01 9.29286613e-02 2.75367375e-02 1.93039018e+02] [-9.28744535e-02 9.95672543e-01 -3.24381350e-03 2.80436093e+01] [-2.77190167e-02 6.71081890e-04 9.99615529e-01 -9.02312181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62592 meters Centerline goodness [0,1] 0.998016364988842 Centerline is valid? [True, True] Translation: X:193.07, Y:28.04, Z:-0.90 [[ 9.95222070e-01 9.34018628e-02 2.84451044e-02 1.93071456e+02] [-9.33441132e-02 9.95628257e-01 -3.35426202e-03 2.80404354e+01] [-2.86340440e-02 6.83052553e-04 9.99589728e-01 -9.03238655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65592 meters Centerline goodness [0,1] 0.9983655274888559 Centerline is valid? [True, True] Translation: X:193.10, Y:28.04, Z:-0.90 [[ 9.95185863e-01 9.37840579e-02 2.84543129e-02 1.93103730e+02] [-9.37263293e-02 9.95592333e-01 -3.35875647e-03 2.80361684e+01] [-2.86438936e-02 6.75668657e-04 9.99589451e-01 -9.03322680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68592 meters Centerline goodness [0,1] 0.9982642332870462 Centerline is valid? [True, True] Translation: X:193.14, Y:28.03, Z:-0.90 [[ 9.95135252e-01 9.48375544e-02 2.66771184e-02 1.93136028e+02] [-9.47871055e-02 9.95492576e-01 -3.15218586e-03 2.80319731e+01] [-2.68558190e-02 6.08204433e-04 9.99639132e-01 -9.03617201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71592 meters Centerline goodness [0,1] 0.9983133247345967 Centerline is valid? [True, True] Translation: X:193.17, Y:28.03, Z:-0.90 [[ 9.94965266e-01 9.64871108e-02 2.70990332e-02 1.93168120e+02] [-9.64355752e-02 9.95334067e-01 -3.20530656e-03 2.80282585e+01] [-2.72818617e-02 5.75857833e-04 9.99627615e-01 -9.03981803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74592 meters Centerline goodness [0,1] 0.9988073941562313 Centerline is valid? [True, True] Translation: X:193.20, Y:28.02, Z:-0.90 [[ 9.94740840e-01 9.82599974e-02 2.89073208e-02 1.93200467e+02] [-9.82019736e-02 9.95160616e-01 -3.42355319e-03 2.80243727e+01] [-2.91038255e-02 5.66792230e-04 9.99576233e-01 -9.04113333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77592 meters Centerline goodness [0,1] 0.9991070985663971 Centerline is valid? [True, True] Translation: X:193.23, Y:28.02, Z:-0.91 [[ 9.94585141e-01 9.95358230e-02 2.98833926e-02 1.93232545e+02] [-9.94742775e-02 9.95033827e-01 -3.54285372e-03 2.80204025e+01] [-3.00876273e-02 5.51040782e-04 9.99547113e-01 -9.05407009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80592000000001 meters Centerline goodness [0,1] 0.9991076297655049 Centerline is valid? [True, True] Translation: X:193.26, Y:28.02, Z:-0.91 [[ 9.94431245e-01 1.00651980e-01 3.12358540e-02 1.93264456e+02] [-1.00585167e-01 9.94921546e-01 -3.70699790e-03 2.80161263e+01] [-3.14503408e-02 5.44490961e-04 9.99505167e-01 -9.06154848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83592000000002 meters Centerline goodness [0,1] 0.9997026906496209 Centerline is valid? [True, True] Translation: X:193.30, Y:28.01, Z:-0.91 [[ 9.94062706e-01 1.04210986e-01 3.12954664e-02 1.93296962e+02] [-1.04145530e-01 9.94555116e-01 -3.71880387e-03 2.80123506e+01] [-3.15126064e-02 4.37441302e-04 9.99503259e-01 -9.05560841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86592000000002 meters Centerline goodness [0,1] 0.9998512863728747 Centerline is valid? [True, True] Translation: X:193.33, Y:28.01, Z:-0.91 [[ 9.93816298e-01 1.06378875e-01 3.18229448e-02 1.93328857e+02] [-1.06312178e-01 9.94325596e-01 -3.78541066e-03 2.80094894e+01] [-3.20450562e-02 3.78836230e-04 9.99486354e-01 -9.05500904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89592000000002 meters Centerline goodness [0,1] 0.9998513526905163 Centerline is valid? [True, True] Translation: X:193.36, Y:28.01, Z:-0.90 [[ 9.93539920e-01 1.09444454e-01 3.00056549e-02 1.93361563e+02] [-1.09386419e-01 9.93992877e-01 -3.57379765e-03 2.80074068e+01] [-3.02165395e-02 2.68499502e-04 9.99543340e-01 -9.04525662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.39, Y:28.00, Z:-0.90 [[ 9.93327870e-01 1.11197487e-01 3.05755029e-02 1.93393802e+02] [-1.11137939e-01 9.93798304e-01 -3.64545625e-03 2.80039066e+01] [-3.07912485e-02 2.23034915e-04 9.99525812e-01 -9.04108686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95592 meters Centerline goodness [0,1] 0.9999504558065795 Centerline is valid? [True, True] Translation: X:193.43, Y:28.00, Z:-0.91 [[ 9.93181818e-01 1.11828664e-01 3.29275980e-02 1.93425955e+02] [-1.11759810e-01 9.93727478e-01 -3.92999744e-03 2.80025208e+01] [-3.31605453e-02 2.23219910e-04 9.99450013e-01 -9.05783912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:193.46, Y:28.00, Z:-0.91 [[ 9.93252372e-01 1.10830620e-01 3.41511190e-02 1.93457604e+02] [-1.10755851e-01 9.93839273e-01 -4.07925685e-03 2.80004463e+01] [-3.43928299e-02 2.69295305e-04 9.99408355e-01 -9.05719590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01592 meters Centerline goodness [0,1] 0.9998513674197385 Centerline is valid? [True, True] Translation: X:193.49, Y:28.00, Z:-0.90 [[ 9.93405206e-01 1.10160743e-01 3.17916371e-02 1.93489612e+02] [-1.10095484e-01 9.93913746e-01 -3.80132467e-03 2.79979905e+01] [-3.20169018e-02 2.76140052e-04 9.99487289e-01 -9.04753230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04592 meters Centerline goodness [0,1] 0.9996530359355639 Centerline is valid? [True, True] Translation: X:193.52, Y:28.00, Z:-0.90 [[ 9.93849392e-01 1.06400260e-01 3.06980504e-02 1.93521698e+02] [-1.06337503e-01 9.94323305e-01 -3.67434135e-03 2.79958493e+01] [-3.09147378e-02 3.87387898e-04 9.99521950e-01 -9.04392078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07592 meters Centerline goodness [0,1] 0.9999504533518307 Centerline is valid? [True, True] Translation: X:193.55, Y:27.99, Z:-0.91 [[ 9.94057060e-01 1.04162762e-01 3.16335253e-02 1.93554161e+02] [-1.04094865e-01 9.94560151e-01 -3.79018343e-03 2.79924499e+01] [-3.18562397e-02 4.74771061e-04 9.99492348e-01 -9.05506451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10592 meters Centerline goodness [0,1] 0.9999005815976537 Centerline is valid? [True, True] Translation: X:193.59, Y:27.99, Z:-0.91 [[ 9.94534590e-01 9.98293233e-02 3.05786908e-02 1.93585664e+02] [-9.97636660e-02 9.95004396e-01 -3.66918807e-03 2.79889403e+01] [-3.07922244e-02 5.98492149e-04 9.99525628e-01 -9.05956225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13592 meters Centerline goodness [0,1] 0.9996523811888564 Centerline is valid? [True, True] Translation: X:193.62, Y:27.99, Z:-0.91 [[ 9.94781371e-01 9.70238652e-02 3.15656898e-02 1.93618014e+02] [-9.69523648e-02 9.95281801e-01 -3.79148733e-03 2.79853757e+01] [-3.17846213e-02 7.11332690e-04 9.99494488e-01 -9.06183519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16592 meters Centerline goodness [0,1] 0.9995539475640581 Centerline is valid? [True, True] Translation: X:193.65, Y:27.98, Z:-0.91 [[ 9.95274276e-01 9.17083217e-02 3.19170769e-02 1.93650144e+02] [-9.16323646e-02 9.95785511e-01 -3.83752592e-03 2.79811661e+01] [-3.21344958e-02 8.94753599e-04 9.99483153e-01 -9.06863368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19592 meters Centerline goodness [0,1] 0.9994040820380394 Centerline is valid? [True, True] Translation: X:193.68, Y:27.98, Z:-0.91 [[ 9.95463590e-01 9.03267072e-02 2.98885659e-02 1.93681597e+02] [-9.02593723e-02 9.95911796e-01 -3.59717549e-03 2.79755260e+01] [-3.00912964e-02 8.83134037e-04 9.99546764e-01 -9.06102080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22592 meters Centerline goodness [0,1] 0.999603489294211 Centerline is valid? [True, True] Translation: X:193.71, Y:27.97, Z:-0.91 [[ 9.95612255e-01 8.82076709e-02 3.12353050e-02 1.93713779e+02] [-8.81329706e-02 9.96101611e-01 -3.76296840e-03 2.79704798e+01] [-3.14454603e-02 9.93597235e-04 9.99504975e-01 -9.06661719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25592 meters Centerline goodness [0,1] 0.9990059148068989 Centerline is valid? [True, True] Translation: X:193.75, Y:27.96, Z:-0.91 [[ 9.96015890e-01 8.33386727e-02 3.17334511e-02 1.93745765e+02] [-8.32589834e-02 9.96520596e-01 -3.82666675e-03 2.79643770e+01] [-3.19419469e-02 1.16932601e-03 9.99489042e-01 -9.06406703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28592 meters Centerline goodness [0,1] 0.9987112124516705 Centerline is valid? [True, True] Translation: X:193.78, Y:27.96, Z:-0.91 [[ 9.96203013e-01 8.11103953e-02 3.16332177e-02 1.93777242e+02] [-8.10299977e-02 9.96704353e-01 -3.81738643e-03 2.79604657e+01] [-3.18385955e-02 1.23965231e-03 9.99492255e-01 -9.06573130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31592 meters Centerline goodness [0,1] 0.9977183671444869 Centerline is valid? [True, True] Translation: X:193.81, Y:27.95, Z:-0.91 [[ 9.96601840e-01 7.66267960e-02 3.02176635e-02 1.93808502e+02] [-7.65512725e-02 9.97058965e-01 -3.65001312e-03 2.79526255e+01] [-3.04084811e-02 1.32440920e-03 9.99536678e-01 -9.05551615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34592 meters Centerline goodness [0,1] 0.9981145182097847 Centerline is valid? [True, True] Translation: X:193.84, Y:27.95, Z:-0.91 [[ 9.96792803e-01 7.45238194e-02 2.91600311e-02 1.93839638e+02] [-7.44525189e-02 9.97218330e-01 -3.52481313e-03 2.79457759e+01] [-2.93416000e-02 1.34247060e-03 9.99568541e-01 -9.06580993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37592 meters Centerline goodness [0,1] 0.9968222442899702 Centerline is valid? [True, True] Translation: X:193.87, Y:27.94, Z:-0.91 [[ 9.96964242e-01 7.21730748e-02 2.92121187e-02 1.93871557e+02] [-7.21004147e-02 9.97391116e-01 -3.53443739e-03 2.79394546e+01] [-2.93909989e-02 1.41750182e-03 9.99566986e-01 -9.06978601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40592 meters Centerline goodness [0,1] 0.9961219112017103 Centerline is valid? [True, True] Translation: X:193.90, Y:27.93, Z:-0.91 [[ 9.97181948e-01 6.94638937e-02 2.83360091e-02 1.93902898e+02] [-6.93943450e-02 9.97583404e-01 -3.43165638e-03 2.79297722e+01] [-2.85059086e-02 1.45562701e-03 9.99592564e-01 -9.06361497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43592 meters Centerline goodness [0,1] 0.9969684921975946 Centerline is valid? [True, True] Translation: X:193.93, Y:27.92, Z:-0.91 [[ 9.97187113e-01 6.88424719e-02 2.96407839e-02 1.93934391e+02] [-6.87659935e-02 9.97626347e-01 -3.59306560e-03 2.79234429e+01] [-2.98177824e-02 1.54468076e-03 9.99554158e-01 -9.07116135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46592 meters Centerline goodness [0,1] 0.9969121968225509 Centerline is valid? [True, True] Translation: X:193.97, Y:27.91, Z:-0.91 [[ 9.97198468e-01 6.90869578e-02 2.86741610e-02 1.93965758e+02] [-6.90153946e-02 9.97609528e-01 -3.47914656e-03 2.79113340e+01] [-2.88459798e-02 1.49044109e-03 9.99582757e-01 -9.05967866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49592 meters Centerline goodness [0,1] 0.9970214455917394 Centerline is valid? [True, True] Translation: X:194.00, Y:27.90, Z:-0.91 [[ 9.97159090e-01 6.96036598e-02 2.87937322e-02 1.93997495e+02] [-6.95316180e-02 9.97573619e-01 -3.49693811e-03 2.79033523e+01] [-2.89672674e-02 1.48492884e-03 9.99579258e-01 -9.05869585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52592 meters Centerline goodness [0,1] 0.9969665323984286 Centerline is valid? [True, True] Translation: X:194.03, Y:27.89, Z:-0.91 [[ 9.97089351e-01 7.07864188e-02 2.83215237e-02 1.94028362e+02] [-7.07171048e-02 9.97490470e-01 -3.44282365e-03 2.78921955e+01] [-2.84941551e-02 1.42998664e-03 9.99592936e-01 -9.05495573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55592000000001 meters Centerline goodness [0,1] 0.9978147504345667 Centerline is valid? [True, True] Translation: X:194.06, Y:27.88, Z:-0.91 [[ 9.96995272e-01 7.20079633e-02 2.85531401e-02 1.94060367e+02] [-7.19378353e-02 9.97403057e-01 -3.47706260e-03 2.78843579e+01] [-2.87293655e-02 1.41256388e-03 9.99586229e-01 -9.05870732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58592000000002 meters Centerline goodness [0,1] 0.99746772591857 Centerline is valid? [True, True] Translation: X:194.09, Y:27.88, Z:-0.91 [[ 9.96960191e-01 7.25829946e-02 2.83211302e-02 1.94092140e+02] [-7.25141383e-02 9.97361410e-01 -3.45214776e-03 2.78766110e+01] [-2.84969695e-02 1.38797154e-03 9.99592915e-01 -9.05928605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61592000000002 meters Centerline goodness [0,1] 0.9977579592446814 Centerline is valid? [True, True] Translation: X:194.12, Y:27.87, Z:-0.91 [[ 9.96839159e-01 7.47083727e-02 2.70249972e-02 1.94122946e+02] [-7.46463715e-02 9.97204617e-01 -3.29724322e-03 2.78651285e+01] [-2.71957836e-02 1.26950318e-03 9.99629320e-01 -9.05693237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64592000000002 meters Centerline goodness [0,1] 0.9978134472991105 Centerline is valid? [True, True] Translation: X:194.15, Y:27.86, Z:-0.90 [[ 9.96606390e-01 7.75469258e-02 2.76075601e-02 1.94154618e+02] [-7.74831427e-02 9.96987952e-01 -3.37427857e-03 2.78554389e+01] [-2.77860697e-02 1.22370707e-03 9.99613144e-01 -9.04857803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67592000000002 meters Centerline goodness [0,1] 0.9981634071279658 Centerline is valid? [True, True] Translation: X:194.19, Y:27.85, Z:-0.90 [[ 9.96541687e-01 7.84511340e-02 2.73876752e-02 1.94186228e+02] [-7.83886137e-02 9.96917247e-01 -3.35067333e-03 2.78485622e+01] [-2.75661099e-02 1.19220377e-03 9.99619272e-01 -9.04578595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70592 meters Centerline goodness [0,1] 0.9981122702434178 Centerline is valid? [True, True] Translation: X:194.22, Y:27.84, Z:-0.90 [[ 9.96478007e-01 7.92275191e-02 2.74696468e-02 1.94217433e+02] [-7.91648085e-02 9.96855863e-01 -3.36467082e-03 2.78419461e+01] [-2.76498530e-02 1.17819114e-03 9.99616975e-01 -9.03999473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73592 meters Centerline goodness [0,1] 0.9981122702434178 Centerline is valid? [True, True] Translation: X:194.25, Y:27.84, Z:-0.90 [[ 9.96464107e-01 7.94023524e-02 2.74690596e-02 1.94249777e+02] [-7.93395763e-02 9.96841953e-01 -3.36946101e-03 2.78380423e+01] [-2.76498541e-02 1.17816341e-03 9.99616975e-01 -9.04027581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76592 meters Centerline goodness [0,1] 0.9988562904027847 Centerline is valid? [True, True] Translation: X:194.28, Y:27.83, Z:-0.90 [[ 9.96277847e-01 8.21968728e-02 2.59639243e-02 1.94280133e+02] [-8.21416935e-02 9.96615567e-01 -3.18647430e-03 2.78287792e+01] [-2.61379693e-02 1.04189304e-03 9.99657802e-01 -9.03353855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79592 meters Centerline goodness [0,1] 0.9992550655542313 Centerline is valid? [True, True] Translation: X:194.31, Y:27.82, Z:-0.90 [[ 9.96172114e-01 8.36285611e-02 2.54437339e-02 1.94311776e+02] [-8.35759614e-02 9.96496507e-01 -3.12560228e-03 2.78214815e+01] [-2.56159816e-02 9.87153306e-04 9.99671370e-01 -9.03926958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82592 meters Centerline goodness [0,1] 0.9988565178482649 Centerline is valid? [True, True] Translation: X:194.34, Y:27.81, Z:-0.90 [[ 9.95941212e-01 8.60767113e-02 2.63040184e-02 1.94343374e+02] [-8.60212627e-02 9.96288051e-01 -3.23442108e-03 2.78114006e+01] [-2.64847876e-02 9.58588374e-04 9.99648757e-01 -9.04151805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85592 meters Centerline goodness [0,1] 0.9990068527162578 Centerline is valid? [True, True] Translation: X:194.38, Y:27.81, Z:-0.90 [[ 9.95875255e-01 8.71822627e-02 2.51342235e-02 1.94375146e+02] [-8.71319131e-02 9.96191979e-01 -3.09357543e-03 2.78055694e+01] [-2.53082167e-02 8.90822243e-04 9.99679299e-01 -9.03349415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88592 meters Centerline goodness [0,1] 0.9988575402344526 Centerline is valid? [True, True] Translation: X:194.41, Y:27.80, Z:-0.90 [[ 9.95702567e-01 8.91591078e-02 2.50409778e-02 1.94407068e+02] [-8.91096796e-02 9.96017042e-01 -3.08510672e-03 2.77993570e+01] [-2.52163060e-02 8.40455168e-04 9.99681665e-01 -9.03458149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91592 meters Centerline goodness [0,1] 0.9988570292699895 Centerline is valid? [True, True] Translation: X:194.44, Y:27.79, Z:-0.90 [[ 9.95579379e-01 9.05437925e-02 2.49704066e-02 1.94438502e+02] [-9.04950013e-02 9.95892149e-01 -3.07943971e-03 2.77940881e+01] [-2.51466560e-02 8.06129701e-04 9.99683448e-01 -9.03103210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94592 meters Centerline goodness [0,1] 0.9994039044260097 Centerline is valid? [True, True] Translation: X:194.47, Y:27.79, Z:-0.90 [[ 9.95165671e-01 9.48605887e-02 2.54313942e-02 1.94469989e+02] [-9.48113077e-02 9.95490312e-01 -3.13936352e-03 2.77857347e+01] [-2.56145084e-02 7.13003064e-04 9.99671640e-01 -9.01969747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97592 meters Centerline goodness [0,1] 0.9994537689939418 Centerline is valid? [True, True] Translation: X:194.50, Y:27.78, Z:-0.90 [[ 9.94808449e-01 9.82327328e-02 2.65796943e-02 1.94501756e+02] [-9.81800147e-02 9.95163252e-01 -3.28437127e-03 2.77794663e+01] [-2.67737678e-02 6.57725510e-04 9.99641302e-01 -9.01557972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00592 meters Centerline goodness [0,1] 0.9996516546404578 Centerline is valid? [True, True] Translation: X:194.53, Y:27.77, Z:-0.90 [[ 9.94723217e-01 9.94593331e-02 2.51706797e-02 1.94533905e+02] [-9.94123340e-02 9.95041449e-01 -3.11482851e-03 2.77735680e+01] [-2.53556684e-02 5.96116222e-04 9.99678316e-01 -9.01305391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03592 meters Centerline goodness [0,1] 0.9996028396961724 Centerline is valid? [True, True] Translation: X:194.57, Y:27.77, Z:-0.90 [[ 9.94649394e-01 9.98703706e-02 2.64290029e-02 1.94565761e+02] [-9.98186093e-02 9.95000265e-01 -3.27390028e-03 2.77685353e+01] [-2.66238305e-02 6.18276617e-04 9.99645332e-01 -9.02097524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06592 meters Centerline goodness [0,1] 0.9988070977682787 Centerline is valid? [True, True] Translation: X:194.60, Y:27.76, Z:-0.90 [[ 9.94743837e-01 9.93458990e-02 2.48010421e-02 1.94597048e+02] [-9.93000804e-02 9.95052781e-01 -3.07527899e-03 2.77614602e+01] [-2.49838623e-02 5.96369341e-04 9.99687677e-01 -9.00583295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09592 meters Centerline goodness [0,1] 0.9988566883730179 Centerline is valid? [True, True] Translation: X:194.63, Y:27.76, Z:-0.90 [[ 9.94815741e-01 9.88849969e-02 2.37360354e-02 1.94628686e+02] [-9.88428285e-02 9.95098696e-01 -2.94615038e-03 2.77567833e+01] [-2.39110280e-02 5.84739899e-04 9.99713919e-01 -9.00119344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12592 meters Centerline goodness [0,1] 0.9992051269312932 Centerline is valid? [True, True] Translation: X:194.66, Y:27.75, Z:-0.90 [[ 9.94926075e-01 9.77769441e-02 2.37017729e-02 1.94660454e+02] [-9.77345128e-02 9.95208166e-01 -2.94483925e-03 2.77517627e+01] [-2.38761353e-02 6.13416132e-04 9.99714736e-01 -9.00545177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15592 meters Centerline goodness [0,1] 0.998807334890424 Centerline is valid? [True, True] Translation: X:194.69, Y:27.75, Z:-0.90 [[ 9.95043607e-01 9.61830729e-02 2.52395661e-02 1.94692221e+02] [-9.61343646e-02 9.95363416e-01 -3.13900616e-03 2.77459557e+01] [-2.54244600e-02 6.97058368e-04 9.99676503e-01 -9.01320688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18592 meters Centerline goodness [0,1] 0.9988571996422538 Centerline is valid? [True, True] Translation: X:194.72, Y:27.74, Z:-0.90 [[ 9.95127867e-01 9.55975412e-02 2.41171633e-02 1.94723611e+02] [-9.55528263e-02 9.95419833e-01 -3.00235158e-03 2.77411678e+01] [-2.42937200e-02 6.83260619e-04 9.99704631e-01 -9.00836702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21592 meters Centerline goodness [0,1] 0.99855943569619 Centerline is valid? [True, True] Translation: X:194.76, Y:27.74, Z:-0.90 [[ 9.95088523e-01 9.59219273e-02 2.44502564e-02 1.94755914e+02] [-9.58759560e-02 9.95388622e-01 -3.04829452e-03 2.77363040e+01] [-2.46299053e-02 6.89131184e-04 9.99696400e-01 -9.00602600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24592 meters Centerline goodness [0,1] 0.9991529646238166 Centerline is valid? [True, True] Translation: X:194.79, Y:27.73, Z:-0.90 [[ 9.95148536e-01 9.57624173e-02 2.25599341e-02 1.94787501e+02] [-9.57231760e-02 9.95404012e-01 -2.81542963e-03 2.77289032e+01] [-2.27258613e-02 6.42262134e-04 9.99741528e-01 -9.01210053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27592 meters Centerline goodness [0,1] 0.9995529949339426 Centerline is valid? [True, True] Translation: X:194.82, Y:27.72, Z:-0.90 [[ 9.95094162e-01 9.61289619e-02 2.33844311e-02 1.94818811e+02] [-9.60868327e-02 9.95368669e-01 -2.92120046e-03 2.77228263e+01] [-2.35569420e-02 6.59933606e-04 9.99722279e-01 -9.02112650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30592000000001 meters Centerline goodness [0,1] 0.9995037220843672 Centerline is valid? [True, True] Translation: X:194.85, Y:27.72, Z:-0.90 [[ 9.95032402e-01 9.63404548e-02 2.50805671e-02 1.94849940e+02] [-9.62919800e-02 9.95348190e-01 -3.13617614e-03 2.77156100e+01] [-2.52660377e-02 7.05539421e-04 9.99680514e-01 -9.02522554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33592000000002 meters Centerline goodness [0,1] 0.999201875592358 Centerline is valid? [True, True] Translation: X:194.88, Y:27.71, Z:-0.90 [[ 9.95095486e-01 9.60801791e-02 2.35281138e-02 1.94881324e+02] [-9.60373803e-02 9.95373372e-01 -2.94490688e-03 2.77093161e+01] [-2.37022051e-02 6.70885137e-04 9.99718838e-01 -9.01857207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36592000000002 meters Centerline goodness [0,1] 0.9994529812521756 Centerline is valid? [True, True] Translation: X:194.91, Y:27.70, Z:-0.90 [[ 9.95171093e-01 9.48285384e-02 2.53385735e-02 1.94912694e+02] [-9.47784131e-02 9.95493332e-01 -3.17463134e-03 2.77036085e+01] [-2.55254267e-02 7.57751550e-04 9.99673886e-01 -9.03000505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39592000000002 meters Centerline goodness [0,1] 0.9996023263906149 Centerline is valid? [True, True] Translation: X:194.94, Y:27.70, Z:-0.90 [[ 9.95196425e-01 9.40275164e-02 2.72562158e-02 1.94944478e+02] [-9.39691235e-02 9.95569244e-01 -3.41821629e-03 2.76962115e+01] [-2.74568565e-02 8.40553924e-04 9.99622636e-01 -9.03576664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42592000000002 meters Centerline goodness [0,1] 0.9996024844720497 Centerline is valid? [True, True] Translation: X:194.98, Y:27.69, Z:-0.90 [[ 9.95186095e-01 9.42904594e-02 2.67197420e-02 1.94976578e+02] [-9.42343499e-02 9.95544392e-01 -3.35419884e-03 2.76912817e+01] [-2.69169582e-02 8.20134535e-04 9.99637337e-01 -9.03097411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45592 meters Centerline goodness [0,1] 0.9995530615285295 Centerline is valid? [True, True] Translation: X:195.01, Y:27.68, Z:-0.90 [[ 9.95111633e-01 9.45881628e-02 2.83886814e-02 1.95008479e+02] [-9.45248448e-02 9.95516112e-01 -3.56717480e-03 2.76845808e+01] [-2.85988022e-02 8.66301440e-04 9.99590595e-01 -9.02865218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48592 meters Centerline goodness [0,1] 0.999403400616486 Centerline is valid? [True, True] Translation: X:195.04, Y:27.68, Z:-0.90 [[ 9.95076562e-01 9.54307538e-02 2.67508251e-02 1.95040660e+02] [-9.53747280e-02 9.95435751e-01 -3.36541430e-03 2.76786561e+01] [-2.69498917e-02 7.97492222e-04 9.99636468e-01 -9.02990397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51592 meters Centerline goodness [0,1] 0.9993036211699164 Centerline is valid? [True, True] Translation: X:195.07, Y:27.67, Z:-0.90 [[ 9.95093174e-01 9.52776733e-02 2.66784701e-02 1.95073134e+02] [-9.52217636e-02 9.95450410e-01 -3.36121282e-03 2.76733070e+01] [-2.68773425e-02 8.04348962e-04 9.99638415e-01 -9.03162935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54592 meters Centerline goodness [0,1] 0.9990946129470348 Centerline is valid? [True, True] Translation: X:195.11, Y:27.67, Z:-0.90 [[ 9.95180514e-01 9.45608768e-02 2.59612141e-02 1.95105688e+02] [-9.45075640e-02 9.95518754e-01 -3.27566027e-03 2.76683287e+01] [-2.61546248e-02 8.06342168e-04 9.99657584e-01 -9.03516104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57592 meters Centerline goodness [0,1] 0.9997511447342226 Centerline is valid? [True, True] Translation: X:195.14, Y:27.66, Z:-0.91 [[ 9.95073534e-01 9.45846758e-02 2.97052520e-02 1.95137937e+02] [-9.45147703e-02 9.95516390e-01 -3.75181297e-03 2.76638242e+01] [-2.99269292e-02 9.25744720e-04 9.99551660e-01 -9.05805778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60592 meters Centerline goodness [0,1] 0.9996023856858847 Centerline is valid? [True, True] Translation: X:195.17, Y:27.66, Z:-0.90 [[ 9.95142488e-01 9.38089606e-02 2.98547625e-02 1.95169857e+02] [-9.37376267e-02 9.95589747e-01 -3.78312611e-03 2.76577523e+01] [-3.00779866e-02 9.66234948e-04 9.99547088e-01 -9.04889423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63592 meters Centerline goodness [0,1] 0.9993528796854 Centerline is valid? [True, True] Translation: X:195.20, Y:27.65, Z:-0.90 [[ 9.95249861e-01 9.28556715e-02 2.92495800e-02 1.95201979e+02] [-9.27864236e-02 9.95679090e-01 -3.71886735e-03 2.76539468e+01] [-2.94685131e-02 9.87238293e-04 9.99565222e-01 -9.04368945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66592 meters Centerline goodness [0,1] 0.9995029079882686 Centerline is valid? [True, True] Translation: X:195.23, Y:27.65, Z:-0.91 [[ 9.95306285e-01 9.21791076e-02 2.94688014e-02 1.95233676e+02] [-9.21081524e-02 9.95741913e-01 -3.75915844e-03 2.76491275e+01] [-2.96898366e-02 1.02719717e-03 9.99558632e-01 -9.05547098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69592 meters Centerline goodness [0,1] 0.9999000899190729 Centerline is valid? [True, True] Translation: X:195.27, Y:27.64, Z:-0.90 [[ 9.95415553e-01 9.14811522e-02 2.79119101e-02 1.95265154e+02] [-9.14170995e-02 9.95806309e-01 -3.56499594e-03 2.76429980e+01] [-2.81209861e-02 9.97026542e-04 9.99604030e-01 -9.04451533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72592 meters Centerline goodness [0,1] 0.9996519490851233 Centerline is valid? [True, True] Translation: X:195.30, Y:27.64, Z:-0.91 [[ 9.95288432e-01 9.23923900e-02 2.94037995e-02 1.95297016e+02] [-9.23213352e-02 9.95722137e-01 -3.76791511e-03 2.76378631e+01] [-2.96261407e-02 1.03556429e-03 9.99560513e-01 -9.05246426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75592 meters Centerline goodness [0,1] 0.9997511571193948 Centerline is valid? [True, True] Translation: X:195.33, Y:27.63, Z:-0.91 [[ 9.95299388e-01 9.15004125e-02 3.17301651e-02 1.95328505e+02] [-9.14167833e-02 9.95804363e-01 -4.07944769e-03 2.76316531e+01] [-3.19703080e-02 1.15960217e-03 9.99488146e-01 -9.06043545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78592 meters Centerline goodness [0,1] 0.9997018040852841 Centerline is valid? [True, True] Translation: X:195.36, Y:27.62, Z:-0.91 [[ 9.95253515e-01 9.16448637e-02 3.27362258e-02 1.95359929e+02] [-9.15554668e-02 9.95791025e-01 -4.22261970e-03 2.76249662e+01] [-3.29854212e-02 1.20539666e-03 9.99455106e-01 -9.05893075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81592 meters Centerline goodness [0,1] 0.999801064305963 Centerline is valid? [True, True] Translation: X:195.39, Y:27.62, Z:-0.91 [[ 9.95323004e-01 9.13012318e-02 3.15626767e-02 1.95392898e+02] [-9.12174763e-02 9.95822611e-01 -4.08642462e-03 2.76201597e+01] [-3.18039228e-02 1.18824471e-03 9.99493421e-01 -9.05740788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84592 meters Centerline goodness [0,1] 0.9999005074121978 Centerline is valid? [True, True] Translation: X:195.42, Y:27.61, Z:-0.91 [[ 9.95239088e-01 9.22937684e-02 3.13211934e-02 1.95424682e+02] [-9.22115461e-02 9.95731152e-01 -4.06259200e-03 2.76134102e+01] [-3.15624399e-02 1.15507469e-03 9.99501115e-01 -9.05057662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87592 meters Centerline goodness [0,1] 0.9998011038735021 Centerline is valid? [True, True] Translation: X:195.46, Y:27.61, Z:-0.91 [[ 9.95058454e-01 9.40618264e-02 3.17969509e-02 1.95456028e+02] [-9.39775551e-02 9.95565718e-01 -4.13778814e-03 2.76074125e+01] [-3.20451622e-02 1.12914136e-03 9.99485784e-01 -9.06097761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90592 meters Centerline goodness [0,1] 0.9998506719761076 Centerline is valid? [True, True] Translation: X:195.49, Y:27.60, Z:-0.91 [[ 9.94870798e-01 9.58591748e-02 3.22972661e-02 1.95487799e+02] [-9.57727307e-02 9.95394296e-01 -4.21654166e-03 2.76006148e+01] [-3.25527087e-02 1.10171679e-03 9.99469413e-01 -9.06176209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93592 meters Centerline goodness [0,1] 0.9999004430285231 Centerline is valid? [True, True] Translation: X:195.52, Y:27.59, Z:-0.91 [[ 9.94616637e-01 9.82327289e-02 3.29859908e-02 1.95518732e+02] [-9.81433918e-02 9.95162905e-01 -4.32054757e-03 2.75920020e+01] [-3.32508536e-02 1.05993148e-03 9.99446475e-01 -9.06671160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96592 meters Centerline goodness [0,1] 0.9998012027235227 Centerline is valid? [True, True] Translation: X:195.55, Y:27.59, Z:-0.91 [[ 9.94426698e-01 1.00003221e-01 3.33900848e-02 1.95550142e+02] [-9.99121930e-02 9.94986583e-01 -4.38784851e-03 2.75863945e+01] [-3.36614853e-02 1.02731711e-03 9.99432764e-01 -9.05411107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99592 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:195.58, Y:27.58, Z:-0.90 [[ 9.94209296e-01 1.01842532e-01 3.42924823e-02 1.95582545e+02] [-1.01747025e-01 9.94800021e-01 -4.52330277e-03 2.75796328e+01] [-3.45748268e-02 1.00795160e-03 9.99401604e-01 -9.04356980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02592 meters Centerline goodness [0,1] 0.999950258654994 Centerline is valid? [True, True] Translation: X:195.61, Y:27.57, Z:-0.90 [[ 9.94254517e-01 1.02034507e-01 3.23560586e-02 1.95614052e+02] [-1.01949129e-01 9.94780398e-01 -4.28191350e-03 2.75741600e+01] [-3.26240758e-02 9.58639857e-04 9.99467233e-01 -9.04592203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05592000000001 meters Centerline goodness [0,1] 0.9998009752214151 Centerline is valid? [True, True] Translation: X:195.65, Y:27.57, Z:-0.91 [[ 9.94212152e-01 1.02648687e-01 3.17087467e-02 1.95645144e+02] [-1.02566569e-01 9.94717234e-01 -4.20985032e-03 2.75654991e+01] [-3.19733724e-02 9.33227008e-04 9.99488285e-01 -9.06669098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08592000000002 meters Centerline goodness [0,1] 0.999701700308243 Centerline is valid? [True, True] Translation: X:195.68, Y:27.56, Z:-0.91 [[ 9.94245335e-01 1.02807912e-01 3.01122345e-02 1.95676671e+02] [-1.02733535e-01 9.94700826e-01 -4.01090165e-03 2.75607053e+01] [-3.03650170e-02 8.94283960e-04 9.99538477e-01 -9.05880990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11592000000002 meters Centerline goodness [0,1] 0.999900502462564 Centerline is valid? [True, True] Translation: X:195.71, Y:27.56, Z:-0.91 [[ 9.94150233e-01 1.03798927e-01 2.98512615e-02 1.95708640e+02] [-1.03725890e-01 9.94597922e-01 -3.98909577e-03 2.75556590e+01] [-3.01040665e-02 8.69411808e-04 9.99546392e-01 -9.06078832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14592000000002 meters Centerline goodness [0,1] 0.9997010761259466 Centerline is valid? [True, True] Translation: X:195.74, Y:27.55, Z:-0.90 [[ 9.94129692e-01 1.04172603e-01 2.92271062e-02 1.95740539e+02] [-1.04102377e-01 9.94558868e-01 -3.91834674e-03 2.75482691e+01] [-2.94762621e-02 8.52733612e-04 9.99565117e-01 -9.04649173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17592000000002 meters Centerline goodness [0,1] 0.9998008067327324 Centerline is valid? [True, True] Translation: X:195.77, Y:27.54, Z:-0.90 [[ 9.94074617e-01 1.04795113e-01 2.88728411e-02 1.95772905e+02] [-1.04726424e-01 9.94493480e-01 -3.88519856e-03 2.75425143e+01] [-2.91210020e-02 8.38427878e-04 9.99575542e-01 -9.04227683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20592 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:195.81, Y:27.54, Z:-0.90 [[ 9.93990729e-01 1.05481271e-01 2.92597334e-02 1.95805675e+02] [-1.05410594e-01 9.94420932e-01 -3.95185547e-03 2.75360015e+01] [-2.95133380e-02 8.43821816e-04 9.99564030e-01 -9.04528555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23592 meters Centerline goodness [0,1] 0.9991542288557214 Centerline is valid? [True, True] Translation: X:195.84, Y:27.53, Z:-0.91 [[ 9.93898991e-01 1.06251646e-01 2.95868907e-02 1.95837897e+02] [-1.06179279e-01 9.94338913e-01 -4.01082868e-03 2.75280089e+01] [-2.98455538e-02 8.44843859e-04 9.99554165e-01 -9.05608790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26592 meters Centerline goodness [0,1] 0.9996518452203322 Centerline is valid? [True, True] Translation: X:195.87, Y:27.52, Z:-0.91 [[ 9.93800860e-01 1.07492552e-01 2.83760769e-02 1.95869150e+02] [-1.07426138e-01 9.94205578e-01 -3.85911526e-03 2.75215622e+01] [-2.86264800e-02 7.86859709e-04 9.99589869e-01 -9.05517702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29592 meters Centerline goodness [0,1] 0.9992545472617036 Centerline is valid? [True, True] Translation: X:195.90, Y:27.51, Z:-0.90 [[ 9.93728129e-01 1.08678495e-01 2.63322900e-02 1.95901041e+02] [-1.08621607e-01 9.94076703e-01 -3.58548337e-03 2.75130920e+01] [-2.65659810e-02 7.02740032e-04 9.99646815e-01 -9.04490800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32592 meters Centerline goodness [0,1] 0.999552171965965 Centerline is valid? [True, True] Translation: X:195.93, Y:27.51, Z:-0.90 [[ 9.93778516e-01 1.08218625e-01 2.63247148e-02 1.95933097e+02] [-1.08161519e-01 9.94126860e-01 -3.58778944e-03 2.75083362e+01] [-2.65583717e-02 7.18146924e-04 9.99647006e-01 -9.03629490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35592 meters Centerline goodness [0,1] 0.9990549144448866 Centerline is valid? [True, True] Translation: X:195.96, Y:27.50, Z:-0.90 [[ 9.93696061e-01 1.09032650e-01 2.60771679e-02 1.95964328e+02] [-1.08976808e-01 9.94037927e-01 -3.55732876e-03 2.75022649e+01] [-2.63095590e-02 6.93097058e-04 9.99653603e-01 -9.03072045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38592 meters Centerline goodness [0,1] 0.9982598319494854 Centerline is valid? [True, True] Translation: X:196.00, Y:27.49, Z:-0.90 [[ 9.93532307e-01 1.10367653e-01 2.66933604e-02 1.95995943e+02] [-1.10309267e-01 9.93890593e-01 -3.65452816e-03 2.74928667e+01] [-2.69336215e-02 6.86366779e-04 9.99636989e-01 -9.02956067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41592 meters Centerline goodness [0,1] 0.9980601840338225 Centerline is valid? [True, True] Translation: X:196.03, Y:27.48, Z:-0.90 [[ 9.93064689e-01 1.14299216e-01 2.75356566e-02 1.96027448e+02] [-1.14238256e-01 9.93446182e-01 -3.78204405e-03 2.74830542e+01] [-2.77874776e-02 6.10189007e-04 9.99613667e-01 -9.02987819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44592 meters Centerline goodness [0,1] 0.9979619227519014 Centerline is valid? [True, True] Translation: X:196.06, Y:27.48, Z:-0.90 [[ 9.92796990e-01 1.16698356e-01 2.71224984e-02 1.96059599e+02] [-1.16639982e-01 9.93167258e-01 -3.72986180e-03 2.74774826e+01] [-2.73724461e-02 5.39427860e-04 9.99625159e-01 -9.03335161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47592 meters Centerline goodness [0,1] 0.9978137732286595 Centerline is valid? [True, True] Translation: X:196.09, Y:27.47, Z:-0.90 [[ 9.92593528e-01 1.18401319e-01 2.71885292e-02 1.96091909e+02] [-1.18343179e-01 9.92965699e-01 -3.74330442e-03 2.74726361e+01] [-2.74404891e-02 4.98002757e-04 9.99623315e-01 -9.03421433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50592 meters Centerline goodness [0,1] 0.9971142842927508 Centerline is valid? [True, True] Translation: X:196.12, Y:27.46, Z:-0.90 [[ 9.92028361e-01 1.23274029e-01 2.61389408e-02 1.96123710e+02] [-1.23221678e-01 9.92372603e-01 -3.61031684e-03 2.74648880e+01] [-2.63846270e-02 3.60652554e-04 9.99651800e-01 -9.03820879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53592 meters Centerline goodness [0,1] 0.9968647357420125 Centerline is valid? [True, True] Translation: X:196.16, Y:27.46, Z:-0.90 [[ 9.91625890e-01 1.26569669e-01 2.56556556e-02 1.96155599e+02] [-1.26520036e-01 9.91957681e-01 -3.55521421e-03 2.74587933e+01] [-2.58993069e-02 2.79487967e-04 9.99664518e-01 -9.03506570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56592 meters Centerline goodness [0,1] 0.9966681585359789 Centerline is valid? [True, True] Translation: X:196.19, Y:27.45, Z:-0.90 [[ 9.90906517e-01 1.31535741e-01 2.83305991e-02 1.96187087e+02] [-1.31476900e-01 9.91311413e-01 -3.93796143e-03 2.74549988e+01] [-2.86024289e-02 1.77332309e-04 9.99590851e-01 -9.04241977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59592 meters Centerline goodness [0,1] 0.996369965191447 Centerline is valid? [True, True] Translation: X:196.22, Y:27.45, Z:-0.90 [[ 9.90566321e-01 1.34097976e-01 2.82151868e-02 1.96219982e+02] [-1.34040231e-01 9.90968072e-01 -3.93670857e-03 2.74520546e+01] [-2.84882539e-02 1.17600777e-04 9.99594120e-01 -9.04235697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62592 meters Centerline goodness [0,1] 0.9967211485915842 Centerline is valid? [True, True] Translation: X:196.25, Y:27.45, Z:-0.90 [[ 9.90315185e-01 1.35914060e-01 2.83408451e-02 1.96253223e+02] [-1.35856111e-01 9.90720628e-01 -3.96928280e-03 2.74483954e+01] [-2.86173412e-02 8.05640413e-05 9.99590437e-01 -9.04254380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65592 meters Centerline goodness [0,1] 0.9967211485915842 Centerline is valid? [True, True] Translation: X:196.29, Y:27.44, Z:-0.90 [[ 9.90244452e-01 1.36428878e-01 2.83387784e-02 1.96285504e+02] [-1.36370719e-01 9.90649865e-01 -3.98401065e-03 2.74442002e+01] [-2.86173410e-02 8.05648557e-05 9.99590437e-01 -9.04282469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68592 meters Centerline goodness [0,1] 0.9968181366212588 Centerline is valid? [True, True] Translation: X:196.32, Y:27.44, Z:-0.90 [[ 9.89771066e-01 1.39306560e-01 3.07720538e-02 1.96317284e+02] [-1.39238925e-01 9.90249303e-01 -4.34044302e-03 2.74398870e+01] [-3.10766570e-02 1.13772233e-05 9.99517004e-01 -9.04835848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71592 meters Centerline goodness [0,1] 0.9964711729622266 Centerline is valid? [True, True] Translation: X:196.35, Y:27.44, Z:-0.90 [[ 9.89576924e-01 1.40808704e-01 3.01731844e-02 1.96350320e+02] [-1.40743890e-01 9.90036822e-01 -4.27188195e-03 2.74383486e+01] [-3.04740817e-02 -1.93355501e-05 9.99535557e-01 -9.03558099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74592 meters Centerline goodness [0,1] 0.9964688914308449 Centerline is valid? [True, True] Translation: X:196.38, Y:27.44, Z:-0.90 [[ 9.89475007e-01 1.41568150e-01 2.99611431e-02 1.96383344e+02] [-1.41504110e-01 9.89928512e-01 -4.25779304e-03 2.74361543e+01] [-3.02621577e-02 -2.66450865e-05 9.99541996e-01 -9.04357704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77592 meters Centerline goodness [0,1] 0.9962716245774508 Centerline is valid? [True, True] Translation: X:196.42, Y:27.43, Z:-0.90 [[ 9.89435657e-01 1.41923970e-01 2.95747890e-02 1.96415916e+02] [-1.41861261e-01 9.89877561e-01 -4.21858485e-03 2.74339839e+01] [-2.98741383e-02 -2.14985774e-05 9.99553668e-01 -9.04383371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80592000000001 meters Centerline goodness [0,1] 0.9962245404868356 Centerline is valid? [True, True] Translation: X:196.45, Y:27.43, Z:-0.91 [[ 9.89397483e-01 1.42219382e-01 2.94324440e-02 1.96448978e+02] [-1.42156942e-01 9.89835162e-01 -4.21387613e-03 2.74313150e+01] [-2.97325628e-02 -1.48277975e-05 9.99557890e-01 -9.05917846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83592000000002 meters Centerline goodness [0,1] 0.9965203559178804 Centerline is valid? [True, True] Translation: X:196.48, Y:27.43, Z:-0.91 [[ 9.89428008e-01 1.41882080e-01 3.00282036e-02 1.96482043e+02] [-1.41816444e-01 9.89883567e-01 -4.31517281e-03 2.74281169e+01] [-3.03366709e-02 1.10597719e-05 9.99539737e-01 -9.05851819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86592000000002 meters Centerline goodness [0,1] 0.9964025182372339 Centerline is valid? [True, True] Translation: X:196.51, Y:27.43, Z:-0.91 [[ 9.89483852e-01 1.41011544e-01 3.22094902e-02 1.96514631e+02] [-1.40935078e-01 9.90007950e-01 -4.64355012e-03 2.74263600e+01] [-3.25424455e-02 5.52708631e-05 9.99470353e-01 -9.05845806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89592000000002 meters Centerline goodness [0,1] 0.9963193235513553 Centerline is valid? [True, True] Translation: X:196.55, Y:27.42, Z:-0.91 [[ 9.89505601e-01 1.40948980e-01 3.18127285e-02 1.96547439e+02] [-1.40873810e-01 9.90016858e-01 -4.60325139e-03 2.74220163e+01] [-3.21439611e-02 7.33627633e-05 9.99483247e-01 -9.05951053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92592000000002 meters Centerline goodness [0,1] 0.996020098502562 Centerline is valid? [True, True] Translation: X:196.58, Y:27.42, Z:-0.91 [[ 9.89629758e-01 1.39925267e-01 3.24632236e-02 1.96579496e+02] [-1.39845947e-01 9.90162060e-01 -4.71239245e-03 2.74176867e+01] [-3.28032351e-02 1.23673542e-04 9.99461821e-01 -9.06510462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95592 meters Centerline goodness [0,1] 0.9962693991245524 Centerline is valid? [True, True] Translation: X:196.61, Y:27.41, Z:-0.91 [[ 9.89813753e-01 1.38504006e-01 3.29450235e-02 1.96611014e+02] [-1.38421023e-01 9.90361856e-01 -4.79742593e-03 2.74137131e+01] [-3.32919573e-02 1.88274303e-04 9.99445651e-01 -9.07801332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98592 meters Centerline goodness [0,1] 0.9963088587390263 Centerline is valid? [True, True] Translation: X:196.64, Y:27.41, Z:-0.91 [[ 9.89895785e-01 1.37904812e-01 3.29938975e-02 1.96644140e+02] [-1.37820677e-01 9.90445461e-01 -4.82174920e-03 2.74101649e+01] [-3.33435984e-02 2.25787933e-04 9.99443922e-01 -9.07649354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01592 meters Centerline goodness [0,1] 0.9961217183770883 Centerline is valid? [True, True] Translation: X:196.68, Y:27.40, Z:-0.91 [[ 9.89952013e-01 1.37503991e-01 3.29797556e-02 1.96677213e+02] [-1.37419124e-01 9.90501180e-01 -4.83711258e-03 2.74048292e+01] [-3.33316091e-02 2.56460205e-04 9.99444315e-01 -9.08140694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04592 meters Centerline goodness [0,1] 0.9961205610265592 Centerline is valid? [True, True] Translation: X:196.71, Y:27.40, Z:-0.91 [[ 9.89913251e-01 1.37849591e-01 3.26993294e-02 1.96710265e+02] [-1.37765781e-01 9.90453140e-01 -4.81318534e-03 2.73995518e+01] [-3.30506491e-02 2.59787278e-04 9.99453644e-01 -9.09162649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07592 meters Centerline goodness [0,1] 0.9961110834122751 Centerline is valid? [True, True] Translation: X:196.74, Y:27.39, Z:-0.91 [[ 9.89765134e-01 1.39152876e-01 3.16457985e-02 1.96741738e+02] [-1.39074586e-01 9.90270886e-01 -4.67251790e-03 2.73949349e+01] [-3.19881072e-02 2.23568967e-04 9.99488225e-01 -9.07981853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10592 meters Centerline goodness [0,1] 0.9961672473867595 Centerline is valid? [True, True] Translation: X:196.77, Y:27.39, Z:-0.91 [[ 9.89575924e-01 1.40412024e-01 3.19992831e-02 1.96774715e+02] [-1.40332095e-01 9.90093139e-01 -4.74131914e-03 2.73900766e+01] [-3.23480088e-02 2.01368841e-04 9.99476646e-01 -9.08475426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13592 meters Centerline goodness [0,1] 0.9962738473767886 Centerline is valid? [True, True] Translation: X:196.81, Y:27.38, Z:-0.91 [[ 9.89373043e-01 1.41616450e-01 3.29509279e-02 1.96805868e+02] [-1.41531892e-01 9.89921587e-01 -4.89644945e-03 2.73840658e+01] [-3.33122526e-02 1.80807921e-04 9.99444977e-01 -9.08322411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16592 meters Centerline goodness [0,1] 0.9962132536123568 Centerline is valid? [True, True] Translation: X:196.84, Y:27.38, Z:-0.91 [[ 9.89214637e-01 1.42697467e-01 3.30429225e-02 1.96838909e+02] [-1.42612462e-01 9.89766339e-01 -4.92735420e-03 2.73792244e+01] [-3.34078935e-02 1.61878352e-04 9.99441787e-01 -9.08030734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19592 meters Centerline goodness [0,1] 0.9959755552243256 Centerline is valid? [True, True] Translation: X:196.87, Y:27.38, Z:-0.91 [[ 9.89124637e-01 1.43405461e-01 3.26699546e-02 1.96872228e+02] [-1.43322181e-01 9.89664009e-01 -4.88900645e-03 2.73755126e+01] [-3.30333885e-02 1.53507592e-04 9.99454237e-01 -9.07781993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22592 meters Centerline goodness [0,1] 0.9961172781123998 Centerline is valid? [True, True] Translation: X:196.90, Y:27.37, Z:-0.91 [[ 9.89150809e-01 1.43709984e-01 3.04650312e-02 1.96904743e+02] [-1.43637550e-01 9.89619837e-01 -4.56431693e-03 2.73720801e+01] [-3.08047371e-02 1.38875346e-04 9.99525412e-01 -9.08231792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25592 meters Centerline goodness [0,1] 0.9961712495649148 Centerline is valid? [True, True] Translation: X:196.94, Y:27.37, Z:-0.91 [[ 9.89121530e-01 1.43527267e-01 3.22261188e-02 1.96937078e+02] [-1.43445645e-01 9.89646349e-01 -4.84264752e-03 2.73687888e+01] [-3.25875127e-02 1.67270543e-04 9.99468872e-01 -9.09162203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28592 meters Centerline goodness [0,1] 0.9958739311990455 Centerline is valid? [True, True] Translation: X:196.97, Y:27.36, Z:-0.91 [[ 9.89137141e-01 1.43570469e-01 3.15473769e-02 1.96968691e+02] [-1.43491813e-01 9.89640081e-01 -4.75503126e-03 2.73645239e+01] [-3.19032307e-02 1.76587714e-04 9.99490947e-01 -9.08206726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31592 meters Centerline goodness [0,1] 0.995917554515583 Centerline is valid? [True, True] Translation: X:197.00, Y:27.36, Z:-0.91 [[ 9.89258228e-01 1.43055494e-01 3.00546951e-02 1.97000732e+02] [-1.42983451e-01 9.89714649e-01 -4.54379302e-03 2.73605763e+01] [-3.03955866e-02 1.97660603e-04 9.99537928e-01 -9.07920403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34592 meters Centerline goodness [0,1] 0.9957228825782066 Centerline is valid? [True, True] Translation: X:197.03, Y:27.36, Z:-0.91 [[ 9.89632844e-01 1.40563869e-01 2.94725635e-02 1.97033688e+02] [-1.40493025e-01 9.90071572e-01 -4.47123802e-03 2.73563031e+01] [-2.98084418e-02 2.84194403e-04 9.99555589e-01 -9.09055129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37592 meters Centerline goodness [0,1] 0.9958250497017893 Centerline is valid? [True, True] Translation: X:197.07, Y:27.35, Z:-0.91 [[ 9.89755881e-01 1.39684045e-01 2.95239522e-02 1.97066267e+02] [-1.39612103e-01 9.90196072e-01 -4.49439444e-03 2.73519766e+01] [-2.98622967e-02 3.26452262e-04 9.99553969e-01 -9.09039976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40592 meters Centerline goodness [0,1] 0.9959727539402377 Centerline is valid? [True, True] Translation: X:197.10, Y:27.35, Z:-0.91 [[ 9.89905964e-01 1.38533745e-01 2.99096099e-02 1.97098072e+02] [-1.38458976e-01 9.90357641e-01 -4.56666654e-03 2.73468777e+01] [-3.02538482e-02 3.79316475e-04 9.99542176e-01 -9.08305110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43592 meters Centerline goodness [0,1] 0.9961203680676448 Centerline is valid? [True, True] Translation: X:197.13, Y:27.34, Z:-0.91 [[ 9.89932066e-01 1.38474862e-01 2.93124215e-02 1.97130627e+02] [-1.38402575e-01 9.90365873e-01 -4.49060335e-03 2.73412586e+01] [-2.96518576e-02 3.88477637e-04 9.99560212e-01 -9.08150897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46592 meters Centerline goodness [0,1] 0.9960123616787957 Centerline is valid? [True, True] Translation: X:197.16, Y:27.33, Z:-0.91 [[ 9.90127518e-01 1.37329124e-01 2.80750656e-02 1.97163097e+02] [-1.37261939e-01 9.90525384e-01 -4.31557947e-03 2.73347278e+01] [-2.84017199e-02 4.19336054e-04 9.99596502e-01 -9.08415835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49592 meters Centerline goodness [0,1] 0.9956221083528183 Centerline is valid? [True, True] Translation: X:197.19, Y:27.33, Z:-0.91 [[ 9.90038631e-01 1.37714173e-01 2.92970232e-02 1.97194911e+02] [-1.37640785e-01 9.90471915e-01 -4.51670858e-03 2.73291948e+01] [-2.96398934e-02 4.39250706e-04 9.99560545e-01 -9.08684021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52592 meters Centerline goodness [0,1] 0.9960238568588469 Centerline is valid? [True, True] Translation: X:197.23, Y:27.32, Z:-0.91 [[ 9.89967495e-01 1.38378163e-01 2.85629756e-02 1.97226397e+02] [-1.38308312e-01 9.90379375e-01 -4.41642000e-03 2.73234413e+01] [-2.88993180e-02 4.21615310e-04 9.99582239e-01 -9.08858243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55592000000001 meters Centerline goodness [0,1] 0.9959242507082857 Centerline is valid? [True, True] Translation: X:197.26, Y:27.32, Z:-0.91 [[ 9.89922570e-01 1.38847512e-01 2.78329570e-02 1.97258202e+02] [-1.38781018e-01 9.90313688e-01 -4.31609549e-03 2.73170792e+01] [-2.81626374e-02 4.09914249e-04 9.99603270e-01 -9.07906154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58592000000002 meters Centerline goodness [0,1] 0.9960206923995225 Centerline is valid? [True, True] Translation: X:197.29, Y:27.31, Z:-0.91 [[ 9.89835604e-01 1.39586090e-01 2.72250070e-02 1.97289690e+02] [-1.39522409e-01 9.90209861e-01 -4.23413336e-03 2.73113749e+01] [-2.75494966e-02 3.92597372e-04 9.99620363e-01 -9.07558435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61592000000002 meters Centerline goodness [0,1] 0.995822350425225 Centerline is valid? [True, True] Translation: X:197.32, Y:27.30, Z:-0.91 [[ 9.89526130e-01 1.41529033e-01 2.84178066e-02 1.97322393e+02] [-1.41460026e-01 9.89934037e-01 -4.43438078e-03 2.73039718e+01] [-2.87593476e-02 3.67952005e-04 9.99586297e-01 -9.08535806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64592000000002 meters Centerline goodness [0,1] 0.9961708687652295 Centerline is valid? [True, True] Translation: X:197.35, Y:27.30, Z:-0.91 [[ 9.89352146e-01 1.42928533e-01 2.74548096e-02 1.97353839e+02] [-1.42864313e-01 9.89732957e-01 -4.29670786e-03 2.72977690e+01] [-2.77870521e-02 3.28644631e-04 9.99613811e-01 -9.08150958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67592000000002 meters Centerline goodness [0,1] 0.9971684053651266 Centerline is valid? [True, True] Translation: X:197.39, Y:27.29, Z:-0.91 [[ 9.88877125e-01 1.46226438e-01 2.72003640e-02 1.97385296e+02] [-1.46164306e-01 9.89251115e-01 -4.26936975e-03 2.72903997e+01] [-2.75322851e-02 2.46159773e-04 9.99620884e-01 -9.08285896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70592 meters Centerline goodness [0,1] 0.9974649567551447 Centerline is valid? [True, True] Translation: X:197.42, Y:27.29, Z:-0.91 [[ 9.88452355e-01 1.49208224e-01 2.64357371e-02 1.97417079e+02] [-1.49150275e-01 9.88805783e-01 -4.16159756e-03 2.72850157e+01] [-2.67607543e-02 1.70643453e-04 9.99641852e-01 -9.07573184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73592 meters Centerline goodness [0,1] 0.998010049251281 Centerline is valid? [True, True] Translation: X:197.45, Y:27.28, Z:-0.91 [[ 9.88069268e-01 1.51742747e-01 2.63298328e-02 1.97449759e+02] [-1.51685788e-01 9.88420015e-01 -4.15889448e-03 2.72802060e+01] [-2.66560158e-02 1.15414389e-04 9.99644659e-01 -9.07600304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76592 meters Centerline goodness [0,1] 0.9989074294795391 Centerline is valid? [True, True] Translation: X:197.48, Y:27.28, Z:-0.91 [[ 9.87317150e-01 1.56652132e-01 2.57867314e-02 1.97481125e+02] [-1.56598857e-01 9.87653841e-01 -4.08516326e-03 2.72751344e+01] [-2.61083138e-02 -4.82091186e-06 9.99659120e-01 -9.06449662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79592 meters Centerline goodness [0,1] 0.9994031335488684 Centerline is valid? [True, True] Translation: X:197.51, Y:27.27, Z:-0.91 [[ 9.87045733e-01 1.58342211e-01 2.58546947e-02 1.97514344e+02] [-1.58288872e-01 9.87384293e-01 -4.10973880e-03 2.72709962e+01] [-2.61792646e-02 -3.60103257e-05 9.99657264e-01 -9.07824589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82592 meters Centerline goodness [0,1] 0.9999005815976537 Centerline is valid? [True, True] Translation: X:197.55, Y:27.27, Z:-0.91 [[ 9.86541040e-01 1.61677564e-01 2.44364924e-02 1.97546452e+02] [-1.61630655e-01 9.86843632e-01 -3.89582926e-03 2.72678441e+01] [-2.47448651e-02 -1.06290809e-04 9.99693793e-01 -9.07253141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85592 meters Centerline goodness [0,1] 0.9998508056494927 Centerline is valid? [True, True] Translation: X:197.58, Y:27.26, Z:-0.91 [[ 9.86298831e-01 1.62859707e-01 2.62931749e-02 1.97577961e+02] [-1.62805714e-01 9.86649226e-01 -4.19571271e-03 2.72633579e+01] [-2.66254532e-02 -1.42452563e-04 9.99645470e-01 -9.08776529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88592 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:197.61, Y:27.26, Z:-0.91 [[ 9.86077413e-01 1.64380205e-01 2.51094467e-02 1.97610607e+02] [-1.64331351e-01 9.86397039e-01 -4.01101784e-03 2.72605627e+01] [-2.54272158e-02 -1.71095193e-04 9.99676661e-01 -9.07030065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:27.26, Z:-0.91 [[ 9.85817933e-01 1.66140575e-01 2.36709276e-02 1.97642871e+02] [-1.66097589e-01 9.86102058e-01 -3.78443304e-03 2.72572672e+01] [-2.39706983e-02 -2.00922043e-04 9.99712641e-01 -9.05873984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:197.68, Y:27.26, Z:-0.91 [[ 9.85663400e-01 1.67212096e-01 2.25338971e-02 1.97675091e+02] [-1.67173352e-01 9.85920925e-01 -3.60567372e-03 2.72575563e+01] [-2.28195529e-02 -2.13086506e-04 9.99739577e-01 -9.06400028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97592 meters Centerline goodness [0,1] 0.9998010840917002 Centerline is valid? [True, True] Translation: X:197.71, Y:27.25, Z:-0.91 [[ 9.85798264e-01 1.66488847e-01 2.19828563e-02 1.97707570e+02] [-1.66451729e-01 9.86043320e-01 -3.52047836e-03 2.72547543e+01] [-2.22621690e-02 -1.88602979e-04 9.99752149e-01 -9.07139703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:197.74, Y:27.25, Z:-0.91 [[ 9.85775326e-01 1.66427668e-01 2.34272771e-02 1.97739853e+02] [-1.66385418e-01 9.86053646e-01 -3.75499276e-03 2.72537005e+01] [-2.37254867e-02 -1.96378069e-04 9.99718492e-01 -9.06740373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03592 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:197.77, Y:27.25, Z:-0.91 [[ 9.85928170e-01 1.65418627e-01 2.41313321e-02 1.97773304e+02] [-1.65373379e-01 9.86223427e-01 -3.87268518e-03 2.72513371e+01] [-2.44394993e-02 -1.72490514e-04 9.99701296e-01 -9.05927796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06592 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:197.81, Y:27.25, Z:-0.90 [[ 9.85994565e-01 1.65163869e-01 2.31433347e-02 1.97805534e+02] [-1.65122105e-01 9.86266126e-01 -3.71730169e-03 2.72491842e+01] [-2.34394510e-02 -1.56236889e-04 9.99725246e-01 -9.04995259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09592 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:197.84, Y:27.25, Z:-0.91 [[ 9.86513830e-01 1.61918051e-01 2.39376004e-02 1.97839394e+02] [-1.61872299e-01 9.86804205e-01 -3.84969063e-03 2.72499968e+01] [-2.42450591e-02 -7.70613570e-05 9.99706042e-01 -9.06046686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.87, Y:27.25, Z:-0.91 [[ 9.87073446e-01 1.58404843e-01 2.43704373e-02 1.97872344e+02] [-1.58356227e-01 9.87374248e-01 -3.92428737e-03 2.72490263e+01] [-2.46843683e-02 1.43493680e-05 9.99695294e-01 -9.07333869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:27.25, Z:-0.91 [[ 9.87270897e-01 1.57208523e-01 2.41175630e-02 1.97905583e+02] [-1.57160435e-01 9.87565430e-01 -3.88842933e-03 2.72453907e+01] [-2.44289657e-02 4.86064323e-05 9.99701567e-01 -9.06271237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18592 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:197.94, Y:27.24, Z:-0.91 [[ 9.87499218e-01 1.55882356e-01 2.33663242e-02 1.97938038e+02] [-1.55836771e-01 9.87775624e-01 -3.77046930e-03 2.72417608e+01] [-2.36684351e-02 8.20029682e-05 9.99719860e-01 -9.05707299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21592 meters Centerline goodness [0,1] 0.999701922599235 Centerline is valid? [True, True] Translation: X:197.97, Y:27.24, Z:-0.91 [[ 9.87590273e-01 1.55196720e-01 2.40713827e-02 1.97969871e+02] [-1.55148060e-01 9.87883580e-01 -3.88743503e-03 2.72389890e+01] [-2.43830409e-02 1.04564695e-04 9.99702684e-01 -9.05798692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24592 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:198.00, Y:27.23, Z:-0.91 [[ 9.87576066e-01 1.55087016e-01 2.53284649e-02 1.98001975e+02] [-1.55033018e-01 9.87900807e-01 -4.09380188e-03 2.72349625e+01] [-2.56569065e-02 1.16192380e-04 9.99670801e-01 -9.05275574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27592 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:198.03, Y:27.23, Z:-0.91 [[ 9.87727209e-01 1.54172051e-01 2.50187918e-02 1.98034833e+02] [-1.54118946e-01 9.88044006e-01 -4.04873258e-03 2.72317512e+01] [-2.53438687e-02 1.43173506e-04 9.99678782e-01 -9.05946630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30592000000001 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:198.07, Y:27.23, Z:-0.91 [[ 9.87645243e-01 1.54779915e-01 2.44959454e-02 1.98066984e+02] [-1.54729113e-01 9.87948967e-01 -3.96740646e-03 2.72276443e+01] [-2.48148188e-02 1.28154223e-04 9.99692057e-01 -9.05262208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33592000000002 meters Centerline goodness [0,1] 0.9996021286119262 Centerline is valid? [True, True] Translation: X:198.10, Y:27.22, Z:-0.91 [[ 9.87662161e-01 1.54369337e-01 2.63355746e-02 1.98098452e+02] [-1.54310399e-01 9.88013201e-01 -4.26800902e-03 2.72239117e+01] [-2.66787451e-02 1.51497984e-04 9.99644047e-01 -9.06013155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36592000000002 meters Centerline goodness [0,1] 0.9995034510154427 Centerline is valid? [True, True] Translation: X:198.13, Y:27.22, Z:-0.90 [[ 9.87727662e-01 1.54345764e-01 2.39050288e-02 1.98130425e+02] [-1.54297122e-01 9.88016885e-01 -3.87722688e-03 2.72198743e+01] [-2.42170057e-02 1.41167089e-04 9.99706715e-01 -9.04968808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39592000000002 meters Centerline goodness [0,1] 0.9997016706443914 Centerline is valid? [True, True] Translation: X:198.16, Y:27.22, Z:-0.91 [[ 9.87786985e-01 1.54070599e-01 2.32190323e-02 1.98162864e+02] [-1.54024562e-01 9.88059831e-01 -3.76901881e-03 2.72185654e+01] [-2.35224881e-02 1.46686447e-04 9.99723297e-01 -9.05465750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42592000000002 meters Centerline goodness [0,1] 0.9996522775818389 Centerline is valid? [True, True] Translation: X:198.19, Y:27.22, Z:-0.90 [[ 9.87938358e-01 1.53252087e-01 2.21720102e-02 1.98194659e+02] [-1.53209836e-01 9.88187114e-01 -3.60200455e-03 2.72153780e+01] [-2.24621095e-02 1.61588419e-04 9.99747682e-01 -9.04939715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.23, Y:27.21, Z:-0.91 [[ 9.88007572e-01 1.52561144e-01 2.37935757e-02 1.98226892e+02] [-1.52512210e-01 9.88294015e-01 -3.86857414e-03 2.72112276e+01] [-2.41052426e-02 1.93369732e-04 9.99709408e-01 -9.05940077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48592 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:198.26, Y:27.21, Z:-0.91 [[ 9.88133793e-01 1.51696582e-01 2.40780696e-02 1.98258968e+02] [-1.51646137e-01 9.88427083e-01 -3.91798070e-03 2.72083641e+01] [-2.43937604e-02 2.20142900e-04 9.99702404e-01 -9.05987388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:27.20, Z:-0.91 [[ 9.88046345e-01 1.52117771e-01 2.49920805e-02 1.98291317e+02] [-1.52063475e-01 9.88362350e-01 -4.06997388e-03 2.72038699e+01] [-2.53203468e-02 2.20940213e-04 9.99679364e-01 -9.06134739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.32, Y:27.20, Z:-0.91 [[ 9.88016881e-01 1.52309151e-01 2.49913012e-02 1.98323439e+02] [-1.52254795e-01 9.88332876e-01 -4.07475650e-03 2.71986983e+01] [-2.53203472e-02 2.20882775e-04 9.99679364e-01 -9.06162821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:27.20, Z:-0.91 [[ 9.88076982e-01 1.51917681e-01 2.49979084e-02 1.98356043e+02] [-1.51863045e-01 9.88393122e-01 -4.08080319e-03 2.71960652e+01] [-2.53277069e-02 2.35889212e-04 9.99679174e-01 -9.06470136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60592 meters Centerline goodness [0,1] 0.9998010247226782 Centerline is valid? [True, True] Translation: X:198.39, Y:27.19, Z:-0.91 [[ 9.88071913e-01 1.51711021e-01 2.64132668e-02 1.98388489e+02] [-1.51649854e-01 9.88424858e-01 -4.31536851e-03 2.71930827e+01] [-2.67622185e-02 2.58326376e-04 9.99641794e-01 -9.06684243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.42, Y:27.19, Z:-0.91 [[ 9.88035004e-01 1.52119490e-01 2.54261981e-02 1.98421530e+02] [-1.52062839e-01 9.88362081e-01 -4.15821735e-03 2.71924681e+01] [-2.57628360e-02 2.42084415e-04 9.99668054e-01 -9.06547057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:27.19, Z:-0.91 [[ 9.87937264e-01 1.52797251e-01 2.51587628e-02 1.98453558e+02] [-1.52741921e-01 9.88257532e-01 -4.11781086e-03 2.71888011e+01] [-2.54925271e-02 2.25341034e-04 9.99674987e-01 -9.06341016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:198.49, Y:27.19, Z:-0.91 [[ 9.87913190e-01 1.53081712e-01 2.43622497e-02 1.98485930e+02] [-1.53029838e-01 9.88213511e-01 -3.99062520e-03 2.71863226e+01] [-2.46859960e-02 2.14240134e-04 9.99695231e-01 -9.05676331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.52, Y:27.18, Z:-0.91 [[ 9.87901261e-01 1.53012099e-01 2.52664960e-02 1.98518245e+02] [-1.52956195e-01 9.88224289e-01 -4.14205161e-03 2.71832143e+01] [-2.56027491e-02 2.27270920e-04 9.99672170e-01 -9.06239625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:198.55, Y:27.18, Z:-0.91 [[ 9.88132404e-01 1.51456815e-01 2.55965768e-02 1.98550426e+02] [-1.51398832e-01 9.88463837e-01 -4.19950359e-03 2.71812402e+01] [-2.59373339e-02 2.74373750e-04 9.99663533e-01 -9.05854235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.58, Y:27.18, Z:-0.91 [[ 9.88522266e-01 1.48559959e-01 2.74530148e-02 1.98582658e+02] [-1.48492042e-01 9.88903329e-01 -4.50763259e-03 2.71799021e+01] [-2.78180315e-02 3.79340942e-04 9.99612932e-01 -9.07189242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81592 meters Centerline goodness [0,1] 0.9998508723964806 Centerline is valid? [True, True] Translation: X:198.61, Y:27.18, Z:-0.91 [[ 9.89060838e-01 1.45145933e-01 2.62928946e-02 1.98614869e+02] [-1.45082340e-01 9.89410151e-01 -4.32050737e-03 2.71755700e+01] [-2.66415609e-02 4.58609961e-04 9.99644945e-01 -9.07180872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84592 meters Centerline goodness [0,1] 0.9996519144704127 Centerline is valid? [True, True] Translation: X:198.65, Y:27.17, Z:-0.91 [[ 9.89412463e-01 1.42824262e-01 2.57722253e-02 1.98646623e+02] [-1.42762290e-01 9.89747931e-01 -4.23824263e-03 2.71713822e+01] [-2.61133306e-02 5.14068183e-04 9.99658857e-01 -9.06350150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87592 meters Centerline goodness [0,1] 0.9997018929795797 Centerline is valid? [True, True] Translation: X:198.68, Y:27.17, Z:-0.91 [[ 9.89533944e-01 1.41788257e-01 2.68079065e-02 1.98678147e+02] [-1.41720730e-01 9.89896848e-01 -4.41198674e-03 2.71673751e+01] [-2.71626300e-02 5.66574569e-04 9.99630867e-01 -9.07179559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90592 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:198.71, Y:27.16, Z:-0.91 [[ 9.89979086e-01 1.38489980e-01 2.76031671e-02 1.98710346e+02] [-1.38417006e-01 9.90363601e-01 -4.54636598e-03 2.71628473e+01] [-2.79667981e-02 6.80059486e-04 9.99608621e-01 -9.05577134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93592 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:198.74, Y:27.16, Z:-0.91 [[ 9.90125807e-01 1.37628327e-01 2.66332418e-02 1.98742892e+02] [-1.37559945e-01 9.90483707e-01 -4.39166141e-03 2.71566335e+01] [-2.69842091e-02 6.84630013e-04 9.99635625e-01 -9.05775504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96592 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:198.77, Y:27.15, Z:-0.91 [[ 9.90224817e-01 1.37005904e-01 2.61571164e-02 1.98774925e+02] [-1.36939596e-01 9.90569988e-01 -4.31816659e-03 2.71508733e+01] [-2.65020688e-02 6.94010773e-04 9.99648518e-01 -9.06766552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99592 meters Centerline goodness [0,1] 0.9996520874751491 Centerline is valid? [True, True] Translation: X:198.81, Y:27.15, Z:-0.91 [[ 9.90308596e-01 1.36748722e-01 2.42625763e-02 1.98806311e+02] [-1.36691502e-01 9.90605552e-01 -4.00920331e-03 2.71456433e+01] [-2.45828962e-02 6.53860499e-04 9.99697581e-01 -9.06477510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02592 meters Centerline goodness [0,1] 0.9997015370840173 Centerline is valid? [True, True] Translation: X:198.84, Y:27.14, Z:-0.91 [[ 9.89992228e-01 1.39132198e-01 2.36139953e-02 1.98838240e+02] [-1.39078602e-01 9.90273646e-01 -3.90504502e-03 2.71394475e+01] [-2.39276347e-02 5.81762766e-04 9.99713524e-01 -9.05204013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05592000000001 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:198.87, Y:27.13, Z:-0.91 [[ 9.89818732e-01 1.40253121e-01 2.42474528e-02 1.98870153e+02] [-1.40196871e-01 9.90115516e-01 -4.01287461e-03 2.71342694e+01] [-2.45705974e-02 5.72601454e-04 9.99697933e-01 -9.05370744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08592000000002 meters Centerline goodness [0,1] 0.9998008563178333 Centerline is valid? [True, True] Translation: X:198.90, Y:27.13, Z:-0.90 [[ 9.89567830e-01 1.41947293e-01 2.46267444e-02 1.98901909e+02] [-1.41889715e-01 9.89874069e-01 -4.07876071e-03 2.71292154e+01] [-2.49563448e-02 5.41928631e-04 9.99688395e-01 -9.04569362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11592000000002 meters Centerline goodness [0,1] 0.9997512066477584 Centerline is valid? [True, True] Translation: X:198.93, Y:27.13, Z:-0.90 [[ 9.89067008e-01 1.45370165e-01 2.47783912e-02 1.98933797e+02] [-1.45312870e-01 9.89377229e-01 -4.10704265e-03 2.71257280e+01] [-2.51122175e-02 4.61521244e-04 9.99684532e-01 -9.04336637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14592000000002 meters Centerline goodness [0,1] 0.9997518240929171 Centerline is valid? [True, True] Translation: X:198.97, Y:27.12, Z:-0.90 [[ 9.88750803e-01 1.47441347e-01 2.51574745e-02 1.98965180e+02] [-1.47382872e-01 9.89070712e-01 -4.17309316e-03 2.71209214e+01] [-2.54978077e-02 4.18368355e-04 9.99674791e-01 -9.03742585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17592000000002 meters Centerline goodness [0,1] 0.9997515034044033 Centerline is valid? [True, True] Translation: X:199.00, Y:27.12, Z:-0.90 [[ 9.88127041e-01 1.51638257e-01 2.47141578e-02 1.98997081e+02] [-1.51583057e-01 9.88436009e-01 -4.10272782e-03 2.71157015e+01] [-2.50504940e-02 3.07768717e-04 9.99686140e-01 -9.03575700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20592 meters Centerline goodness [0,1] 0.9996521911954686 Centerline is valid? [True, True] Translation: X:199.03, Y:27.11, Z:-0.90 [[ 9.87878609e-01 1.53367010e-01 2.39669200e-02 1.99029274e+02] [-1.53315532e-01 9.88169263e-01 -3.98179391e-03 2.71117353e+01] [-2.42940495e-02 2.59027937e-04 9.99704822e-01 -9.03764089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:199.06, Y:27.11, Z:-0.90 [[ 9.87528478e-01 1.55541848e-01 2.43770255e-02 1.99061624e+02] [-1.55489176e-01 9.87829281e-01 -4.05310517e-03 2.71101504e+01] [-2.47107671e-02 2.12193159e-04 9.99694620e-01 -9.03292338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26592 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:199.09, Y:27.11, Z:-0.90 [[ 9.87495528e-01 1.55932157e-01 2.31893118e-02 1.99093638e+02] [-1.55884531e-01 9.87767748e-01 -3.85863641e-03 2.71069394e+01] [-2.35073398e-02 1.95531216e-04 9.99723645e-01 -9.01901982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29592 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:199.13, Y:27.10, Z:-0.90 [[ 9.87294101e-01 1.57214944e-01 2.31045545e-02 1.99125922e+02] [-1.57167945e-01 9.87564395e-01 -3.84756665e-03 2.71049489e+01] [-2.34221303e-02 1.67384514e-04 9.99725650e-01 -9.02659942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32592 meters Centerline goodness [0,1] 0.9997515034044033 Centerline is valid? [True, True] Translation: X:199.16, Y:27.10, Z:-0.90 [[ 9.87179448e-01 1.57939625e-01 2.30610526e-02 1.99158350e+02] [-1.57892930e-01 9.87448759e-01 -3.84335887e-03 2.71012956e+01] [-2.33786264e-02 1.52907735e-04 9.99726671e-01 -9.03415249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35592 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:199.19, Y:27.10, Z:-0.90 [[ 9.87111620e-01 1.58519600e-01 2.19587261e-02 1.99190160e+02] [-1.58477342e-01 9.87355821e-01 -3.66250461e-03 2.70967647e+01] [-2.22616548e-02 1.35340320e-04 9.99752170e-01 -9.02335538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38592 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:199.22, Y:27.09, Z:-0.90 [[ 9.87178597e-01 1.57796480e-01 2.40559430e-02 1.99222137e+02] [-1.57745471e-01 9.87471641e-01 -4.01547809e-03 2.70935614e+01] [-2.43881899e-02 1.69277953e-04 9.99702550e-01 -9.03092091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41592 meters Centerline goodness [0,1] 0.9999005964214712 Centerline is valid? [True, True] Translation: X:199.25, Y:27.09, Z:-0.90 [[ 9.87308221e-01 1.56967829e-01 2.41573399e-02 1.99254159e+02] [-1.56916064e-01 9.87603697e-01 -4.03555826e-03 2.70902627e+01] [-2.44913310e-02 1.93665154e-04 9.99700024e-01 -9.02402501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.29, Y:27.09, Z:-0.90 [[ 9.87168862e-01 1.58000089e-01 2.31000003e-02 1.99286611e+02] [-1.57952969e-01 9.87439084e-01 -3.86191385e-03 2.70894794e+01] [-2.34200259e-02 1.63647465e-04 9.99725700e-01 -9.01516257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.32, Y:27.09, Z:-0.90 [[ 9.87120162e-01 1.58363830e-01 2.26866400e-02 1.99318687e+02] [-1.58318410e-01 9.87380815e-01 -3.79576176e-03 2.70851341e+01] [-2.30014644e-02 1.55160194e-04 9.99735419e-01 -9.02637245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50592 meters Centerline goodness [0,1] 0.9998013902681231 Centerline is valid? [True, True] Translation: X:199.35, Y:27.08, Z:-0.90 [[ 9.87262021e-01 1.57571390e-01 2.20217962e-02 1.99350484e+02] [-1.57528363e-01 9.87507584e-01 -3.68600212e-03 2.70825923e+01] [-2.23274993e-02 1.69992391e-04 9.99750696e-01 -9.03116014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:199.38, Y:27.08, Z:-0.90 [[ 9.87377978e-01 1.56918224e-01 2.14802177e-02 1.99381889e+02] [-1.56877103e-01 9.87611583e-01 -3.59673899e-03 2.70797033e+01] [-2.17785057e-02 1.81586556e-04 9.99762804e-01 -9.02373753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56592 meters Centerline goodness [0,1] 0.9993524606495318 Centerline is valid? [True, True] Translation: X:199.41, Y:27.08, Z:-0.90 [[ 9.87641666e-01 1.55171454e-01 2.20399470e-02 1.99412119e+02] [-1.55127725e-01 9.87887528e-01 -3.69051886e-03 2.70778590e+01] [-2.23456519e-02 2.25903363e-04 9.99750279e-01 -9.01924218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59592 meters Centerline goodness [0,1] 0.9994514536478333 Centerline is valid? [True, True] Translation: X:199.44, Y:27.07, Z:-0.90 [[ 9.87755915e-01 1.54445148e-01 2.20215617e-02 1.99443372e+02] [-1.54401282e-01 9.88001334e-01 -3.68881843e-03 2.70738901e+01] [-2.23270525e-02 2.43494864e-04 9.99750691e-01 -9.01142508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62592 meters Centerline goodness [0,1] 0.9993054866554222 Centerline is valid? [True, True] Translation: X:199.47, Y:27.07, Z:-0.90 [[ 9.87834780e-01 1.53753997e-01 2.32842577e-02 1.99474685e+02] [-1.53704728e-01 9.88109120e-01 -3.90183814e-03 2.70706110e+01] [-2.36073106e-02 2.75470930e-04 9.99721271e-01 -9.02800958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65592 meters Centerline goodness [0,1] 0.9982644054348904 Centerline is valid? [True, True] Translation: X:199.51, Y:27.07, Z:-0.90 [[ 9.88142706e-01 1.51527965e-01 2.47642410e-02 1.99506173e+02] [-1.51471493e-01 9.88452909e-01 -4.15142475e-03 2.70686770e+01] [-2.51073430e-02 3.51123537e-04 9.99684699e-01 -9.04128561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68592 meters Centerline goodness [0,1] 0.9978150759757672 Centerline is valid? [True, True] Translation: X:199.54, Y:27.06, Z:-0.90 [[ 9.88295653e-01 1.50451516e-01 2.52199110e-02 1.99537472e+02] [-1.50392515e-01 9.88617312e-01 -4.23096862e-03 2.70630682e+01] [-2.55693963e-02 3.88562043e-04 9.99672974e-01 -9.04760608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71592 meters Centerline goodness [0,1] 0.9979105517138451 Centerline is valid? [True, True] Translation: X:199.57, Y:27.06, Z:-0.91 [[ 9.88359979e-01 1.50212468e-01 2.40991084e-02 1.99569179e+02] [-1.50158449e-01 9.88653665e-01 -4.04602328e-03 2.70565190e+01] [-2.44334350e-02 3.80242743e-04 9.99701387e-01 -9.05590137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74592 meters Centerline goodness [0,1] 0.997561825148032 Centerline is valid? [True, True] Translation: X:199.60, Y:27.05, Z:-0.90 [[ 9.88291515e-01 1.50783952e-01 2.33255578e-02 1.99599907e+02] [-1.50733468e-01 9.88566676e-01 -3.91768202e-03 2.70519404e+01] [-2.36495927e-02 3.55869670e-04 9.99720246e-01 -9.04719724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77592 meters Centerline goodness [0,1] 0.9980633627967027 Centerline is valid? [True, True] Translation: X:199.63, Y:27.05, Z:-0.90 [[ 9.88143258e-01 1.51680097e-01 2.37918065e-02 1.99631078e+02] [-1.51627798e-01 9.88429578e-01 -3.99749944e-03 2.70478368e+01] [-2.41228664e-02 3.42602884e-04 9.99708943e-01 -9.04048275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80592000000001 meters Centerline goodness [0,1] 0.9973651503852846 Centerline is valid? [True, True] Translation: X:199.66, Y:27.04, Z:-0.90 [[ 9.87889468e-01 1.53194243e-01 2.46154812e-02 1.99662424e+02] [-1.53138691e-01 9.88196045e-01 -4.13745619e-03 2.70429384e+01] [-2.49587556e-02 3.17766839e-04 9.99688431e-01 -9.03794249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83592000000002 meters Centerline goodness [0,1] 0.9971198728771477 Centerline is valid? [True, True] Translation: X:199.69, Y:27.04, Z:-0.90 [[ 9.87947529e-01 1.52973067e-01 2.36415164e-02 1.99693603e+02] [-1.52921690e-01 9.88230308e-01 -3.97669243e-03 2.70369232e+01] [-2.39715899e-02 3.13462820e-04 9.99712591e-01 -9.03217977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86592000000002 meters Centerline goodness [0,1] 0.9977172348766811 Centerline is valid? [True, True] Translation: X:199.72, Y:27.03, Z:-0.90 [[ 9.88006886e-01 1.52627273e-01 2.33946474e-02 1.99724413e+02] [-1.52576831e-01 9.88283771e-01 -3.93669838e-03 2.70320280e+01] [-2.37213979e-02 3.20003936e-04 9.99718557e-01 -9.04463942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89592000000002 meters Centerline goodness [0,1] 0.9973174366616989 Centerline is valid? [True, True] Translation: X:199.75, Y:27.03, Z:-0.90 [[ 9.88039495e-01 1.52270775e-01 2.43221474e-02 1.99754908e+02] [-1.52216126e-01 9.88338755e-01 -4.09357261e-03 2.70275098e+01] [-2.46618523e-02 3.42388378e-04 9.99695792e-01 -9.04709626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92592000000002 meters Centerline goodness [0,1] 0.9974673486616675 Centerline is valid? [True, True] Translation: X:199.79, Y:27.02, Z:-0.91 [[ 9.88246345e-01 1.50922762e-01 2.43204046e-02 1.99786056e+02] [-1.50867675e-01 9.88545486e-01 -4.09479516e-03 2.70224572e+01] [-2.46598240e-02 3.77503442e-04 9.99695829e-01 -9.05260678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95592 meters Centerline goodness [0,1] 0.9965739821251242 Centerline is valid? [True, True] Translation: X:199.82, Y:27.02, Z:-0.91 [[ 9.88214538e-01 1.51143145e-01 2.42441038e-02 1.99817344e+02] [-1.51088431e-01 9.88511816e-01 -4.08348852e-03 2.70171122e+01] [-2.45827744e-02 3.72359108e-04 9.99697729e-01 -9.05388672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98592 meters Centerline goodness [0,1] 0.9955780791970984 Centerline is valid? [True, True] Translation: X:199.85, Y:27.01, Z:-0.90 [[ 9.88332355e-01 1.50340123e-01 2.44336403e-02 1.99848362e+02] [-1.50284267e-01 9.88634255e-01 -4.11695242e-03 2.70128511e+01] [-2.47748769e-02 3.96925547e-04 9.99692977e-01 -9.04808230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01592 meters Centerline goodness [0,1] 0.9960270162892332 Centerline is valid? [True, True] Translation: X:199.88, Y:27.01, Z:-0.91 [[ 9.88358014e-01 1.50168823e-01 2.44491320e-02 1.99879422e+02] [-1.50112805e-01 9.88660287e-01 -4.12110400e-03 2.70078880e+01] [-2.47907471e-02 4.02998395e-04 9.99692581e-01 -9.05232827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04592 meters Centerline goodness [0,1] 0.995631236657896 Centerline is valid? [True, True] Translation: X:199.91, Y:27.00, Z:-0.91 [[ 9.88187385e-01 1.50977197e-01 2.62978774e-02 1.99910809e+02] [-1.50912627e-01 9.88537159e-01 -4.43439346e-03 2.70029136e+01] [-2.66659213e-02 4.13329917e-04 9.99644316e-01 -9.05174537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07592 meters Centerline goodness [0,1] 0.9965789082254946 Centerline is valid? [True, True] Translation: X:199.94, Y:27.00, Z:-0.91 [[ 9.88256563e-01 1.50691482e-01 2.53188180e-02 1.99942229e+02] [-1.50631456e-01 9.88580756e-01 -4.27246941e-03 2.69980373e+01] [-2.56735210e-02 4.08485506e-04 9.99670297e-01 -9.05729346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10592 meters Centerline goodness [0,1] 0.9946351398340867 Centerline is valid? [True, True] Translation: X:199.97, Y:26.99, Z:-0.90 [[ 9.88368720e-01 1.50066697e-01 2.46426578e-02 1.99973542e+02] [-1.50009563e-01 9.88675788e-01 -4.16146902e-03 2.69929860e+01] [-2.49880970e-02 4.16431467e-04 9.99687662e-01 -9.04877362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13592 meters Centerline goodness [0,1] 0.9945792719315695 Centerline is valid? [True, True] Translation: X:200.00, Y:26.99, Z:-0.91 [[ 9.88436219e-01 1.49554490e-01 2.50458613e-02 2.00004436e+02] [-1.49495265e-01 9.88753388e-01 -4.23119807e-03 2.69883139e+01] [-2.53969748e-02 4.38031756e-04 9.99677349e-01 -9.05231241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16592 meters Centerline goodness [0,1] 0.9937758303042374 Centerline is valid? [True, True] Translation: X:200.04, Y:26.98, Z:-0.90 [[ 9.88549049e-01 1.48863126e-01 2.47092735e-02 2.00036455e+02] [-1.48805189e-01 9.88857707e-01 -4.17741250e-03 2.69839465e+01] [-2.50558182e-02 4.52709035e-04 9.99685951e-01 -9.04113808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19592 meters Centerline goodness [0,1] 0.9938366718027735 Centerline is valid? [True, True] Translation: X:200.07, Y:26.98, Z:-0.90 [[ 9.88412432e-01 1.49611830e-01 2.56352347e-02 2.00067414e+02] [-1.49549677e-01 9.88744707e-01 -4.33563027e-03 2.69788934e+01] [-2.59953643e-02 4.51649767e-04 9.99661961e-01 -9.04576167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22592 meters Centerline goodness [0,1] 0.9941987306624356 Centerline is valid? [True, True] Translation: X:200.10, Y:26.97, Z:-0.90 [[ 9.88315592e-01 1.50166862e-01 2.61190297e-02 2.00098928e+02] [-1.50102449e-01 9.88660565e-01 -4.42068023e-03 2.69732386e+01] [-2.64866944e-02 4.48496870e-04 9.99649065e-01 -9.04060862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25592 meters Centerline goodness [0,1] 0.9943368107302534 Centerline is valid? [True, True] Translation: X:200.13, Y:26.97, Z:-0.90 [[ 9.88210950e-01 1.50737887e-01 2.67807486e-02 2.00130677e+02] [-1.50670285e-01 9.88573664e-01 -4.53607798e-03 2.69690053e+01] [-2.71585015e-02 4.47538913e-04 9.99631040e-01 -9.04376081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28592 meters Centerline goodness [0,1] 0.9944894007843916 Centerline is valid? [True, True] Translation: X:200.16, Y:26.96, Z:-0.90 [[ 9.88099166e-01 1.51603151e-01 2.60100445e-02 2.00162305e+02] [-1.51539598e-01 9.88441355e-01 -4.40880912e-03 2.69641985e+01] [-2.63777930e-02 4.14788916e-04 9.99651959e-01 -9.03856766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31592 meters Centerline goodness [0,1] 0.9939902652230058 Centerline is valid? [True, True] Translation: X:200.19, Y:26.96, Z:-0.90 [[ 9.87882350e-01 1.52905943e-01 2.66126756e-02 2.00194080e+02] [-1.52839792e-01 9.88240668e-01 -4.51432282e-03 2.69590653e+01] [-2.69899951e-02 3.92144026e-04 9.99635627e-01 -9.03562851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34592 meters Centerline goodness [0,1] 0.9943814638027049 Centerline is valid? [True, True] Translation: X:200.23, Y:26.95, Z:-0.90 [[ 9.87449828e-01 1.55432701e-01 2.79912960e-02 2.00225605e+02] [-1.55360431e-01 9.87846424e-01 -4.75174008e-03 2.69532693e+01] [-2.83896775e-02 3.43365115e-04 9.99596873e-01 -9.04066082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37592 meters Centerline goodness [0,1] 0.9952347860617492 Centerline is valid? [True, True] Translation: X:200.26, Y:26.95, Z:-0.90 [[ 9.87298566e-01 1.56267886e-01 2.86685995e-02 2.00257904e+02] [-1.56192320e-01 9.87714654e-01 -4.87041064e-03 2.69484361e+01] [-2.90774846e-02 3.30734393e-04 9.99577106e-01 -9.04128503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40592 meters Centerline goodness [0,1] 0.9952851258126955 Centerline is valid? [True, True] Translation: X:200.29, Y:26.94, Z:-0.90 [[ 9.87151212e-01 1.57665589e-01 2.59624248e-02 2.00289472e+02] [-1.57604015e-01 9.87492527e-01 -4.41394553e-03 2.69425872e+01] [-2.63336278e-02 2.65449285e-04 9.99653175e-01 -9.04395668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43592 meters Centerline goodness [0,1] 0.994388160508542 Centerline is valid? [True, True] Translation: X:200.32, Y:26.94, Z:-0.90 [[ 9.87273954e-01 1.57025048e-01 2.51649248e-02 2.00320923e+02] [-1.56966909e-01 9.87594582e-01 -4.28157377e-03 2.69368450e+01] [-2.55250577e-02 2.77025806e-04 9.99674144e-01 -9.03554900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46592 meters Centerline goodness [0,1] 0.994388160508542 Centerline is valid? [True, True] Translation: X:200.35, Y:26.93, Z:-0.90 [[ 9.87264271e-01 1.57085962e-01 2.51646516e-02 2.00351345e+02] [-1.57027802e-01 9.87584894e-01 -4.28317919e-03 2.69316892e+01] [-2.55250571e-02 2.77079850e-04 9.99674144e-01 -9.03581524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49592 meters Centerline goodness [0,1] 0.9941828668025655 Centerline is valid? [True, True] Translation: X:200.38, Y:26.93, Z:-0.90 [[ 9.87330322e-01 1.56895010e-01 2.37232005e-02 2.00382581e+02] [-1.56843232e-01 9.87615251e-01 -4.03933574e-03 2.69260175e+01] [-2.40631462e-02 2.67335221e-04 9.99710405e-01 -9.03911802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52592 meters Centerline goodness [0,1] 0.9943379358299395 Centerline is valid? [True, True] Translation: X:200.41, Y:26.92, Z:-0.90 [[ 9.87218809e-01 1.57368828e-01 2.51808497e-02 2.00413128e+02] [-1.57310603e-01 9.87539861e-01 -4.28912914e-03 2.69203171e+01] [-2.55420680e-02 2.73094308e-04 9.99673711e-01 -9.04308366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55592000000001 meters Centerline goodness [0,1] 0.9939288380194078 Centerline is valid? [True, True] Translation: X:200.44, Y:26.92, Z:-0.90 [[ 9.87222578e-01 1.57535234e-01 2.39631479e-02 2.00444166e+02] [-1.57482517e-01 9.87513334e-01 -4.08324335e-03 2.69150144e+01] [-2.43071827e-02 2.57293175e-04 9.99704504e-01 -9.03797524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58592000000002 meters Centerline goodness [0,1] 0.9943909460935173 Centerline is valid? [True, True] Translation: X:200.47, Y:26.91, Z:-0.90 [[ 9.87143237e-01 1.57857886e-01 2.50822143e-02 2.00474969e+02] [-1.57800193e-01 9.87461806e-01 -4.27553370e-03 2.69088835e+01] [-2.54426554e-02 2.62585916e-04 9.99676249e-01 -9.04304749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61592000000002 meters Centerline goodness [0,1] 0.9941226278826518 Centerline is valid? [True, True] Translation: X:200.51, Y:26.90, Z:-0.90 [[ 9.87160210e-01 1.58173969e-01 2.22646578e-02 2.00506333e+02] [-1.58128554e-01 9.87411233e-01 -3.79692137e-03 2.69031949e+01] [-2.25849474e-02 2.27491542e-04 9.99744902e-01 -9.03117226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64592000000002 meters Centerline goodness [0,1] 0.99409253375695 Centerline is valid? [True, True] Translation: X:200.54, Y:26.90, Z:-0.90 [[ 9.86943383e-01 1.59451305e-01 2.27604799e-02 2.00536138e+02] [-1.59404182e-01 9.87205774e-01 -3.88154269e-03 2.68979699e+01] [-2.30881943e-02 2.02747185e-04 9.99733412e-01 -9.02707522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67592000000002 meters Centerline goodness [0,1] 0.9944874851013111 Centerline is valid? [True, True] Translation: X:200.57, Y:26.89, Z:-0.90 [[ 9.86888233e-01 1.59862650e-01 2.22609040e-02 2.00565822e+02] [-1.59817679e-01 9.87139249e-01 -3.79634565e-03 2.68928839e+01] [-2.25815059e-02 1.88882857e-04 9.99744987e-01 -9.03119522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70592 meters Centerline goodness [0,1] 0.99439289435816 Centerline is valid? [True, True] Translation: X:200.60, Y:26.89, Z:-0.90 [[ 9.86931004e-01 1.59577783e-01 2.24081544e-02 2.00595462e+02] [-1.59532141e-01 9.87185339e-01 -3.82145756e-03 2.68880185e+01] [-2.27308212e-02 1.96694100e-04 9.99741602e-01 -9.03237025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73592 meters Centerline goodness [0,1] 0.9927207458742584 Centerline is valid? [True, True] Translation: X:200.63, Y:26.88, Z:-0.90 [[ 9.87095267e-01 1.58732479e-01 2.11408202e-02 2.00625880e+02] [-1.58691660e-01 9.87321609e-01 -3.60532803e-03 2.68829125e+01] [-2.14450713e-02 2.03930379e-04 9.99770007e-01 -9.01884912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76592 meters Centerline goodness [0,1] 0.9930972836072901 Centerline is valid? [True, True] Translation: X:200.66, Y:26.88, Z:-0.90 [[ 9.87258676e-01 1.57699995e-01 2.12371929e-02 2.00655236e+02] [-1.57658593e-01 9.87487043e-01 -3.62044438e-03 2.68779015e+01] [-2.15423968e-02 2.26089173e-04 9.99767910e-01 -9.01867211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79592 meters Centerline goodness [0,1] 0.9939499132159683 Centerline is valid? [True, True] Translation: X:200.68, Y:26.87, Z:-0.90 [[ 9.87687532e-01 1.54937871e-01 2.16239499e-02 2.00684496e+02] [-1.54894315e-01 9.87924173e-01 -3.68499338e-03 2.68731151e+01] [-2.19337679e-02 2.90195113e-04 9.99759384e-01 -9.03496354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82592 meters Centerline goodness [0,1] 0.9937007092902138 Centerline is valid? [True, True] Translation: X:200.71, Y:26.87, Z:-0.90 [[ 9.87907708e-01 1.53424044e-01 2.23477623e-02 2.00714568e+02] [-1.53377137e-01 9.88160387e-01 -3.80828392e-03 2.68692641e+01] [-2.26674558e-02 3.34597234e-04 9.99743004e-01 -9.03624713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85592 meters Centerline goodness [0,1] 0.9943401846887101 Centerline is valid? [True, True] Translation: X:200.74, Y:26.86, Z:-0.90 [[ 9.87974946e-01 1.53028188e-01 2.20880054e-02 2.00744647e+02] [-1.52982267e-01 9.88221766e-01 -3.76401871e-03 2.68647332e+01] [-2.24038486e-02 3.39683059e-04 9.99748945e-01 -9.03513248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88592 meters Centerline goodness [0,1] 0.9941923955127568 Centerline is valid? [True, True] Translation: X:200.77, Y:26.86, Z:-0.90 [[ 9.88047786e-01 1.52770963e-01 2.05573803e-02 2.00774416e+02] [-1.52731130e-01 9.88261569e-01 -3.50318477e-03 2.68591595e+01] [-2.08512538e-02 3.21562033e-04 9.99782537e-01 -9.03404071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91592 meters Centerline goodness [0,1] 0.9944452710410158 Centerline is valid? [True, True] Translation: X:200.80, Y:26.85, Z:-0.90 [[ 9.88078069e-01 1.52520092e-01 2.09606908e-02 2.00803384e+02] [-1.52478652e-01 9.88300314e-01 -3.57064271e-03 2.68537253e+01] [-2.12600520e-02 3.32015883e-04 9.99773924e-01 -9.03469183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94592 meters Centerline goodness [0,1] 0.9954306148803019 Centerline is valid? [True, True] Translation: X:200.83, Y:26.85, Z:-0.90 [[ 9.87946591e-01 1.53242553e-01 2.18690227e-02 2.00832632e+02] [-1.53197650e-01 9.88188551e-01 -3.72399579e-03 2.68490760e+01] [-2.21813925e-02 3.28826051e-04 9.99753909e-01 -9.03446162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97592 meters Centerline goodness [0,1] 0.9959805478364431 Centerline is valid? [True, True] Translation: X:200.86, Y:26.84, Z:-0.90 [[ 9.87762155e-01 1.54526276e-01 2.11555153e-02 2.00862873e+02] [-1.54484551e-01 9.87988637e-01 -3.60244334e-03 2.68443334e+01] [-2.14580808e-02 2.90156916e-04 9.99769707e-01 -9.03355538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00592 meters Centerline goodness [0,1] 0.9959783526140707 Centerline is valid? [True, True] Translation: X:200.89, Y:26.84, Z:-0.90 [[ 9.87798830e-01 1.54257991e-01 2.13996398e-02 2.00891982e+02] [-1.54215263e-01 9.88030558e-01 -3.64270861e-03 2.68398303e+01] [-2.17054150e-02 2.98112219e-04 9.99764365e-01 -9.04095458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03592 meters Centerline goodness [0,1] 0.9961284558495062 Centerline is valid? [True, True] Translation: X:200.92, Y:26.84, Z:-0.90 [[ 9.87862671e-01 1.54021327e-01 2.01189847e-02 2.00921659e+02] [-1.53983537e-01 9.88067483e-01 -3.42344398e-03 2.68357220e+01] [-2.04061980e-02 2.83900086e-04 9.99791732e-01 -9.03624883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06592 meters Centerline goodness [0,1] 0.9960278053624627 Centerline is valid? [True, True] Translation: X:200.95, Y:26.83, Z:-0.90 [[ 9.88060045e-01 1.52758895e-01 2.00516240e-02 2.00951114e+02] [-1.52721124e-01 9.88263439e-01 -3.41070212e-03 2.68324503e+01] [-2.03373020e-02 3.07671937e-04 9.99793128e-01 -9.03124576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09592 meters Centerline goodness [0,1] 0.9960735586481113 Centerline is valid? [True, True] Translation: X:200.98, Y:26.83, Z:-0.90 [[ 9.88340635e-01 1.50952772e-01 1.99010112e-02 2.00980084e+02] [-1.50915372e-01 9.88540919e-01 -3.37655628e-03 2.68303752e+01] [-2.01826645e-02 3.33819265e-04 9.99796254e-01 -9.02605535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12592 meters Centerline goodness [0,1] 0.9958800754492206 Centerline is valid? [True, True] Translation: X:201.01, Y:26.83, Z:-0.90 [[ 9.88568681e-01 1.49307208e-01 2.09599661e-02 2.01008646e+02] [-1.49265550e-01 9.88790784e-01 -3.54691658e-03 2.68260020e+01] [-2.12546015e-02 3.77769780e-04 9.99774024e-01 -9.03043975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15592 meters Centerline goodness [0,1] 0.9953298887122417 Centerline is valid? [True, True] Translation: X:201.04, Y:26.82, Z:-0.90 [[ 9.88938710e-01 1.47000758e-01 1.97738209e-02 2.01037391e+02] [-1.46963264e-01 9.89136298e-01 -3.34406561e-03 2.68211827e+01] [-2.00505842e-02 4.01050657e-04 9.99798886e-01 -9.02621982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18592 meters Centerline goodness [0,1] 0.9963280901106535 Centerline is valid? [True, True] Translation: X:201.07, Y:26.82, Z:-0.90 [[ 9.88974885e-01 1.46589243e-01 2.09826281e-02 2.01066856e+02] [-1.46546960e-01 9.89197355e-01 -3.54714996e-03 2.68158572e+01] [-2.12759342e-02 4.33101873e-04 9.99773548e-01 -9.04450154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21592 meters Centerline goodness [0,1] 0.9956718571215363 Centerline is valid? [True, True] Translation: X:201.10, Y:26.81, Z:-0.90 [[ 9.89092065e-01 1.45985311e-01 1.96258935e-02 2.01096077e+02] [-1.45948225e-01 9.89286670e-01 -3.31657203e-03 2.68112733e+01] [-1.98998056e-02 4.16030753e-04 9.99801893e-01 -9.03496036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24592 meters Centerline goodness [0,1] 0.9957797527431607 Centerline is valid? [True, True] Translation: X:201.12, Y:26.81, Z:-0.90 [[ 9.89223265e-01 1.44927432e-01 2.08175910e-02 2.01124186e+02] [-1.44885656e-01 9.89442182e-01 -3.50916685e-03 2.68064635e+01] [-2.11063772e-02 4.55179144e-04 9.99777132e-01 -9.03950165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27592 meters Centerline goodness [0,1] 0.9964071856287425 Centerline is valid? [True, True] Translation: X:201.15, Y:26.80, Z:-0.90 [[ 9.89291314e-01 1.44162477e-01 2.28007845e-02 2.01153070e+02] [-1.44112199e-01 9.89553897e-01 -3.84170479e-03 2.68006739e+01] [-2.31164348e-02 5.14693989e-04 9.99732647e-01 -9.04083213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30592000000001 meters Centerline goodness [0,1] 0.9966254776437894 Centerline is valid? [True, True] Translation: X:201.18, Y:26.79, Z:-0.91 [[ 9.89546021e-01 1.42427020e-01 2.26542774e-02 2.01183232e+02] [-1.42376918e-01 9.89805152e-01 -3.81764669e-03 2.67940698e+01] [-2.29670565e-02 5.52290903e-04 9.99736070e-01 -9.05032423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33592000000002 meters Centerline goodness [0,1] 0.9961792288989232 Centerline is valid? [True, True] Translation: X:201.21, Y:26.79, Z:-0.91 [[ 9.89725996e-01 1.41305800e-01 2.17973280e-02 2.01214329e+02] [-1.41259116e-01 9.89965838e-01 -3.67454728e-03 2.67884228e+01] [-2.20978449e-02 5.57723673e-04 9.99755657e-01 -9.05553184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36592000000002 meters Centerline goodness [0,1] 0.9960758990661633 Centerline is valid? [True, True] Translation: X:201.24, Y:26.78, Z:-0.90 [[ 9.89990347e-01 1.39699541e-01 2.00785976e-02 2.01244547e+02] [-1.39659599e-01 9.90193789e-01 -3.38485551e-03 2.67827911e+01] [-2.03545654e-02 5.46805392e-04 9.99792675e-01 -9.04721330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39592000000002 meters Centerline goodness [0,1] 0.9967701863354037 Centerline is valid? [True, True] Translation: X:201.27, Y:26.78, Z:-0.91 [[ 9.90397470e-01 1.36368919e-01 2.27237710e-02 2.01273998e+02] [-1.36316897e-01 9.90657879e-01 -3.83010845e-03 2.67767611e+01] [-2.30337906e-02 6.95695767e-04 9.99734445e-01 -9.05505226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42592000000002 meters Centerline goodness [0,1] 0.996723427493422 Centerline is valid? [True, True] Translation: X:201.30, Y:26.77, Z:-0.90 [[ 9.90677839e-01 1.34302965e-01 2.28064365e-02 2.01304333e+02] [-1.34249987e-01 9.90940036e-01 -3.84534487e-03 2.67694363e+01] [-2.31162522e-02 7.47734144e-04 9.99732504e-01 -9.03785881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45592 meters Centerline goodness [0,1] 0.9959751552795031 Centerline is valid? [True, True] Translation: X:201.34, Y:26.76, Z:-0.90 [[ 9.90746805e-01 1.33863907e-01 2.23880073e-02 2.01335633e+02] [-1.33812712e-01 9.90999444e-01 -3.77614900e-03 2.67636522e+01] [-2.26919929e-02 7.45407582e-04 9.99742226e-01 -9.02835571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48592 meters Centerline goodness [0,1] 0.996477475689621 Centerline is valid? [True, True] Translation: X:201.37, Y:26.76, Z:-0.90 [[ 9.90765037e-01 1.33677998e-01 2.26899755e-02 2.01366037e+02] [-1.33625332e-01 9.91024527e-01 -3.82846291e-03 2.67582950e+01] [-2.29981035e-02 7.61151684e-04 9.99735219e-01 -9.03590810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51592 meters Centerline goodness [0,1] 0.997013736810671 Centerline is valid? [True, True] Translation: X:201.40, Y:26.75, Z:-0.90 [[ 9.90770185e-01 1.33504351e-01 2.34739903e-02 2.01396586e+02] [-1.33447899e-01 9.91047910e-01 -3.96217875e-03 2.67513579e+01] [-2.37928171e-02 7.93053887e-04 9.99716596e-01 -9.04863816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54592 meters Centerline goodness [0,1] 0.9974179452803019 Centerline is valid? [True, True] Translation: X:201.43, Y:26.74, Z:-0.90 [[ 9.90754108e-01 1.33455498e-01 2.44116115e-02 2.01427943e+02] [-1.33394358e-01 9.91054460e-01 -4.12337539e-03 2.67444356e+01] [-2.47435236e-02 8.28879853e-04 9.99693489e-01 -9.04137593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57592 meters Centerline goodness [0,1] 0.9977129219907522 Centerline is valid? [True, True] Translation: X:201.46, Y:26.74, Z:-0.90 [[ 9.90861368e-01 1.32412122e-01 2.57056367e-02 2.01459796e+02] [-1.32343894e-01 9.91194337e-01 -4.34510409e-03 2.67374222e+01] [-2.60546260e-02 9.03411726e-04 9.99660112e-01 -9.03190376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60592 meters Centerline goodness [0,1] 0.9981120826709062 Centerline is valid? [True, True] Translation: X:201.49, Y:26.73, Z:-0.90 [[ 9.90786589e-01 1.32655123e-01 2.72864940e-02 2.01491200e+02] [-1.32578242e-01 9.91161796e-01 -4.61565084e-03 2.67315589e+01] [-2.76576202e-02 9.55529527e-04 9.99616998e-01 -9.04119141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63592 meters Centerline goodness [0,1] 0.9983126550868486 Centerline is valid? [True, True] Translation: X:201.52, Y:26.73, Z:-0.90 [[ 9.91010559e-01 1.31190613e-01 2.62124981e-02 2.01523369e+02] [-1.31119071e-01 9.91356697e-01 -4.43715542e-03 2.67259981e+01] [-2.65680487e-02 9.60309456e-04 9.99646546e-01 -9.03894290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66592 meters Centerline goodness [0,1] 0.9990557598648245 Centerline is valid? [True, True] Translation: X:201.55, Y:26.72, Z:-0.90 [[ 9.91120191e-01 1.30637754e-01 2.47900166e-02 2.01554495e+02] [-1.30573520e-01 9.91429736e-01 -4.19934365e-03 2.67194691e+01] [-2.51261525e-02 9.25134547e-04 9.99683860e-01 -9.03831356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69592 meters Centerline goodness [0,1] 0.9992055216247083 Centerline is valid? [True, True] Translation: X:201.59, Y:26.71, Z:-0.90 [[ 9.91315359e-01 1.28967838e-01 2.57129279e-02 2.01585912e+02] [-1.28898089e-01 9.91648266e-01 -4.35879984e-03 2.67128016e+01] [-2.60603254e-02 1.00659795e-03 9.99659865e-01 -9.04953931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72592 meters Centerline goodness [0,1] 0.9997514416384967 Centerline is valid? [True, True] Translation: X:201.62, Y:26.70, Z:-0.91 [[ 9.91578954e-01 1.26629794e-01 2.71306817e-02 2.01616733e+02] [-1.26551176e-01 9.91949403e-01 -4.60241269e-03 2.67031769e+01] [-2.74950661e-02 1.13023590e-03 9.99621300e-01 -9.05749793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75592 meters Centerline goodness [0,1] 0.9995034510154427 Centerline is valid? [True, True] Translation: X:201.65, Y:26.70, Z:-0.91 [[ 9.91700622e-01 1.25678069e-01 2.71090166e-02 2.01648198e+02] [-1.25599131e-01 9.92070401e-01 -4.60201414e-03 2.66963769e+01] [-2.74724252e-02 1.15895137e-03 9.99621890e-01 -9.05074611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78592 meters Centerline goodness [0,1] 0.9994536061990861 Centerline is valid? [True, True] Translation: X:201.68, Y:26.69, Z:-0.91 [[ 9.91879313e-01 1.24332070e-01 2.67762129e-02 2.01678630e+02] [-1.24254503e-01 9.92239958e-01 -4.54796099e-03 2.66865551e+01] [-2.71338857e-02 1.18396340e-03 9.99631107e-01 -9.05984801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81592 meters Centerline goodness [0,1] 0.9991561600317681 Centerline is valid? [True, True] Translation: X:201.71, Y:26.68, Z:-0.91 [[ 9.91948648e-01 1.23980631e-01 2.58201920e-02 2.01711188e+02] [-1.23908266e-01 9.92283965e-01 -4.39015598e-03 2.66784017e+01] [-2.61652568e-02 1.15547407e-03 9.99656963e-01 -9.06511980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84592 meters Centerline goodness [0,1] 0.9997513056453619 Centerline is valid? [True, True] Translation: X:201.74, Y:26.67, Z:-0.91 [[ 9.91907987e-01 1.24271891e-01 2.59815750e-02 2.01742529e+02] [-1.24198576e-01 9.92247525e-01 -4.42298703e-03 2.66679669e+01] [-2.63298064e-02 1.16032154e-03 9.99652637e-01 -9.06830032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87592 meters Centerline goodness [0,1] 0.9994535519125683 Centerline is valid? [True, True] Translation: X:201.77, Y:26.66, Z:-0.91 [[ 9.91734211e-01 1.25463014e-01 2.68753837e-02 2.01773631e+02] [-1.25384913e-01 9.92097607e-01 -4.57846520e-03 2.66611410e+01] [-2.72374319e-02 1.17085294e-03 9.99628307e-01 -9.07182816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90592 meters Centerline goodness [0,1] 0.9994533618247776 Centerline is valid? [True, True] Translation: X:201.81, Y:26.65, Z:-0.91 [[ 9.91564984e-01 1.26455268e-01 2.84244316e-02 2.01805841e+02] [-1.26368162e-01 9.91971567e-01 -4.84745806e-03 2.66532849e+01] [-2.88092146e-02 1.21462650e-03 9.99584190e-01 -9.09076454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93592 meters Centerline goodness [0,1] 0.9993534268377599 Centerline is valid? [True, True] Translation: X:201.84, Y:26.64, Z:-0.91 [[ 9.91327607e-01 1.28615165e-01 2.69762110e-02 2.01836446e+02] [-1.28537341e-01 9.91693971e-01 -4.60662031e-03 2.66408813e+01] [-2.73446271e-02 1.09921946e-03 9.99625461e-01 -9.06888454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96592 meters Centerline goodness [0,1] 0.9996521911954686 Centerline is valid? [True, True] Translation: X:201.87, Y:26.63, Z:-0.91 [[ 9.90889601e-01 1.31749620e-01 2.79255301e-02 2.01868166e+02] [-1.31667340e-01 9.91282467e-01 -4.77308795e-03 2.66319826e+01] [-2.83109409e-02 1.05272297e-03 9.99598611e-01 -9.07525511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99592 meters Centerline goodness [0,1] 0.9995034756703078 Centerline is valid? [True, True] Translation: X:201.90, Y:26.62, Z:-0.91 [[ 9.90668445e-01 1.33596587e-01 2.69811631e-02 2.01899227e+02] [-1.33520371e-01 9.91035323e-01 -4.61500697e-03 2.66249885e+01] [-2.73558348e-02 9.69406870e-04 9.99625289e-01 -9.07208465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02592 meters Centerline goodness [0,1] 0.9994037859591594 Centerline is valid? [True, True] Translation: X:201.93, Y:26.62, Z:-0.91 [[ 9.90452215e-01 1.35266950e-01 2.65943994e-02 2.01930552e+02] [-1.35193416e-01 9.90808770e-01 -4.55214278e-03 2.66181651e+01] [-2.69657186e-02 9.13292191e-04 9.99635942e-01 -9.08097111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05592000000001 meters Centerline goodness [0,1] 0.9996011964107677 Centerline is valid? [True, True] Translation: X:201.96, Y:26.61, Z:-0.91 [[ 9.90150429e-01 1.37734293e-01 2.51275361e-02 2.01961301e+02] [-1.37669301e-01 9.90468887e-01 -4.30660629e-03 2.66081604e+01] [-2.54812101e-02 8.04897728e-04 9.99674977e-01 -9.06961190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08592000000002 meters Centerline goodness [0,1] 0.9994528179873651 Centerline is valid? [True, True] Translation: X:201.99, Y:26.60, Z:-0.91 [[ 9.89914948e-01 1.39682845e-01 2.36029320e-02 2.01992700e+02] [-1.39625983e-01 9.90196039e-01 -4.04832701e-03 2.66018356e+01] [-2.39370116e-02 7.11916838e-04 9.99713215e-01 -9.05755520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11592000000002 meters Centerline goodness [0,1] 0.9994537418682028 Centerline is valid? [True, True] Translation: X:202.02, Y:26.60, Z:-0.91 [[ 9.89728722e-01 1.40915896e-01 2.40783645e-02 2.02024033e+02] [-1.40857011e-01 9.90021324e-01 -4.13288343e-03 2.65959054e+01] [-2.44204832e-02 6.98826994e-04 9.99701531e-01 -9.06244346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14592000000002 meters Centerline goodness [0,1] 0.9993040365877908 Centerline is valid? [True, True] Translation: X:202.06, Y:26.59, Z:-0.91 [[ 9.89499688e-01 1.42450779e-01 2.44569802e-02 2.02055428e+02] [-1.42390419e-01 9.89801657e-01 -4.20091474e-03 2.65891361e+01] [-2.48059831e-02 6.74364168e-04 9.99692057e-01 -9.06116430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17592000000002 meters Centerline goodness [0,1] 0.9998011928429423 Centerline is valid? [True, True] Translation: X:202.09, Y:26.58, Z:-0.91 [[ 9.89083926e-01 1.45221201e-01 2.49758065e-02 2.02086790e+02] [-1.45159056e-01 9.89399018e-01 -4.29316739e-03 2.65832385e+01] [-2.53344974e-02 6.20838362e-04 9.99678837e-01 -9.06692877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:202.12, Y:26.58, Z:-0.91 [[ 9.88887222e-01 1.46475501e-01 2.54359971e-02 2.02118272e+02] [-1.46411376e-01 9.89214114e-01 -4.37547679e-03 2.65780473e+01] [-2.58025475e-02 6.02733759e-04 9.99666877e-01 -9.06719304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23592 meters Centerline goodness [0,1] 0.9996022473027395 Centerline is valid? [True, True] Translation: X:202.15, Y:26.57, Z:-0.91 [[ 9.88896393e-01 1.46493201e-01 2.49733001e-02 2.02150343e+02] [-1.46431313e-01 9.89211498e-01 -4.29905696e-03 2.65730678e+01] [-2.53336583e-02 5.94448782e-04 9.99678875e-01 -9.06781937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26592 meters Centerline goodness [0,1] 0.9996511512010365 Centerline is valid? [True, True] Translation: X:202.18, Y:26.57, Z:-0.91 [[ 9.89054193e-01 1.45359794e-01 2.53442861e-02 2.02181676e+02] [-1.45295600e-01 9.89378656e-01 -4.36611579e-03 2.65675946e+01] [-2.57097534e-02 6.35911895e-04 9.99669247e-01 -9.07005185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29592 meters Centerline goodness [0,1] 0.9998505827273633 Centerline is valid? [True, True] Translation: X:202.21, Y:26.56, Z:-0.91 [[ 9.89331828e-01 1.43625955e-01 2.43745371e-02 2.02213903e+02] [-1.43565978e-01 9.89631827e-01 -4.20213520e-03 2.65625100e+01] [-2.47253534e-02 6.57951841e-04 9.99694065e-01 -9.05476461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32592 meters Centerline goodness [0,1] 0.9998508056494927 Centerline is valid? [True, True] Translation: X:202.25, Y:26.56, Z:-0.91 [[ 9.89483294e-01 1.42544901e-01 2.45715848e-02 2.02245450e+02] [-1.42483539e-01 9.89788094e-01 -4.23922216e-03 2.65575262e+01] [-2.49249416e-02 6.93593151e-04 9.99689085e-01 -9.05826628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35592 meters Centerline goodness [0,1] 0.9998508056494927 Centerline is valid? [True, True] Translation: X:202.28, Y:26.55, Z:-0.91 [[ 9.89457186e-01 1.42726146e-01 2.45708169e-02 2.02277534e+02] [-1.42664729e-01 9.89761975e-01 -4.24367055e-03 2.65520498e+01] [-2.49249430e-02 6.93541378e-04 9.99689085e-01 -9.05854720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38592 meters Centerline goodness [0,1] 0.9993036558070132 Centerline is valid? [True, True] Translation: X:202.31, Y:26.55, Z:-0.91 [[ 9.90099348e-01 1.38057384e-01 2.53661218e-02 2.02308849e+02] [-1.37990312e-01 9.90423875e-01 -4.38424335e-03 2.65453952e+01] [-2.57284899e-02 8.40557419e-04 9.99668614e-01 -9.06818468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41592 meters Centerline goodness [0,1] 0.9992050874403816 Centerline is valid? [True, True] Translation: X:202.34, Y:26.54, Z:-0.91 [[ 9.90316956e-01 1.36233562e-01 2.66972478e-02 2.02340510e+02] [-1.36158512e-01 9.90676303e-01 -4.61763596e-03 2.65386016e+01] [-2.70774078e-02 9.37865653e-04 9.99632900e-01 -9.07232150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44592 meters Centerline goodness [0,1] 0.9988577104544326 Centerline is valid? [True, True] Translation: X:202.37, Y:26.53, Z:-0.91 [[ 9.90653132e-01 1.33829181e-01 2.63841360e-02 2.02371693e+02] [-1.33754943e-01 9.91003915e-01 -4.56671580e-03 2.65318286e+01] [-2.67579420e-02 9.95022693e-04 9.99641447e-01 -9.06933713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47592 meters Centerline goodness [0,1] 0.9988572564217221 Centerline is valid? [True, True] Translation: X:202.40, Y:26.52, Z:-0.91 [[ 9.91047105e-01 1.30432924e-01 2.85111751e-02 2.02402407e+02] [-1.30344752e-01 9.91456437e-01 -4.93747932e-03 2.65234452e+01] [-2.89115980e-02 1.17699253e-03 9.99581279e-01 -9.07691441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50592 meters Centerline goodness [0,1] 0.9991550275858642 Centerline is valid? [True, True] Translation: X:202.43, Y:26.52, Z:-0.91 [[ 9.91040221e-01 1.30814985e-01 2.69577390e-02 2.02433370e+02] [-1.30736214e-01 9.91406182e-01 -4.67168922e-03 2.65154748e+01] [-2.73371960e-02 1.10547919e-03 9.99625658e-01 -9.05946823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53592 meters Centerline goodness [0,1] 0.9987559094302065 Centerline is valid? [True, True] Translation: X:202.46, Y:26.50, Z:-0.91 [[ 9.90757552e-01 1.32839960e-01 2.74411671e-02 2.02464521e+02] [-1.32758997e-01 9.91136920e-01 -4.75960778e-03 2.65040800e+01] [-2.78302200e-02 1.07255552e-03 9.99612089e-01 -9.06678844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56592 meters Centerline goodness [0,1] 0.9990554782262875 Centerline is valid? [True, True] Translation: X:202.50, Y:26.50, Z:-0.91 [[ 9.90551980e-01 1.34670809e-01 2.58949509e-02 2.02496149e+02] [-1.34599257e-01 9.90889923e-01 -4.49460070e-03 2.64961541e+01] [-2.62643374e-02 9.66694478e-04 9.99654565e-01 -9.06124391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59592 meters Centerline goodness [0,1] 0.9990562757661551 Centerline is valid? [True, True] Translation: X:202.53, Y:26.49, Z:-0.91 [[ 9.89804240e-01 1.40043393e-01 2.59887423e-02 2.02526514e+02] [-1.39973126e-01 9.90145020e-01 -4.51254201e-03 2.64869490e+01] [-2.63645755e-02 8.28807722e-04 9.99652051e-01 -9.06466130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62592 meters Centerline goodness [0,1] 0.9993044860648815 Centerline is valid? [True, True] Translation: X:202.56, Y:26.48, Z:-0.91 [[ 9.89358724e-01 1.43442031e-01 2.43659456e-02 2.02557761e+02] [-1.43381223e-01 9.89658477e-01 -4.23371066e-03 2.64790317e+01] [-2.47212567e-02 6.95039484e-04 9.99694141e-01 -9.06456736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65592 meters Centerline goodness [0,1] 0.9994535519125683 Centerline is valid? [True, True] Translation: X:202.59, Y:26.47, Z:-0.91 [[ 9.88478143e-01 1.49318278e-01 2.47994577e-02 2.02588496e+02] [-1.49257035e-01 9.88789025e-01 -4.31293333e-03 2.64693966e+01] [-2.51654314e-02 5.61746808e-04 9.99683143e-01 -9.06397544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68592 meters Centerline goodness [0,1] 0.9998011434253045 Centerline is valid? [True, True] Translation: X:202.62, Y:26.46, Z:-0.91 [[ 9.88036282e-01 1.52283150e-01 2.43751325e-02 2.02620273e+02] [-1.52224808e-01 9.88336790e-01 -4.24230393e-03 2.64634058e+01] [-2.47368716e-02 4.81050339e-04 9.99693881e-01 -9.05591047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71592 meters Centerline goodness [0,1] 0.9995026112907237 Centerline is valid? [True, True] Translation: X:202.65, Y:26.46, Z:-0.91 [[ 9.87790242e-01 1.53804603e-01 2.47907804e-02 2.02652392e+02] [-1.53744651e-01 9.88101178e-01 -4.31787071e-03 2.64587804e+01] [-2.51599077e-02 4.53700670e-04 9.99683336e-01 -9.06386201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74592 meters Centerline goodness [0,1] 0.9994537418682028 Centerline is valid? [True, True] Translation: X:202.68, Y:26.45, Z:-0.91 [[ 9.86946887e-01 1.59480623e-01 2.24002989e-02 2.02684016e+02] [-1.59433056e-01 9.87201019e-01 -3.90509181e-03 2.64516736e+01] [-2.27363843e-02 2.82770118e-04 9.99741455e-01 -9.05693349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:202.72, Y:26.45, Z:-0.91 [[ 9.86649182e-01 1.61223063e-01 2.30329388e-02 2.02716746e+02] [-1.61173139e-01 9.86917960e-01 -4.01993754e-03 2.64452439e+01] [-2.33797276e-02 2.53977036e-04 9.99726625e-01 -9.07058847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80592000000001 meters Centerline goodness [0,1] 0.9999502363772083 Centerline is valid? [True, True] Translation: X:202.75, Y:26.44, Z:-0.91 [[ 9.86131518e-01 1.64325412e-01 2.32763497e-02 2.02748582e+02] [-1.64275216e-01 9.86406166e-01 -4.06557198e-03 2.64402926e+01] [-2.36280117e-02 1.85461290e-04 9.99720802e-01 -9.06006284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83592000000002 meters Centerline goodness [0,1] 0.9999501818362975 Centerline is valid? [True, True] Translation: X:202.78, Y:26.44, Z:-0.91 [[ 9.85857249e-01 1.65903658e-01 2.36951609e-02 2.02781460e+02] [-1.65851982e-01 9.86141953e-01 -4.14340882e-03 2.64352806e+01] [-2.40541990e-02 1.54920222e-04 9.99710644e-01 -9.05269430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86592000000002 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:202.81, Y:26.43, Z:-0.90 [[ 9.85461228e-01 1.68378587e-01 2.26896514e-02 2.02813698e+02] [-1.68331789e-01 9.85722396e-01 -3.97065064e-03 2.64302096e+01] [-2.30342701e-02 9.35326304e-05 9.99734672e-01 -9.04317030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89592000000002 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:202.85, Y:26.43, Z:-0.90 [[ 9.85200909e-01 1.69781500e-01 2.35247043e-02 2.02845064e+02] [-1.69731519e-01 9.85481729e-01 -4.11993007e-03 2.64250319e+01] [-2.38826541e-02 6.60750743e-05 9.99714767e-01 -9.04777462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92592000000002 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:202.88, Y:26.42, Z:-0.90 [[ 9.84682350e-01 1.72763844e-01 2.35228261e-02 2.02878329e+02] [-1.72714609e-01 9.84963276e-01 -4.12428591e-03 2.64224306e+01] [-2.38816474e-02 -1.62417089e-06 9.99714793e-01 -9.04429855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95592 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:202.91, Y:26.42, Z:-0.90 [[ 9.84398334e-01 1.74255255e-01 2.43931365e-02 2.02910040e+02] [-1.74202684e-01 9.84700515e-01 -4.28021761e-03 2.64192100e+01] [-2.47657844e-02 -3.59107449e-05 9.99693280e-01 -9.04404426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98592 meters Centerline goodness [0,1] 0.9998013902681231 Centerline is valid? [True, True] Translation: X:202.94, Y:26.42, Z:-0.90 [[ 9.84163474e-01 1.75692201e-01 2.35479591e-02 2.02942156e+02] [-1.75643545e-01 9.84445146e-01 -4.13509175e-03 2.64180483e+01] [-2.39081774e-02 -6.64407515e-05 9.99714156e-01 -9.03237901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01592 meters Centerline goodness [0,1] 0.9996484355381448 Centerline is valid? [True, True] Translation: X:202.97, Y:26.42, Z:-0.90 [[ 9.84035083e-01 1.76490818e-01 2.29335429e-02 2.02974762e+02] [-1.76444813e-01 9.84302283e-01 -4.03027589e-03 2.64151744e+01] [-2.32848453e-02 -8.05718189e-05 9.99728868e-01 -9.03111418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04592 meters Centerline goodness [0,1] 0.9996522775818389 Centerline is valid? [True, True] Translation: X:203.01, Y:26.42, Z:-0.90 [[ 9.83942963e-01 1.76871406e-01 2.39322189e-02 2.03007272e+02] [-1.76821341e-01 9.84233965e-01 -4.20902994e-03 2.64161617e+01] [-2.42993597e-02 -9.02816476e-05 9.99704723e-01 -9.03370944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07592 meters Centerline goodness [0,1] 0.9997019374068554 Centerline is valid? [True, True] Translation: X:203.04, Y:26.41, Z:-0.90 [[ 9.83943496e-01 1.76848225e-01 2.40811644e-02 2.03040704e+02] [-1.76797408e-01 9.84238131e-01 -4.24008435e-03 2.64143378e+01] [-2.44514517e-02 -8.54840394e-05 9.99701015e-01 -9.03324191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10592 meters Centerline goodness [0,1] 0.9996518105849582 Centerline is valid? [True, True] Translation: X:203.07, Y:26.42, Z:-0.90 [[ 9.84166873e-01 1.75499346e-01 2.48101766e-02 2.03074380e+02] [-1.75444891e-01 9.84479546e-01 -4.37184755e-03 2.64175910e+01] [-2.51923678e-02 -5.01912092e-05 9.99682621e-01 -9.01867897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13592 meters Centerline goodness [0,1] 0.9995036235480989 Centerline is valid? [True, True] Translation: X:203.11, Y:26.42, Z:-0.90 [[ 9.84469675e-01 1.73991482e-01 2.33757130e-02 2.03106866e+02] [-1.73942644e-01 9.84747157e-01 -4.12222596e-03 2.64177446e+01] [-2.37363992e-02 -7.82687462e-06 9.99718252e-01 -9.01747885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16592 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:203.14, Y:26.42, Z:-0.90 [[ 9.84634078e-01 1.73077049e-01 2.32393586e-02 2.03139725e+02] [-1.73028451e-01 9.84908287e-01 -4.10128410e-03 2.64214069e+01] [-2.35984750e-02 1.71938717e-05 9.99721517e-01 -9.02248108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.17, Y:26.42, Z:-0.90 [[ 9.84842439e-01 1.72068627e-01 2.18576560e-02 2.03171707e+02] [-1.72025354e-01 9.85084964e-01 -3.85893319e-03 2.64204348e+01] [-2.21956497e-02 4.03701524e-05 9.99753645e-01 -9.01500239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:26.43, Z:-0.90 [[ 9.85488945e-01 1.67802410e-01 2.55712665e-02 2.03203407e+02] [-1.67741744e-01 9.85820636e-01 -4.51463058e-03 2.64255080e+01] [-2.59662481e-02 1.59749700e-04 9.99662807e-01 -9.02280398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.24, Y:26.42, Z:-0.90 [[ 9.85790569e-01 1.66259652e-01 2.39725269e-02 2.03235930e+02] [-1.66205806e-01 9.86081990e-01 -4.23537548e-03 2.64240821e+01] [-2.43430491e-02 1.90820052e-04 9.99703646e-01 -9.01378208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:203.27, Y:26.42, Z:-0.90 [[ 9.86711937e-01 1.60509107e-01 2.52265560e-02 2.03268044e+02] [-1.60447556e-01 9.87034297e-01 -4.45861175e-03 2.64248563e+01] [-2.56151238e-02 3.51826184e-04 9.99671817e-01 -9.02275657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.30, Y:26.42, Z:-0.90 [[ 9.87207062e-01 1.57552852e-01 2.44809261e-02 2.03299039e+02] [-1.57493938e-01 9.87510468e-01 -4.32837516e-03 2.64223027e+01] [-2.48571187e-02 4.17405051e-04 9.99690927e-01 -9.01708943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.33, Y:26.42, Z:-0.90 [[ 9.87659691e-01 1.54521571e-01 2.55228968e-02 2.03330528e+02] [-1.54456480e-01 9.87989280e-01 -4.51420075e-03 2.64191999e+01] [-2.59138898e-02 5.16317315e-04 9.99664045e-01 -9.02376318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:26.42, Z:-0.90 [[ 9.88222551e-01 1.50647885e-01 2.68589547e-02 2.03361731e+02] [-1.50574346e-01 9.88587270e-01 -4.75137647e-03 2.64184294e+01] [-2.72682056e-02 6.51147834e-04 9.99627941e-01 -9.02878026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40592 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:203.39, Y:26.41, Z:-0.90 [[ 9.88608807e-01 1.48450018e-01 2.48036002e-02 2.03393577e+02] [-1.48386539e-01 9.88919691e-01 -4.39077863e-03 2.64142100e+01] [-2.51805798e-02 6.60242040e-04 9.99682701e-01 -9.02052455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:203.42, Y:26.41, Z:-0.90 [[ 9.88875346e-01 1.46566077e-01 2.53758817e-02 2.03424842e+02] [-1.46498972e-01 9.89200615e-01 -4.49371385e-03 2.64086384e+01] [-2.57604638e-02 7.26182254e-04 9.99667880e-01 -9.03044295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46592 meters Centerline goodness [0,1] 0.9998510205095098 Centerline is valid? [True, True] Translation: X:203.46, Y:26.40, Z:-0.90 [[ 9.88999477e-01 1.45746835e-01 2.52565666e-02 2.03456718e+02] [-1.45680014e-01 9.89321637e-01 -4.47566718e-03 2.64023958e+01] [-2.56391822e-02 7.47055523e-04 9.99670983e-01 -9.04130145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49592 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:203.49, Y:26.40, Z:-0.91 [[ 9.89509133e-01 1.42078514e-01 2.61796041e-02 2.03487376e+02] [-1.42005391e-01 9.89855005e-01 -4.64089801e-03 2.63951133e+01] [-2.65733841e-02 8.74566037e-04 9.99646483e-01 -9.05434783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52592 meters Centerline goodness [0,1] 0.9998509835088416 Centerline is valid? [True, True] Translation: X:203.52, Y:26.39, Z:-0.90 [[ 9.89664223e-01 1.41185651e-01 2.51264424e-02 2.03519058e+02] [-1.41117930e-01 9.89982759e-01 -4.45721192e-03 2.63875077e+01] [-2.55040392e-02 8.65351621e-04 9.99674345e-01 -9.04726408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55592000000001 meters Centerline goodness [0,1] 0.9998007273451901 Centerline is valid? [True, True] Translation: X:203.55, Y:26.38, Z:-0.90 [[ 9.89650470e-01 1.41133868e-01 2.59456753e-02 2.03550074e+02] [-1.41061556e-01 9.89990114e-01 -4.60570319e-03 2.63801426e+01] [-2.63359827e-02 8.98098987e-04 9.99652744e-01 -9.04325254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58592000000002 meters Centerline goodness [0,1] 0.9997020114228955 Centerline is valid? [True, True] Translation: X:203.58, Y:26.37, Z:-0.90 [[ 9.89381742e-01 1.43097968e-01 2.54310883e-02 2.03580430e+02] [-1.43029064e-01 9.89708179e-01 -4.51747184e-03 2.63689134e+01] [-2.58157971e-02 8.32119396e-04 9.99666370e-01 -9.04892816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61592000000002 meters Centerline goodness [0,1] 0.9998013113451222 Centerline is valid? [True, True] Translation: X:203.61, Y:26.36, Z:-0.90 [[ 9.88776468e-01 1.47264859e-01 2.51824795e-02 2.03611333e+02] [-1.47198549e-01 9.89096832e-01 -4.47709033e-03 2.63565365e+01] [-2.55672288e-02 7.20017134e-04 9.99672846e-01 -9.04244618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64592000000002 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:203.64, Y:26.35, Z:-0.90 [[ 9.88345236e-01 1.50161065e-01 2.50069926e-02 2.03642599e+02] [-1.50096523e-01 9.88661337e-01 -4.44901001e-03 2.63484459e+01] [-2.53915149e-02 6.43695201e-04 9.99677376e-01 -9.03761119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67592000000002 meters Centerline goodness [0,1] 0.9999501719069211 Centerline is valid? [True, True] Translation: X:203.67, Y:26.34, Z:-0.90 [[ 9.87875715e-01 1.53356847e-01 2.41505415e-02 2.03674206e+02] [-1.53297513e-01 9.88170724e-01 -4.30038236e-03 2.63404245e+01] [-2.45243511e-02 5.46025365e-04 9.99699084e-01 -9.03331076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.71, Y:26.33, Z:-0.90 [[ 9.86776378e-01 1.60126685e-01 2.51361173e-02 2.03705103e+02] [-1.60064518e-01 9.87096392e-01 -4.47912000e-03 2.63295642e+01] [-2.55289974e-02 3.96489314e-04 9.99674003e-01 -9.02934538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:203.74, Y:26.32, Z:-0.90 [[ 9.86130438e-01 1.63884808e-01 2.62398188e-02 2.03735959e+02] [-1.63818300e-01 9.86479432e-01 -4.67915492e-03 2.63217980e+01] [-2.66518840e-02 3.15694567e-04 9.99644726e-01 -9.02759050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:203.77, Y:26.32, Z:-0.90 [[ 9.85308602e-01 1.68916251e-01 2.51845098e-02 2.03767686e+02] [-1.68856545e-01 9.85630392e-01 -4.49421200e-03 2.63150533e+01] [-2.55817637e-02 1.75616431e-04 9.99672718e-01 -9.02824397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.80, Y:26.31, Z:-0.90 [[ 9.84750043e-01 1.72333277e-01 2.38452068e-02 2.03799005e+02] [-1.72280679e-01 9.85038697e-01 -4.25833356e-03 2.63090506e+01] [-2.42223040e-02 8.53257444e-05 9.99706593e-01 -9.02447072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82592 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:203.83, Y:26.30, Z:-0.90 [[ 9.83941747e-01 1.76879016e-01 2.39259923e-02 2.03830627e+02] [-1.76827326e-01 9.84232601e-01 -4.27591910e-03 2.63026823e+01] [-2.43050620e-02 -2.35139254e-05 9.99704588e-01 -9.03125460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:26.30, Z:-0.90 [[ 9.83678075e-01 1.78377614e-01 2.36404723e-02 2.03862763e+02] [-1.78327508e-01 9.83962105e-01 -4.22803944e-03 2.62982269e+01] [-2.40155165e-02 -5.67168355e-05 9.99711584e-01 -9.02045252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:26.29, Z:-0.90 [[ 9.83443037e-01 1.79468127e-01 2.51194135e-02 2.03894089e+02] [-1.79411866e-01 9.83763785e-01 -4.49426638e-03 2.62948094e+01] [-2.55181468e-02 -8.68658654e-05 9.99674355e-01 -9.02864533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.93, Y:26.29, Z:-0.90 [[ 9.83288469e-01 1.80460345e-01 2.40385115e-02 2.03926593e+02] [-1.80409042e-01 9.83582255e-01 -4.30400048e-03 2.62922624e+01] [-2.44205548e-02 -1.04690799e-04 9.99701768e-01 -9.03047363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.96, Y:26.29, Z:-0.90 [[ 9.83265698e-01 1.80559227e-01 2.42267016e-02 2.03957398e+02] [-1.80507107e-01 9.83564108e-01 -4.33935151e-03 2.62873798e+01] [-2.46120241e-02 -1.06356333e-04 9.99697073e-01 -9.03452197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:26.29, Z:-0.90 [[ 9.84072997e-01 1.76268958e-01 2.30128459e-02 2.03989111e+02] [-1.76220722e-01 9.84342041e-01 -4.12345937e-03 2.62855098e+01] [-2.33793496e-02 2.44470936e-06 9.99726666e-01 -9.03355749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.02, Y:26.28, Z:-0.90 [[ 9.84497370e-01 1.73958596e-01 2.24351587e-02 2.04020091e+02] [-1.73912117e-01 9.84752966e-01 -4.02142851e-03 2.62823017e+01] [-2.27926512e-02 5.73398373e-05 9.99740212e-01 -9.03848388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:26.28, Z:-0.90 [[ 9.85309434e-01 1.69081423e-01 2.40164764e-02 2.04050468e+02] [-1.69026709e-01 9.85602069e-01 -4.30493454e-03 2.62804294e+01] [-2.43985733e-02 1.82266640e-04 9.99702294e-01 -9.04938011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:26.28, Z:-0.91 [[ 9.85863381e-01 1.66006167e-01 2.27012598e-02 2.04081808e+02] [-1.65956434e-01 9.86124684e-01 -4.07058631e-03 2.62755836e+01] [-2.30620151e-02 2.45621849e-04 9.99734006e-01 -9.05143623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09592 meters Centerline goodness [0,1] 0.9999502932697087 Centerline is valid? [True, True] Translation: X:204.11, Y:26.27, Z:-0.90 [[ 9.86912685e-01 1.59728600e-01 2.21388066e-02 2.04112258e+02] [-1.59679720e-01 9.87160893e-01 -3.96978546e-03 2.62715899e+01] [-2.24886524e-02 3.82713184e-04 9.99747025e-01 -9.04055100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:26.27, Z:-0.90 [[ 9.87530686e-01 1.56067648e-01 2.06405932e-02 2.04143680e+02] [-1.56024335e-01 9.87746273e-01 -3.70238700e-03 2.62666102e+01] [-2.09654918e-02 4.35785947e-04 9.99780105e-01 -9.03089074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:26.26, Z:-0.90 [[ 9.87965144e-01 1.53151586e-01 2.16671462e-02 2.04173690e+02] [-1.53103154e-01 9.88202570e-01 -3.88658038e-03 2.62609270e+01] [-2.20067655e-02 5.22497514e-04 9.99757685e-01 -9.03356612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18592 meters Centerline goodness [0,1] 0.9999006458022851 Centerline is valid? [True, True] Translation: X:204.20, Y:26.25, Z:-0.90 [[ 9.88748791e-01 1.47839774e-01 2.27866093e-02 2.04203676e+02] [-1.47784781e-01 9.89011095e-01 -4.08806799e-03 2.62525347e+01] [-2.31405885e-02 6.74558213e-04 9.99731993e-01 -9.04106772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21592 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:204.23, Y:26.25, Z:-0.91 [[ 9.89009045e-01 1.45955861e-01 2.36219441e-02 2.04234837e+02] [-1.45896173e-01 9.89290821e-01 -4.24007427e-03 2.62467591e+01] [-2.39878361e-02 7.47120574e-04 9.99711971e-01 -9.05201765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24592 meters Centerline goodness [0,1] 0.9999005469915465 Centerline is valid? [True, True] Translation: X:204.27, Y:26.24, Z:-0.90 [[ 9.89284841e-01 1.44321070e-01 2.20665298e-02 2.04266370e+02] [-1.44268519e-01 9.89530639e-01 -3.96355021e-03 2.62385604e+01] [-2.24075312e-02 7.37574562e-04 9.99748648e-01 -9.04489431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27592 meters Centerline goodness [0,1] 0.9999005469915465 Centerline is valid? [True, True] Translation: X:204.30, Y:26.23, Z:-0.90 [[ 9.89267717e-01 1.44438472e-01 2.20660594e-02 2.04297590e+02] [-1.44385892e-01 9.89513509e-01 -3.96616812e-03 2.62329917e+01] [-2.24075312e-02 7.37574420e-04 9.99748648e-01 -9.04516798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30592000000001 meters Centerline goodness [0,1] 0.999701655810253 Centerline is valid? [True, True] Translation: X:204.33, Y:26.22, Z:-0.90 [[ 9.89399916e-01 1.43783162e-01 2.03521187e-02 2.04328319e+02] [-1.43738266e-01 9.89608973e-01 -3.65950638e-03 2.62239481e+01] [-2.06668147e-02 6.95337055e-04 9.99786177e-01 -9.04253712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33592000000002 meters Centerline goodness [0,1] 0.9995030068088068 Centerline is valid? [True, True] Translation: X:204.36, Y:26.21, Z:-0.90 [[ 9.89719814e-01 1.41139317e-01 2.31167199e-02 2.04357739e+02] [-1.41080655e-01 9.89989376e-01 -4.15735852e-03 2.62127670e+01] [-2.34720738e-02 8.53298116e-04 9.99724129e-01 -9.04793216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36592000000002 meters Centerline goodness [0,1] 0.9997517131790644 Centerline is valid? [True, True] Translation: X:204.39, Y:26.20, Z:-0.90 [[ 9.89808663e-01 1.40625478e-01 2.24340388e-02 2.04388549e+02] [-1.40570038e-01 9.90062506e-01 -4.03724925e-03 2.62048905e+01] [-2.27788408e-02 8.42550604e-04 9.99740174e-01 -9.04685458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39592000000002 meters Centerline goodness [0,1] 0.9993537161322397 Centerline is valid? [True, True] Translation: X:204.42, Y:26.20, Z:-0.91 [[ 9.89935743e-01 1.39664586e-01 2.28260485e-02 2.04420057e+02] [-1.39606871e-01 9.90198477e-01 -4.11058907e-03 2.61972201e+01] [-2.31764222e-02 8.82545836e-04 9.99731001e-01 -9.05451363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42592000000002 meters Centerline goodness [0,1] 0.9994034599323921 Centerline is valid? [True, True] Translation: X:204.45, Y:26.19, Z:-0.91 [[ 9.89892169e-01 1.39570729e-01 2.51695413e-02 2.04451012e+02] [-1.39500443e-01 9.90211621e-01 -4.53570242e-03 2.61864903e+01] [-2.55562236e-02 9.78694142e-04 9.99672907e-01 -9.05685010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45592 meters Centerline goodness [0,1] 0.9994031038599284 Centerline is valid? [True, True] Translation: X:204.48, Y:26.18, Z:-0.91 [[ 9.89679373e-01 1.41092474e-01 2.50530045e-02 2.04482204e+02] [-1.41023247e-01 9.89995977e-01 -4.51776552e-03 2.61771836e+01] [-2.54397964e-02 9.38083307e-04 9.99675916e-01 -9.05253519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48592 meters Centerline goodness [0,1] 0.9998507091316248 Centerline is valid? [True, True] Translation: X:204.51, Y:26.17, Z:-0.90 [[ 9.89451381e-01 1.42758368e-01 2.46173336e-02 2.04513981e+02] [-1.42691967e-01 9.89757177e-01 -4.44222009e-03 2.61704143e+01] [-2.49993467e-02 8.82665056e-04 9.99687078e-01 -9.04588156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51592 meters Centerline goodness [0,1] 0.999602721358693 Centerline is valid? [True, True] Translation: X:204.55, Y:26.16, Z:-0.91 [[ 9.89106904e-01 1.45187714e-01 2.42499500e-02 2.04545282e+02] [-1.45123935e-01 9.89403794e-01 -4.37891708e-03 2.61637403e+01] [-2.46287575e-02 8.11968943e-04 9.99696336e-01 -9.05466714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54592 meters Centerline goodness [0,1] 0.9997007928988181 Centerline is valid? [True, True] Translation: X:204.58, Y:26.15, Z:-0.91 [[ 9.88337018e-01 1.50185008e-01 2.51873348e-02 2.04576850e+02] [-1.50117723e-01 9.88657650e-01 -4.55205816e-03 2.61543729e+01] [-2.55853021e-02 7.17902239e-04 9.99672385e-01 -9.06318483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57592 meters Centerline goodness [0,1] 0.999850902042642 Centerline is valid? [True, True] Translation: X:204.61, Y:26.15, Z:-0.90 [[ 9.87672171e-01 1.54826040e-01 2.30776926e-02 2.04608040e+02] [-1.54770754e-01 9.87941595e-01 -4.17368086e-03 2.61482523e+01] [-2.34456069e-02 5.50476570e-04 9.99724962e-01 -9.04790630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60592 meters Centerline goodness [0,1] 0.9999500848557452 Centerline is valid? [True, True] Translation: X:204.64, Y:26.14, Z:-0.91 [[ 9.87300579e-01 1.56938730e-01 2.46536296e-02 2.04639899e+02] [-1.56876213e-01 9.87608195e-01 -4.46182063e-03 2.61431965e+01] [-2.50483591e-02 5.37590055e-04 9.99686096e-01 -9.05664628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63592 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:204.67, Y:26.14, Z:-0.90 [[ 9.86994713e-01 1.58916974e-01 2.42246244e-02 2.04671506e+02] [-1.58857133e-01 9.87291833e-01 -4.38725042e-03 2.61380651e+01] [-2.46139824e-02 4.81938573e-04 9.99696914e-01 -9.04899325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:204.70, Y:26.13, Z:-0.91 [[ 9.86526882e-01 1.61599132e-01 2.55035651e-02 2.04703137e+02] [-1.61533616e-01 9.86856386e-01 -4.62215358e-03 2.61326989e+01] [-2.59152921e-02 4.40195675e-04 9.99664046e-01 -9.05568077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:204.73, Y:26.13, Z:-0.91 [[ 9.86402714e-01 1.62394694e-01 2.52517012e-02 2.04734622e+02] [-1.62330642e-01 9.86725792e-01 -4.57975689e-03 2.61276443e+01] [-2.56602330e-02 4.18359769e-04 9.99670634e-01 -9.05844280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:26.12, Z:-0.91 [[ 9.86089783e-01 1.64125595e-01 2.62627055e-02 2.04767065e+02] [-1.64056789e-01 9.86439372e-01 -4.76817594e-03 2.61226201e+01] [-2.66891464e-02 3.93274452e-04 9.99643704e-01 -9.06706869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:26.12, Z:-0.91 [[ 9.86231466e-01 1.63491772e-01 2.48583285e-02 2.04799402e+02] [-1.63429845e-01 9.86544620e-01 -4.51648704e-03 2.61187840e+01] [-2.52622587e-02 3.91708864e-04 9.99680781e-01 -9.05882502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78592 meters Centerline goodness [0,1] 0.9999501545209849 Centerline is valid? [True, True] Translation: X:204.83, Y:26.11, Z:-0.91 [[ 9.86326720e-01 1.63072363e-01 2.38118889e-02 2.04830831e+02] [-1.63015326e-01 9.86614035e-01 -4.33016351e-03 2.61138196e+01] [-2.41992738e-02 3.89253129e-04 9.99707079e-01 -9.05632449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:204.86, Y:26.11, Z:-0.91 [[ 9.86603579e-01 1.61496417e-01 2.30713271e-02 2.04862490e+02] [-1.61442372e-01 9.86873210e-01 -4.19853403e-03 2.61092186e+01] [-2.34465229e-02 4.17598936e-04 9.99725005e-01 -9.06764468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84592 meters Centerline goodness [0,1] 0.999950114736107 Centerline is valid? [True, True] Translation: X:204.89, Y:26.10, Z:-0.91 [[ 9.86815355e-01 1.60252875e-01 2.26819505e-02 2.04894081e+02] [-1.60200244e-01 9.87075894e-01 -4.13056172e-03 2.61024266e+01] [-2.30507410e-02 4.42447726e-04 9.99734198e-01 -9.07557364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87592 meters Centerline goodness [0,1] 0.9997513922036595 Centerline is valid? [True, True] Translation: X:204.93, Y:26.10, Z:-0.91 [[ 9.86953122e-01 1.59312850e-01 2.33012892e-02 2.04925985e+02] [-1.59256973e-01 9.87228031e-01 -4.24633050e-03 2.60963762e+01] [-2.36801809e-02 4.80036357e-04 9.99719470e-01 -9.07208669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90592 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:204.96, Y:26.09, Z:-0.91 [[ 9.87385857e-01 1.56387146e-01 2.47433018e-02 2.04957183e+02] [-1.56323158e-01 9.87695660e-01 -4.51152484e-03 2.60905475e+01] [-2.51443963e-02 5.86664751e-04 9.99683658e-01 -9.06251177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93592 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:204.99, Y:26.08, Z:-0.91 [[ 9.87445821e-01 1.55778674e-01 2.61487029e-02 2.04988400e+02] [-1.55706909e-01 9.87791777e-01 -4.77105848e-03 2.60836945e+01] [-2.65727028e-02 6.39628069e-04 9.99646679e-01 -9.07331476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96592 meters Centerline goodness [0,1] 0.9998012323593719 Centerline is valid? [True, True] Translation: X:205.02, Y:26.08, Z:-0.91 [[ 9.87854597e-01 1.53304198e-01 2.53203235e-02 2.05019305e+02] [-1.53236034e-01 9.88178806e-01 -4.62233264e-03 2.60767546e+01] [-2.57296300e-02 6.86206611e-04 9.99668703e-01 -9.06524697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99592 meters Centerline goodness [0,1] 0.9995525504623646 Centerline is valid? [True, True] Translation: X:205.05, Y:26.07, Z:-0.91 [[ 9.88015810e-01 1.52202163e-01 2.56760547e-02 2.05050521e+02] [-1.52131634e-01 9.88349115e-01 -4.68970294e-03 2.60715344e+01] [-2.60906889e-02 7.27360485e-04 9.99659315e-01 -9.07336398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02592 meters Centerline goodness [0,1] 0.9997513551146253 Centerline is valid? [True, True] Translation: X:205.08, Y:26.07, Z:-0.91 [[ 9.88053888e-01 1.52231930e-01 2.39781792e-02 2.05081930e+02] [-1.52170359e-01 9.88344563e-01 -4.38253973e-03 2.60654320e+01] [-2.43658655e-02 6.81417287e-04 9.99702876e-01 -9.06484901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05592000000001 meters Centerline goodness [0,1] 0.9996521566289008 Centerline is valid? [True, True] Translation: X:205.11, Y:26.06, Z:-0.91 [[ 9.88134683e-01 1.51595610e-01 2.46702064e-02 2.05113247e+02] [-1.51530158e-01 9.88442336e-01 -4.51210150e-03 2.60557334e+01] [-2.50690913e-02 7.20283707e-04 9.99685461e-01 -9.05928806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08592000000002 meters Centerline goodness [0,1] 0.9998508204873198 Centerline is valid? [True, True] Translation: X:205.14, Y:26.05, Z:-0.91 [[ 9.88111143e-01 1.51574554e-01 2.57201007e-02 2.05144537e+02] [-1.51503320e-01 9.88445540e-01 -4.70733072e-03 2.60460972e+01] [-2.61364303e-02 7.54685296e-04 9.99658100e-01 -9.05822441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11592000000002 meters Centerline goodness [0,1] 0.9998508353221957 Centerline is valid? [True, True] Translation: X:205.18, Y:26.04, Z:-0.90 [[ 9.88064805e-01 1.52186291e-01 2.38175103e-02 2.05176706e+02] [-1.52125267e-01 9.88351587e-01 -4.36402061e-03 2.60399595e+01] [-2.42042182e-02 6.88690066e-04 9.99706798e-01 -9.04785252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14592000000002 meters Centerline goodness [0,1] 0.9997515034044033 Centerline is valid? [True, True] Translation: X:205.21, Y:26.03, Z:-0.91 [[ 9.87988733e-01 1.52645025e-01 2.40366450e-02 2.05209089e+02] [-1.52582896e-01 9.88280842e-01 -4.40875356e-03 2.60336684e+01] [-2.44279301e-02 6.88217930e-04 9.99701357e-01 -9.05429660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17592000000002 meters Centerline goodness [0,1] 0.9997012696041823 Centerline is valid? [True, True] Translation: X:205.24, Y:26.02, Z:-0.91 [[ 9.87999199e-01 1.52500069e-01 2.45216576e-02 2.05239603e+02] [-1.52435285e-01 9.88303206e-01 -4.50084224e-03 2.60238114e+01] [-2.49212115e-02 7.08862675e-04 9.99689167e-01 -9.06121569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20592 meters Centerline goodness [0,1] 0.9999004826591034 Centerline is valid? [True, True] Translation: X:205.27, Y:26.02, Z:-0.91 [[ 9.88055933e-01 1.52230903e-01 2.39003072e-02 2.05272080e+02] [-1.52169173e-01 9.88344707e-01 -4.39127743e-03 2.60155673e+01] [-2.42902303e-02 7.01937744e-04 9.99704702e-01 -9.05514207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23592 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:205.30, Y:26.01, Z:-0.91 [[ 9.87936694e-01 1.52938392e-01 2.43091874e-02 2.05303629e+02] [-1.52874632e-01 9.88235477e-01 -4.47099395e-03 2.60072105e+01] [-2.47069880e-02 7.00800918e-04 9.99694490e-01 -9.06126513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:205.34, Y:26.00, Z:-0.91 [[ 9.87862036e-01 1.53346089e-01 2.47704541e-02 2.05336129e+02] [-1.53279895e-01 9.88172290e-01 -4.56056248e-03 2.59998103e+01] [-2.51768208e-02 7.08393928e-04 9.99682763e-01 -9.06245335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29592 meters Centerline goodness [0,1] 0.9998012323593719 Centerline is valid? [True, True] Translation: X:205.37, Y:25.99, Z:-0.91 [[ 9.87713694e-01 1.54377367e-01 2.42752373e-02 2.05366718e+02] [-1.54314028e-01 9.88011729e-01 -4.47252245e-03 2.59893631e+01] [-2.46746754e-02 6.71562033e-04 9.99695308e-01 -9.08036471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32592 meters Centerline goodness [0,1] 0.9997515898251192 Centerline is valid? [True, True] Translation: X:205.40, Y:25.98, Z:-0.91 [[ 9.87528799e-01 1.55623950e-01 2.38339529e-02 2.05397688e+02] [-1.55563165e-01 9.87816170e-01 -4.39493142e-03 2.59807327e+01] [-2.42275206e-02 6.32436197e-04 9.99706271e-01 -9.07778109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35592 meters Centerline goodness [0,1] 0.9999006655408761 Centerline is valid? [True, True] Translation: X:205.43, Y:25.97, Z:-0.91 [[ 9.87220223e-01 1.57352214e-01 2.52291997e-02 2.05429987e+02] [-1.57284543e-01 9.87542346e-01 -4.65704941e-03 2.59732203e+01] [-2.56477001e-02 6.29370225e-04 9.99670846e-01 -9.07089664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38592 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:205.46, Y:25.97, Z:-0.91 [[ 9.86523345e-01 1.61144249e-01 2.83587774e-02 2.05461759e+02] [-1.61060149e-01 9.86930681e-01 -5.24020913e-03 2.59652557e+01] [-2.88325770e-02 6.02119723e-04 9.99584073e-01 -9.07938646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:205.49, Y:25.96, Z:-0.91 [[ 9.86120529e-01 1.63851612e-01 2.68132665e-02 2.05493219e+02] [-1.63777336e-01 9.86484871e-01 -4.95809635e-03 2.59572104e+01] [-2.72632738e-02 4.97875237e-04 9.99628164e-01 -9.07580618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:25.95, Z:-0.91 [[ 9.85281737e-01 1.68897896e-01 2.63324851e-02 2.05524091e+02] [-1.68827970e-01 9.85633489e-01 -4.87257899e-03 2.59480597e+01] [-2.67771475e-02 3.55203074e-04 9.99641365e-01 -9.08478834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47592 meters Centerline goodness [0,1] 0.9999004727544165 Centerline is valid? [True, True] Translation: X:205.56, Y:25.94, Z:-0.91 [[ 9.84854778e-01 1.71261489e-01 2.70290273e-02 2.05555730e+02] [-1.71188606e-01 9.85225564e-01 -5.00499337e-03 2.59428028e+01] [-2.74868512e-02 3.02130130e-04 9.99622119e-01 -9.07707854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50592 meters Centerline goodness [0,1] 0.9999005469915465 Centerline is valid? [True, True] Translation: X:205.59, Y:25.94, Z:-0.91 [[ 9.84165637e-01 1.75219656e-01 2.67595191e-02 2.05587449e+02] [-1.75149586e-01 9.84529347e-01 -4.95861011e-03 2.59385067e+01] [-2.72143778e-02 1.93174993e-04 9.99629602e-01 -9.07728985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:25.93, Z:-0.91 [[ 9.83863046e-01 1.76727402e-01 2.79451680e-02 2.05619094e+02] [-1.76651486e-01 9.84259823e-01 -5.18203980e-03 2.59319682e+01] [-2.84211145e-02 1.61862020e-04 9.99596025e-01 -9.08578644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56592 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:205.65, Y:25.93, Z:-0.91 [[ 9.83638169e-01 1.78210737e-01 2.63985841e-02 2.05650208e+02] [-1.78143432e-01 9.83992337e-01 -4.89873259e-03 2.59257324e+01] [-2.68490113e-02 1.15845966e-04 9.99639494e-01 -9.07745890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:25.92, Z:-0.91 [[ 9.83295853e-01 1.80262283e-01 2.51947382e-02 2.05682152e+02] [-1.80201565e-01 9.83618577e-01 -4.67870347e-03 2.59227062e+01] [-2.56254063e-02 6.04184710e-05 9.99671614e-01 -9.07079915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:25.92, Z:-0.91 [[ 9.82888819e-01 1.82395504e-01 2.57186465e-02 2.05714410e+02] [-1.82332874e-01 9.83225244e-01 -4.77944263e-03 2.59192637e+01] [-2.61589713e-02 8.30599297e-06 9.99657796e-01 -9.07035467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:205.75, Y:25.92, Z:-0.91 [[ 9.82553748e-01 1.84508003e-01 2.33437162e-02 2.05746517e+02] [-1.84456930e-01 9.82831010e-01 -4.34121060e-03 2.59163437e+01] [-2.37439163e-02 -4.04374760e-05 9.99718073e-01 -9.06918991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:25.91, Z:-0.91 [[ 9.82233221e-01 1.85963943e-01 2.52053793e-02 2.05778436e+02] [-1.85904789e-01 9.82556566e-01 -4.69080119e-03 2.59120240e+01] [-2.56380308e-02 -7.83399478e-05 9.99671289e-01 -9.07693200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71592 meters Centerline goodness [0,1] 0.9997017744420696 Centerline is valid? [True, True] Translation: X:205.81, Y:25.91, Z:-0.91 [[ 9.81747152e-01 1.88524193e-01 2.51228535e-02 2.05812394e+02] [-1.88466135e-01 9.82068536e-01 -4.68048001e-03 2.59117466e+01] [-2.55547477e-02 -1.39759190e-04 9.99673414e-01 -9.07670661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74592 meters Centerline goodness [0,1] 0.9999006063015605 Centerline is valid? [True, True] Translation: X:205.85, Y:25.91, Z:-0.91 [[ 9.81342119e-01 1.90653894e-01 2.48744350e-02 2.05845749e+02] [-1.90597534e-01 9.81657301e-01 -4.63923951e-03 2.59091274e+01] [-2.53026598e-02 -1.88324845e-04 9.99679819e-01 -9.07107442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:205.88, Y:25.91, Z:-0.91 [[ 9.80769703e-01 1.93863159e-01 2.25358527e-02 2.05878532e+02] [-1.93817676e-01 9.81028550e-01 -4.20616363e-03 2.59072200e+01] [-2.29237351e-02 -2.42568737e-04 9.99737187e-01 -9.07382532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80592000000001 meters Centerline goodness [0,1] 0.9996025832091406 Centerline is valid? [True, True] Translation: X:205.91, Y:25.90, Z:-0.91 [[ 9.80561213e-01 1.94965261e-01 2.20964664e-02 2.05910261e+02] [-1.94921747e-01 9.80810114e-01 -4.12714855e-03 2.59035737e+01] [-2.24770883e-02 -2.60160026e-04 9.99747324e-01 -9.07897976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83592000000002 meters Centerline goodness [0,1] 0.9995017935432443 Centerline is valid? [True, True] Translation: X:205.94, Y:25.90, Z:-0.91 [[ 9.80455158e-01 1.95694504e-01 2.02816024e-02 2.05942875e+02] [-1.95657931e-01 9.80664876e-01 -3.79155933e-03 2.59002422e+01] [-2.06314424e-02 -2.50802439e-04 9.99787118e-01 -9.06989001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86592000000002 meters Centerline goodness [0,1] 0.9996518798488164 Centerline is valid? [True, True] Translation: X:205.97, Y:25.90, Z:-0.91 [[ 9.80381100e-01 1.95894528e-01 2.18685167e-02 2.05974672e+02] [-1.95852022e-01 9.80624933e-01 -4.08979517e-03 2.59016253e+01] [-2.22459813e-02 -2.73435319e-04 9.99752490e-01 -9.08788440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89592000000002 meters Centerline goodness [0,1] 0.9993040365877908 Centerline is valid? [True, True] Translation: X:206.01, Y:25.90, Z:-0.91 [[ 9.80376592e-01 1.95847612e-01 2.24822279e-02 2.06005630e+02] [-1.95802639e-01 9.80634303e-01 -4.20608877e-03 2.58984771e+01] [-2.28705963e-02 -2.78528587e-04 9.99738395e-01 -9.09087795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92592000000002 meters Centerline goodness [0,1] 0.9993544222078761 Centerline is valid? [True, True] Translation: X:206.04, Y:25.90, Z:-0.91 [[ 9.80517205e-01 1.95100146e-01 2.28460921e-02 2.06037818e+02] [-1.95053467e-01 9.80783291e-01 -4.27570046e-03 2.58988996e+01] [-2.32412552e-02 -2.63811600e-04 9.99729851e-01 -9.08273814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95592 meters Centerline goodness [0,1] 0.9996027608123541 Centerline is valid? [True, True] Translation: X:206.07, Y:25.90, Z:-0.91 [[ 9.80724392e-01 1.94194663e-01 2.16356122e-02 2.06069300e+02] [-1.94152548e-01 9.80962987e-01 -4.05059277e-03 2.58972658e+01] [-2.20103383e-02 -2.28094097e-04 9.99757717e-01 -9.07087297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98592 meters Centerline goodness [0,1] 0.999354582464502 Centerline is valid? [True, True] Translation: X:206.10, Y:25.89, Z:-0.91 [[ 9.80509330e-01 1.95216537e-01 2.21801078e-02 2.06099751e+02] [-1.95172535e-01 9.80760133e-01 -4.15259042e-03 2.58945324e+01] [-2.25640198e-02 -2.57294214e-04 9.99745367e-01 -9.07974329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01592 meters Centerline goodness [0,1] 0.999451918285999 Centerline is valid? [True, True] Translation: X:206.13, Y:25.89, Z:-0.91 [[ 9.80439289e-01 1.95498639e-01 2.27833926e-02 2.06130324e+02] [-1.95452287e-01 9.80703935e-01 -4.26553823e-03 2.58941877e+01] [-2.31776697e-02 -2.70964919e-04 9.99731325e-01 -9.07333229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04592 meters Centerline goodness [0,1] 0.999502784407319 Centerline is valid? [True, True] Translation: X:206.16, Y:25.90, Z:-0.91 [[ 9.80407526e-01 1.95715246e-01 2.22850925e-02 2.06160813e+02] [-1.95670988e-01 9.80660731e-01 -4.17082249e-03 2.58951878e+01] [-2.26704087e-02 -2.71440303e-04 9.99742956e-01 -9.06321535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07592 meters Centerline goodness [0,1] 0.9992539540435691 Centerline is valid? [True, True] Translation: X:206.19, Y:25.89, Z:-0.91 [[ 9.80529248e-01 1.95042310e-01 2.28230573e-02 2.06189856e+02] [-1.94995946e-01 9.80794792e-01 -4.26117266e-03 2.58929258e+01] [-2.32158447e-02 -2.72199241e-04 9.99730439e-01 -9.06660860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10592 meters Centerline goodness [0,1] 0.9995026112907237 Centerline is valid? [True, True] Translation: X:206.22, Y:25.89, Z:-0.91 [[ 9.80823138e-01 1.93686936e-01 2.17104074e-02 2.06218701e+02] [-1.93644874e-01 9.81063359e-01 -4.04337947e-03 2.58910633e+01] [-2.20824350e-02 -2.38268954e-04 9.99756125e-01 -9.06730070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13592 meters Centerline goodness [0,1] 0.9997022775765395 Centerline is valid? [True, True] Translation: X:206.25, Y:25.89, Z:-0.91 [[ 9.81486978e-01 1.90271662e-01 2.19090473e-02 2.06248151e+02] [-1.90228201e-01 9.81731463e-01 -4.07026333e-03 2.58918651e+01] [-2.22832568e-02 -1.72808185e-04 9.99751682e-01 -9.05879041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16592 meters Centerline goodness [0,1] 0.9997022775765395 Centerline is valid? [True, True] Translation: X:206.28, Y:25.89, Z:-0.91 [[ 9.81583795e-01 1.89771330e-01 2.19111086e-02 2.06275042e+02] [-1.89727992e-01 9.81828301e-01 -4.05915169e-03 2.58865400e+01] [-2.22832571e-02 -1.72753098e-04 9.99751682e-01 -9.05902769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19592 meters Centerline goodness [0,1] 0.9996031746031746 Centerline is valid? [True, True] Translation: X:206.30, Y:25.88, Z:-0.91 [[ 9.82047471e-01 1.87354127e-01 2.19361895e-02 2.06303273e+02] [-1.87310345e-01 9.82292428e-01 -4.05221877e-03 2.58842699e+01] [-2.23069527e-02 -1.29404017e-04 9.99751161e-01 -9.05502054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22592 meters Centerline goodness [0,1] 0.9995531059138985 Centerline is valid? [True, True] Translation: X:206.33, Y:25.88, Z:-0.91 [[ 9.82658226e-01 1.84112402e-01 2.20325728e-02 2.06331649e+02] [-1.84067682e-01 9.82905193e-01 -4.05828833e-03 2.58831157e+01] [-2.24031114e-02 -6.75741956e-05 9.99749017e-01 -9.05736300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25592 meters Centerline goodness [0,1] 0.9995525504623646 Centerline is valid? [True, True] Translation: X:206.36, Y:25.88, Z:-0.91 [[ 9.83110225e-01 1.81574892e-01 2.29094624e-02 2.06360037e+02] [-1.81526098e-01 9.83377119e-01 -4.20923465e-03 2.58807517e+01] [-2.32929324e-02 -2.05236795e-05 9.99728683e-01 -9.06094728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28592 meters Centerline goodness [0,1] 0.9998511830943996 Centerline is valid? [True, True] Translation: X:206.39, Y:25.88, Z:-0.91 [[ 9.83416337e-01 1.79975548e-01 2.23854989e-02 2.06387927e+02] [-1.79928813e-01 9.83671084e-01 -4.10126795e-03 2.58774908e+01] [-2.27580959e-02 5.45766404e-06 9.99741001e-01 -9.05729876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31592 meters Centerline goodness [0,1] 0.9993540372670807 Centerline is valid? [True, True] Translation: X:206.42, Y:25.87, Z:-0.91 [[ 9.83809094e-01 1.77956453e-01 2.12406827e-02 2.06416977e+02] [-1.77914117e-01 9.84038363e-01 -3.88170661e-03 2.58747093e+01] [-2.15924214e-02 3.98409435e-05 9.99766856e-01 -9.05840792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34592 meters Centerline goodness [0,1] 0.9995533055390113 Centerline is valid? [True, True] Translation: X:206.45, Y:25.87, Z:-0.91 [[ 9.83881721e-01 1.77332274e-01 2.30222201e-02 2.06445534e+02] [-1.77282615e-01 9.84151036e-01 -4.19670369e-03 2.58714431e+01] [-2.34015528e-02 4.76206740e-05 9.99726145e-01 -9.05726844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37592 meters Centerline goodness [0,1] 0.9993546465448769 Centerline is valid? [True, True] Translation: X:206.47, Y:25.87, Z:-0.90 [[ 9.84075765e-01 1.76321729e-01 2.24841568e-02 2.06473225e+02] [-1.76274371e-01 9.84332588e-01 -4.08679942e-03 2.58681234e+01] [-2.28524798e-02 5.83396797e-05 9.99738846e-01 -9.04612377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40592 meters Centerline goodness [0,1] 0.9994047914289966 Centerline is valid? [True, True] Translation: X:206.50, Y:25.86, Z:-0.91 [[ 9.84232395e-01 1.75329740e-01 2.33682380e-02 2.06501340e+02] [-1.75278559e-01 9.84509765e-01 -4.23674807e-03 2.58640495e+01] [-2.37490864e-02 7.39936178e-05 9.99717948e-01 -9.05288263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43592 meters Centerline goodness [0,1] 0.9994538503549972 Centerline is valid? [True, True] Translation: X:206.53, Y:25.86, Z:-0.91 [[ 9.84805192e-01 1.72353743e-01 2.12819439e-02 2.06529501e+02] [-1.72310805e-01 9.85035112e-01 -3.84894702e-03 2.58600119e+01] [-2.16268424e-02 1.23354119e-04 9.99766105e-01 -9.05298679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46592 meters Centerline goodness [0,1] 0.999602879126334 Centerline is valid? [True, True] Translation: X:206.56, Y:25.86, Z:-0.91 [[ 9.85139954e-01 1.70420191e-01 2.13595157e-02 2.06557351e+02] [-1.70376723e-01 9.85371470e-01 -3.85201944e-03 2.58550322e+01] [-2.17035192e-02 1.55613975e-04 9.99764439e-01 -9.06301883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49592 meters Centerline goodness [0,1] 0.9996029382568989 Centerline is valid? [True, True] Translation: X:206.59, Y:25.85, Z:-0.91 [[ 9.85540032e-01 1.67953082e-01 2.24188874e-02 2.06585920e+02] [-1.67904787e-01 9.85794967e-01 -4.03291706e-03 2.58516355e+01] [-2.27777672e-02 2.10362688e-04 9.99740531e-01 -9.05763390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52592 meters Centerline goodness [0,1] 0.999305658880127 Centerline is valid? [True, True] Translation: X:206.61, Y:25.85, Z:-0.91 [[ 9.85814161e-01 1.66326488e-01 2.24930909e-02 2.06614179e+02] [-1.66277679e-01 9.86070709e-01 -4.03621990e-03 2.58478590e+01] [-2.28511084e-02 2.38863790e-04 9.99738851e-01 -9.05323543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55592000000001 meters Centerline goodness [0,1] 0.9997520456236053 Centerline is valid? [True, True] Translation: X:206.64, Y:25.84, Z:-0.91 [[ 9.85809273e-01 1.66213937e-01 2.35160541e-02 2.06642308e+02] [-1.66160805e-01 9.86089686e-01 -4.20930859e-03 2.58429627e+01] [-2.38885841e-02 2.42128963e-04 9.99714598e-01 -9.05794451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58592000000002 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:206.67, Y:25.84, Z:-0.91 [[ 9.85721766e-01 1.66853936e-01 2.26354813e-02 2.06670165e+02] [-1.66805109e-01 9.85981603e-01 -4.04166641e-03 2.58373791e+01] [-2.29925361e-02 2.08244629e-04 9.99735615e-01 -9.05512614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61592000000002 meters Centerline goodness [0,1] 0.9999007838079175 Centerline is valid? [True, True] Translation: X:206.70, Y:25.83, Z:-0.90 [[ 9.85821849e-01 1.66248179e-01 2.27337766e-02 2.06697651e+02] [-1.66199033e-01 9.86083920e-01 -4.04766348e-03 2.58331411e+01] [-2.30903283e-02 2.11943407e-04 9.99733360e-01 -9.04943722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.73, Y:25.83, Z:-0.90 [[ 9.85650529e-01 1.67076356e-01 2.40525536e-02 2.06725725e+02] [-1.67021854e-01 9.85943941e-01 -4.27160238e-03 2.58294042e+01] [-2.44281532e-02 1.93005063e-04 9.99701570e-01 -9.04930628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67592000000002 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:206.75, Y:25.82, Z:-0.90 [[ 9.85514031e-01 1.67780526e-01 2.47343726e-02 2.06752759e+02] [-1.67723427e-01 9.85824359e-01 -4.38006511e-03 2.58242726e+01] [-2.51186366e-02 1.68081875e-04 9.99684463e-01 -9.04901665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.78, Y:25.82, Z:-0.91 [[ 9.85044706e-01 1.70375533e-01 2.56730316e-02 2.06779829e+02] [-1.70315245e-01 9.85379201e-01 -4.53300206e-03 2.58198753e+01] [-2.60699840e-02 9.27010192e-05 9.99660116e-01 -9.05563370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73592 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:206.81, Y:25.82, Z:-0.91 [[ 9.84931803e-01 1.70988500e-01 2.59282934e-02 2.06807523e+02] [-1.70927571e-01 9.85273022e-01 -4.56472000e-03 2.58170559e+01] [-2.63269626e-02 6.40777029e-05 9.99653383e-01 -9.06307441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76592 meters Centerline goodness [0,1] 0.9999008428358949 Centerline is valid? [True, True] Translation: X:206.84, Y:25.82, Z:-0.91 [[ 9.84525881e-01 1.73653162e-01 2.35237971e-02 2.06836130e+02] [-1.73604026e-01 9.84806874e-01 -4.13075714e-03 2.58161098e+01] [-2.38837161e-02 -1.69885644e-05 9.99714743e-01 -9.05565160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.86, Y:25.81, Z:-0.91 [[ 9.84273334e-01 1.74975303e-01 2.42826677e-02 2.06864345e+02] [-1.74923619e-01 9.84572821e-01 -4.25299610e-03 2.58127892e+01] [-2.46522239e-02 -6.15014585e-05 9.99696086e-01 -9.05346846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:206.89, Y:25.81, Z:-0.90 [[ 9.84021112e-01 1.76383473e-01 2.43171087e-02 2.06892287e+02] [-1.76332382e-01 9.84321522e-01 -4.24647103e-03 2.58124743e+01] [-2.46848607e-02 -1.09276547e-04 9.99695276e-01 -9.04677422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.92, Y:25.81, Z:-0.91 [[ 9.83933933e-01 1.76636422e-01 2.59536202e-02 2.06921387e+02] [-1.76578626e-01 9.84276158e-01 -4.52027888e-03 2.58106651e+01] [-2.63439755e-02 -1.35198817e-04 9.99652928e-01 -9.05704156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88592 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:206.95, Y:25.81, Z:-0.90 [[ 9.84082777e-01 1.76203421e-01 2.30963629e-02 2.06950548e+02] [-1.76157777e-01 9.84353768e-01 -4.01219577e-03 2.58094354e+01] [-2.34419545e-02 -1.20271190e-04 9.99725192e-01 -9.04922194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91592 meters Centerline goodness [0,1] 0.999801813407323 Centerline is valid? [True, True] Translation: X:206.98, Y:25.81, Z:-0.91 [[ 9.84472417e-01 1.73784897e-01 2.47562146e-02 2.06980640e+02] [-1.73731975e-01 9.84783633e-01 -4.28923860e-03 2.58122349e+01] [-2.51249198e-02 -7.83089592e-05 9.99684316e-01 -9.05777774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94592 meters Centerline goodness [0,1] 0.9997522544841938 Centerline is valid? [True, True] Translation: X:207.01, Y:25.81, Z:-0.91 [[ 9.84733060e-01 1.71995276e-01 2.68034509e-02 2.07009660e+02] [-1.71932912e-01 9.85097773e-01 -4.63154190e-03 2.58101311e+01] [-2.72006231e-02 -4.75629218e-05 9.99629993e-01 -9.07039080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97592 meters Centerline goodness [0,1] 0.9994556072453726 Centerline is valid? [True, True] Translation: X:207.04, Y:25.81, Z:-0.91 [[ 9.85501943e-01 1.67430031e-01 2.74427731e-02 2.07038718e+02] [-1.67363015e-01 9.85883958e-01 -4.73734220e-03 2.58120738e+01] [-2.78485631e-02 7.57547043e-05 9.99612151e-01 -9.07168449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00592 meters Centerline goodness [0,1] 0.9993066561014263 Centerline is valid? [True, True] Translation: X:207.07, Y:25.81, Z:-0.91 [[ 9.86063009e-01 1.64171424e-01 2.69719582e-02 2.07067152e+02] [-1.64105842e-01 9.86431812e-01 -4.64239626e-03 2.58112481e+01] [-2.73681464e-02 1.51439302e-04 9.99625411e-01 -9.07535658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03592 meters Centerline goodness [0,1] 0.9993063469256305 Centerline is valid? [True, True] Translation: X:207.10, Y:25.81, Z:-0.91 [[ 9.87178443e-01 1.57547889e-01 2.56395242e-02 2.07096165e+02] [-1.57486687e-01 9.87511300e-01 -4.40173075e-03 2.58132967e+01] [-2.60128032e-02 3.07409990e-04 9.99661563e-01 -9.07863127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06592 meters Centerline goodness [0,1] 0.9990579602360058 Centerline is valid? [True, True] Translation: X:207.12, Y:25.81, Z:-0.91 [[ 9.87688727e-01 1.54427151e-01 2.49646337e-02 2.07124823e+02] [-1.54368408e-01 9.88004109e-01 -4.27498654e-03 2.58112579e+01] [-2.53253346e-02 3.68605251e-04 9.99679194e-01 -9.07837589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09592 meters Centerline goodness [0,1] 0.9990064580228515 Centerline is valid? [True, True] Translation: X:207.15, Y:25.81, Z:-0.91 [[ 9.88696156e-01 1.47505435e-01 2.68711243e-02 2.07154772e+02] [-1.47434872e-01 9.89061072e-01 -4.59945749e-03 2.58097640e+01] [-2.72556280e-02 5.85725159e-04 9.99628325e-01 -9.09291882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12592 meters Centerline goodness [0,1] 0.9988105268374883 Centerline is valid? [True, True] Translation: X:207.18, Y:25.81, Z:-0.91 [[ 9.89105922e-01 1.44672605e-01 2.71903154e-02 2.07182891e+02] [-1.44599398e-01 9.89479354e-01 -4.64998945e-03 2.58059006e+01] [-2.75769818e-02 6.67628878e-04 9.99619460e-01 -9.09317824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15592 meters Centerline goodness [0,1] 0.9985620785402618 Centerline is valid? [True, True] Translation: X:207.21, Y:25.80, Z:-0.91 [[ 9.89634684e-01 1.41219579e-01 2.60810634e-02 2.07211872e+02] [-1.41151312e-01 9.89978035e-01 -4.44948005e-03 2.58023259e+01] [-2.64480335e-02 7.21983465e-04 9.99649929e-01 -9.08833675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18592 meters Centerline goodness [0,1] 0.9981159204720115 Centerline is valid? [True, True] Translation: X:207.24, Y:25.80, Z:-0.91 [[ 9.90355330e-01 1.36227263e-01 2.52676389e-02 2.07240639e+02] [-1.36161836e-01 9.90677275e-01 -4.30010202e-03 2.57989018e+01] [-2.56178668e-02 8.18140837e-04 9.99671474e-01 -9.09147033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21592 meters Centerline goodness [0,1] 0.9982113578774781 Centerline is valid? [True, True] Translation: X:207.27, Y:25.79, Z:-0.91 [[ 9.90755175e-01 1.33594946e-01 2.35918136e-02 2.07268681e+02] [-1.33537403e-01 9.91035681e-01 -4.00503151e-03 2.57941730e+01] [-2.39153810e-02 8.17616183e-04 9.99713652e-01 -9.10015086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24592 meters Centerline goodness [0,1] 0.9988571428571429 Centerline is valid? [True, True] Translation: X:207.30, Y:25.79, Z:-0.91 [[ 9.91111983e-01 1.30368904e-01 2.64761407e-02 2.07297807e+02] [-1.30295328e-01 9.91465049e-01 -4.49276167e-03 2.57885788e+01] [-2.68358845e-02 1.00311250e-03 9.99639350e-01 -9.11421166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27592 meters Centerline goodness [0,1] 0.9978163771712159 Centerline is valid? [True, True] Translation: X:207.33, Y:25.78, Z:-0.91 [[ 9.91322885e-01 1.28862510e-01 2.59497702e-02 2.07326260e+02] [-1.28791591e-01 9.91661952e-01 -4.39298644e-03 2.57835304e+01] [-2.62994911e-02 1.01275581e-03 9.99653596e-01 -9.10593532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30592000000001 meters Centerline goodness [0,1] 0.9979155293066654 Centerline is valid? [True, True] Translation: X:207.35, Y:25.78, Z:-0.91 [[ 9.91579108e-01 1.27034535e-01 2.51614622e-02 2.07354218e+02] [-1.26967535e-01 9.91897772e-01 -4.24923284e-03 2.57762499e+01] [-2.54973976e-02 1.01876169e-03 9.99674369e-01 -9.09594200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33592000000002 meters Centerline goodness [0,1] 0.9982630272952854 Centerline is valid? [True, True] Translation: X:207.38, Y:25.77, Z:-0.91 [[ 9.91670065e-01 1.26690029e-01 2.32404424e-02 2.07382275e+02] [-1.26633002e-01 9.91941910e-01 -3.91522570e-03 2.57699533e+01] [-2.35491889e-02 9.39605131e-04 9.99722238e-01 -9.09113097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36592000000002 meters Centerline goodness [0,1] 0.9978671692872377 Centerline is valid? [True, True] Translation: X:207.41, Y:25.76, Z:-0.91 [[ 9.91904090e-01 1.24919251e-01 2.28354232e-02 2.07410193e+02] [-1.24863945e-01 9.92166452e-01 -3.83757049e-03 2.57641760e+01] [-2.31359272e-02 9.55180855e-04 9.99731872e-01 -9.08639144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39592000000002 meters Centerline goodness [0,1] 0.9977624185768982 Centerline is valid? [True, True] Translation: X:207.44, Y:25.76, Z:-0.91 [[ 9.91923081e-01 1.24926312e-01 2.19549223e-02 2.07438942e+02] [-1.24875307e-01 9.92165603e-01 -3.68437147e-03 2.57586073e+01] [-2.22431937e-02 9.12985432e-04 9.99752173e-01 -9.08040094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42592000000002 meters Centerline goodness [0,1] 0.9976202280614774 Centerline is valid? [True, True] Translation: X:207.47, Y:25.75, Z:-0.91 [[ 9.91949762e-01 1.24727632e-01 2.18789100e-02 2.07466727e+02] [-1.24677156e-01 9.92190607e-01 -3.66146741e-03 2.57538492e+01] [-2.21647351e-02 9.04191449e-04 9.99753923e-01 -9.08672594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45592 meters Centerline goodness [0,1] 0.9974155069582505 Centerline is valid? [True, True] Translation: X:207.49, Y:25.75, Z:-0.91 [[ 9.91925403e-01 1.24754354e-01 2.28111073e-02 2.07494370e+02] [-1.24699741e-01 9.92187222e-01 -3.80671468e-03 2.57473248e+01] [-2.31077934e-02 9.31437817e-04 9.99732545e-01 -9.09048138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48592 meters Centerline goodness [0,1] 0.9979671773513809 Centerline is valid? [True, True] Translation: X:207.52, Y:25.74, Z:-0.91 [[ 9.91937009e-01 1.24148831e-01 2.54565701e-02 2.07522597e+02] [-1.24080888e-01 9.92263058e-01 -4.23755433e-03 2.57412166e+01] [-2.57857015e-02 1.04471314e-03 9.99666948e-01 -9.10093962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51592 meters Centerline goodness [0,1] 0.9982644054348904 Centerline is valid? [True, True] Translation: X:207.55, Y:25.74, Z:-0.91 [[ 9.92075584e-01 1.22912034e-01 2.60512429e-02 2.07550498e+02] [-1.22840736e-01 9.92416969e-01 -4.32584261e-03 2.57351079e+01] [-2.63853936e-02 1.09140898e-03 9.99651249e-01 -9.09157834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54592 meters Centerline goodness [0,1] 0.9976688820553516 Centerline is valid? [True, True] Translation: X:207.58, Y:25.73, Z:-0.91 [[ 9.92267183e-01 1.21724531e-01 2.42688144e-02 2.07578241e+02] [-1.21662548e-01 9.92563381e-01 -4.01990244e-03 2.57295211e+01] [-2.45776572e-02 1.03621147e-03 9.99697387e-01 -9.09677292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57592 meters Centerline goodness [0,1] 0.9974116475858636 Centerline is valid? [True, True] Translation: X:207.61, Y:25.72, Z:-0.91 [[ 9.92598393e-01 1.19431119e-01 2.20144722e-02 2.07605475e+02] [-1.19379755e-01 9.92842003e-01 -3.63754765e-03 2.57209594e+01] [-2.22913291e-02 9.82541649e-04 9.99751035e-01 -9.09177234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60592 meters Centerline goodness [0,1] 0.9980105441161842 Centerline is valid? [True, True] Translation: X:207.63, Y:25.71, Z:-0.91 [[ 9.92607810e-01 1.19220194e-01 2.27218342e-02 2.07632603e+02] [-1.19165666e-01 9.92867327e-01 -3.74373665e-03 2.57123077e+01] [-2.30060958e-02 1.00839972e-03 9.99734816e-01 -9.09776603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63592 meters Centerline goodness [0,1] 0.9979670765569219 Centerline is valid? [True, True] Translation: X:207.66, Y:25.71, Z:-0.91 [[ 9.92489588e-01 1.20070993e-01 2.33960483e-02 2.07661179e+02] [-1.20013648e-01 9.92764796e-01 -3.84505310e-03 2.57064265e+01] [-2.36884525e-02 1.00833006e-03 9.99718881e-01 -9.10039008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66592 meters Centerline goodness [0,1] 0.9983117334525051 Centerline is valid? [True, True] Translation: X:207.69, Y:25.70, Z:-0.91 [[ 9.92322820e-01 1.21116274e-01 2.50253713e-02 2.07688930e+02] [-1.21051255e-01 9.92637780e-01 -4.10250576e-03 2.57000796e+01] [-2.53380092e-02 1.04165750e-03 9.99678398e-01 -9.11450509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69592 meters Centerline goodness [0,1] 0.9983586988958519 Centerline is valid? [True, True] Translation: X:207.72, Y:25.69, Z:-0.91 [[ 9.91842344e-01 1.25226928e-01 2.38113753e-02 2.07718135e+02] [-1.25169337e-01 9.92127728e-01 -3.89977799e-03 2.56918614e+01] [-2.41122829e-02 8.87510897e-04 9.99708863e-01 -9.09753535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72592 meters Centerline goodness [0,1] 0.9984123046390474 Centerline is valid? [True, True] Translation: X:207.75, Y:25.69, Z:-0.91 [[ 9.91555765e-01 1.27694774e-01 2.26099470e-02 2.07746459e+02] [-1.27643697e-01 9.91813209e-01 -3.69394386e-03 2.56855989e+01] [-2.28965414e-02 7.76734114e-04 9.99737538e-01 -9.09034499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75592 meters Centerline goodness [0,1] 0.9986109733108444 Centerline is valid? [True, True] Translation: X:207.77, Y:25.68, Z:-0.91 [[ 9.90942220e-01 1.32349058e-01 2.27429993e-02 2.07774424e+02] [-1.32298671e-01 9.91202945e-01 -3.71270111e-03 2.56789423e+01] [-2.30343003e-02 6.70203706e-04 9.99734451e-01 -9.08489019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78592 meters Centerline goodness [0,1] 0.9988095238095238 Centerline is valid? [True, True] Translation: X:207.80, Y:25.67, Z:-0.91 [[ 9.90852735e-01 1.33089619e-01 2.23161775e-02 2.07802914e+02] [-1.33041500e-01 9.91103806e-01 -3.63385093e-03 2.56742218e+01] [-2.26012763e-02 6.31633388e-04 9.99744359e-01 -9.09161344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81592 meters Centerline goodness [0,1] 0.9988597491448119 Centerline is valid? [True, True] Translation: X:207.83, Y:25.67, Z:-0.91 [[ 9.90663503e-01 1.34337244e-01 2.32234635e-02 2.07831807e+02] [-1.34285706e-01 9.90935479e-01 -3.77173395e-03 2.56714685e+01] [-2.35196383e-02 6.17939968e-04 9.99723184e-01 -9.07992627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84592 meters Centerline goodness [0,1] 0.9990578200932262 Centerline is valid? [True, True] Translation: X:207.86, Y:25.67, Z:-0.91 [[ 9.90844348e-01 1.33143010e-01 2.23700150e-02 2.07859180e+02] [-1.33095134e-01 9.91096648e-01 -3.62222558e-03 2.56689284e+01] [-2.26531209e-02 6.11721599e-04 9.99743198e-01 -9.08115220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87592 meters Centerline goodness [0,1] 0.9989087301587302 Centerline is valid? [True, True] Translation: X:207.89, Y:25.67, Z:-0.91 [[ 9.91013297e-01 1.31942149e-01 2.19980575e-02 2.07886518e+02] [-1.31895794e-01 9.91257226e-01 -3.55131655e-03 2.56664056e+01] [-2.22743018e-02 6.17950652e-04 9.99751706e-01 -9.07912959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90592 meters Centerline goodness [0,1] 0.9987106372427473 Centerline is valid? [True, True] Translation: X:207.91, Y:25.66, Z:-0.91 [[ 9.91044419e-01 1.31618350e-01 2.25293019e-02 2.07914210e+02] [-1.31569894e-01 9.91300264e-01 -3.62619624e-03 2.56643848e+01] [-2.28105769e-02 6.29543681e-04 9.99739607e-01 -9.08398924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93592 meters Centerline goodness [0,1] 0.9989582299831332 Centerline is valid? [True, True] Translation: X:207.94, Y:25.66, Z:-0.91 [[ 9.91099374e-01 1.30815540e-01 2.46844984e-02 2.07942897e+02] [-1.30757365e-01 9.91406478e-01 -3.96328526e-03 2.56609421e+01] [-2.49908309e-02 7.00329592e-04 9.99687435e-01 -9.08292313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96592 meters Centerline goodness [0,1] 0.9992552135054618 Centerline is valid? [True, True] Translation: X:207.97, Y:25.66, Z:-0.91 [[ 9.91376944e-01 1.29197662e-01 2.19024864e-02 2.07972019e+02] [-1.29151674e-01 9.91618648e-01 -3.50731040e-03 2.56592222e+01] [-2.21720503e-02 6.48323875e-04 9.99753960e-01 -9.08212041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99592 meters Centerline goodness [0,1] 0.9994050865103367 Centerline is valid? [True, True] Translation: X:208.00, Y:25.66, Z:-0.91 [[ 9.91426666e-01 1.28665040e-01 2.27700008e-02 2.08000017e+02] [-1.28615320e-01 9.91687876e-01 -3.64087161e-03 2.56553645e+01] [-2.30491866e-02 6.81086267e-04 9.99734100e-01 -9.09156502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02592 meters Centerline goodness [0,1] 0.9999006655408761 Centerline is valid? [True, True] Translation: X:208.03, Y:25.65, Z:-0.91 [[ 9.91618779e-01 1.27304451e-01 2.20402703e-02 2.08028600e+02] [-1.27257735e-01 9.91863455e-01 -3.51506212e-03 2.56528977e+01] [-2.23084217e-02 6.80806720e-04 9.99750904e-01 -9.09358037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05592000000001 meters Centerline goodness [0,1] 0.9998014494192395 Centerline is valid? [True, True] Translation: X:208.06, Y:25.65, Z:-0.91 [[ 9.91621910e-01 1.26912060e-01 2.40689806e-02 2.08057086e+02] [-1.26856480e-01 9.91913694e-01 -3.82838401e-03 2.56493861e+01] [-2.43602195e-02 7.43003303e-04 9.99702970e-01 -9.09882591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08592000000002 meters Centerline goodness [0,1] 0.9998014494192395 Centerline is valid? [True, True] Translation: X:208.08, Y:25.64, Z:-0.91 [[ 9.91681888e-01 1.26442201e-01 2.40707830e-02 2.08084085e+02] [-1.26386757e-01 9.91973698e-01 -3.81703440e-03 2.56447639e+01] [-2.43602179e-02 7.43055672e-04 9.99702970e-01 -9.09906326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11592000000002 meters Centerline goodness [0,1] 0.9997514292816306 Centerline is valid? [True, True] Translation: X:208.11, Y:25.64, Z:-0.91 [[ 9.91819083e-01 1.25509607e-01 2.32861411e-02 2.08111780e+02] [-1.25457730e-01 9.92092136e-01 -3.68131643e-03 2.56420248e+01] [-2.35640381e-02 7.29773486e-04 9.99722063e-01 -9.09789430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14592000000002 meters Centerline goodness [0,1] 0.9998016364988842 Centerline is valid? [True, True] Translation: X:208.14, Y:25.64, Z:-0.91 [[ 9.91814201e-01 1.25518194e-01 2.34472585e-02 2.08140005e+02] [-1.25465866e-01 9.92091054e-01 -3.69549101e-03 2.56394941e+01] [-2.37256668e-02 7.23409865e-04 9.99718245e-01 -9.10529849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17592000000002 meters Centerline goodness [0,1] 0.9997028673302629 Centerline is valid? [True, True] Translation: X:208.17, Y:25.64, Z:-0.91 [[ 9.91811183e-01 1.25599760e-01 2.31360763e-02 2.08168230e+02] [-1.25549061e-01 9.92080746e-01 -3.63675998e-03 2.56353160e+01] [-2.34096320e-02 7.02266558e-04 9.99725710e-01 -9.10499222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20592 meters Centerline goodness [0,1] 0.9998014986849287 Centerline is valid? [True, True] Translation: X:208.20, Y:25.63, Z:-0.91 [[ 9.91848697e-01 1.25188600e-01 2.37481799e-02 2.08196415e+02] [-1.25135306e-01 9.92132700e-01 -3.72299207e-03 2.56316065e+01] [-2.40274220e-02 7.20909085e-04 9.99711040e-01 -9.10405314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23592 meters Centerline goodness [0,1] 0.9998016069834342 Centerline is valid? [True, True] Translation: X:208.22, Y:25.63, Z:-0.91 [[ 9.91899771e-01 1.24773000e-01 2.38021589e-02 2.08224621e+02] [-1.24719619e-01 9.92185052e-01 -3.71999939e-03 2.56283945e+01] [-2.40803018e-02 7.21270356e-04 9.99709767e-01 -9.10703755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26592 meters Centerline goodness [0,1] 0.9999008968832069 Centerline is valid? [True, True] Translation: X:208.25, Y:25.63, Z:-0.91 [[ 9.91918956e-01 1.24594654e-01 2.39364974e-02 2.08252802e+02] [-1.24540897e-01 9.92207466e-01 -3.72942117e-03 2.56253357e+01] [-2.42146374e-02 7.18210694e-04 9.99706525e-01 -9.11340450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.28, Y:25.62, Z:-0.91 [[ 9.92064539e-01 1.23270073e-01 2.47475184e-02 2.08280985e+02] [-1.23212461e-01 9.92372865e-01 -3.84530920e-03 2.56213393e+01] [-2.50327772e-02 7.65592257e-04 9.99686338e-01 -9.11941710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32592 meters Centerline goodness [0,1] 0.9999009312462849 Centerline is valid? [True, True] Translation: X:208.31, Y:25.62, Z:-0.91 [[ 9.92279726e-01 1.21512602e-01 2.48119527e-02 2.08309464e+02] [-1.21454401e-01 9.92589565e-01 -3.84494881e-03 2.56187394e+01] [-2.50952951e-02 8.01743881e-04 9.99684742e-01 -9.11092819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:25.62, Z:-0.91 [[ 9.92496713e-01 1.19761430e-01 2.46469850e-02 2.08338345e+02] [-1.19703718e-01 9.92802352e-01 -3.80908819e-03 2.56150562e+01] [-2.49257665e-02 8.30171763e-04 9.99688960e-01 -9.10938567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38592 meters Centerline goodness [0,1] 0.9997519595197937 Centerline is valid? [True, True] Translation: X:208.37, Y:25.61, Z:-0.91 [[ 9.92785636e-01 1.17260921e-01 2.50311230e-02 2.08366431e+02] [-1.17200867e-01 9.93100736e-01 -3.85800638e-03 2.56106175e+01] [-2.53108201e-02 8.96504011e-04 9.99679228e-01 -9.11507872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41592 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:208.39, Y:25.60, Z:-0.91 [[ 9.92905533e-01 1.16004454e-01 2.61068629e-02 2.08394813e+02] [-1.15938977e-01 9.93248231e-01 -4.01304176e-03 2.56046284e+01] [-2.63961261e-02 9.57768403e-04 9.99651103e-01 -9.12231237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44592 meters Centerline goodness [0,1] 0.9994536604748188 Centerline is valid? [True, True] Translation: X:208.42, Y:25.60, Z:-0.91 [[ 9.93027792e-01 1.15025086e-01 2.57882352e-02 2.08423354e+02] [-1.14960915e-01 9.93362114e-01 -3.96225493e-03 2.55972361e+01] [-2.60728146e-02 9.69990155e-04 9.99659576e-01 -9.12986798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47592 meters Centerline goodness [0,1] 0.9998016266613767 Centerline is valid? [True, True] Translation: X:208.45, Y:25.59, Z:-0.91 [[ 9.93109575e-01 1.14555605e-01 2.47059633e-02 2.08452113e+02] [-1.14496599e-01 9.93416393e-01 -3.79451597e-03 2.55915544e+01] [-2.49779921e-02 9.39621365e-04 9.99687560e-01 -9.12750895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50592 meters Centerline goodness [0,1] 0.999801813407323 Centerline is valid? [True, True] Translation: X:208.48, Y:25.58, Z:-0.91 [[ 9.93064412e-01 1.14688311e-01 2.58778864e-02 2.08480938e+02] [-1.14623658e-01 9.93401043e-01 -3.97299494e-03 2.55822438e+01] [-2.61627754e-02 9.79221889e-04 9.99657216e-01 -9.13956505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53592 meters Centerline goodness [0,1] 0.9995040174585854 Centerline is valid? [True, True] Translation: X:208.51, Y:25.58, Z:-0.91 [[ 9.92954309e-01 1.15839718e-01 2.49579687e-02 2.08509483e+02] [-1.15779981e-01 9.93267499e-01 -3.83029423e-03 2.55754267e+01] [-2.52336393e-02 9.13674022e-04 9.99681164e-01 -9.12360362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56592 meters Centerline goodness [0,1] 0.999454770755886 Centerline is valid? [True, True] Translation: X:208.54, Y:25.57, Z:-0.91 [[ 9.92808205e-01 1.16753930e-01 2.64648411e-02 2.08537857e+02] [-1.16687126e-01 9.93160426e-01 -4.05999241e-03 2.55675077e+01] [-2.67578529e-02 9.42687529e-04 9.99641500e-01 -9.13549099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59592 meters Centerline goodness [0,1] 0.9995037959608991 Centerline is valid? [True, True] Translation: X:208.57, Y:25.56, Z:-0.91 [[ 9.92726813e-01 1.17887762e-01 2.44120901e-02 2.08567108e+02] [-1.17831265e-01 9.93026570e-01 -3.74503191e-03 2.55571938e+01] [-2.46833475e-02 8.41286133e-04 9.99694966e-01 -9.13105796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62592 meters Centerline goodness [0,1] 0.9996523293930665 Centerline is valid? [True, True] Translation: X:208.60, Y:25.55, Z:-0.91 [[ 9.92641784e-01 1.18474923e-01 2.50196212e-02 2.08595966e+02] [-1.18415801e-01 9.92956684e-01 -3.83679393e-03 2.55500572e+01] [-2.52979639e-02 8.45843495e-04 9.99679597e-01 -9.14763225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65592 meters Centerline goodness [0,1] 0.9995035989079176 Centerline is valid? [True, True] Translation: X:208.63, Y:25.54, Z:-0.92 [[ 9.92609677e-01 1.18783479e-01 2.48297101e-02 2.08625666e+02] [-1.18725349e-01 9.92919832e-01 -3.80762040e-03 2.55410280e+01] [-2.51061940e-02 8.31564856e-04 9.99684444e-01 -9.15310723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68592 meters Centerline goodness [0,1] 0.9993053488141312 Centerline is valid? [True, True] Translation: X:208.66, Y:25.53, Z:-0.92 [[ 9.92344385e-01 1.20549015e-01 2.68431667e-02 2.08655504e+02] [-1.20481718e-01 9.92707012e-01 -4.11638270e-03 2.55330917e+01] [-2.71436257e-02 8.50758429e-04 9.99631182e-01 -9.15215057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71592 meters Centerline goodness [0,1] 0.9997518856689163 Centerline is valid? [True, True] Translation: X:208.69, Y:25.53, Z:-0.91 [[ 9.92292250e-01 1.21085103e-01 2.63531376e-02 2.08685992e+02] [-1.21020389e-01 9.92641789e-01 -4.04276071e-03 2.55275368e+01] [-2.66487437e-02 8.22333165e-04 9.99644521e-01 -9.14882678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74592 meters Centerline goodness [0,1] 0.9997021593447506 Centerline is valid? [True, True] Translation: X:208.72, Y:25.52, Z:-0.91 [[ 9.92212617e-01 1.21773430e-01 2.61792569e-02 2.08715624e+02] [-1.21709805e-01 9.92557602e-01 -4.01613680e-03 2.55217548e+01] [-2.64734792e-02 7.98589359e-04 9.99649197e-01 -9.14661992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77592 meters Centerline goodness [0,1] 0.9997021297721292 Centerline is valid? [True, True] Translation: X:208.75, Y:25.51, Z:-0.91 [[ 9.92070287e-01 1.22822185e-01 2.66694121e-02 2.08745679e+02] [-1.22756533e-01 9.92428383e-01 -4.09133109e-03 2.55134215e+01] [-2.69699878e-02 7.85043438e-04 9.99635935e-01 -9.14775198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80592000000001 meters Centerline goodness [0,1] 0.9996524157108099 Centerline is valid? [True, True] Translation: X:208.78, Y:25.51, Z:-0.91 [[ 9.92067706e-01 1.22897312e-01 2.64181146e-02 2.08776108e+02] [-1.22832878e-01 9.92419088e-01 -4.05430864e-03 2.55065719e+01] [-2.67161049e-02 7.77135635e-04 9.99642759e-01 -9.14283098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83592000000002 meters Centerline goodness [0,1] 0.9996526916397916 Centerline is valid? [True, True] Translation: X:208.81, Y:25.50, Z:-0.91 [[ 9.92056788e-01 1.22899070e-01 2.68169282e-02 2.08806997e+02] [-1.22832632e-01 9.92418860e-01 -4.11712273e-03 2.54997119e+01] [-2.71196159e-02 7.90425683e-04 9.99631883e-01 -9.14402602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.84, Y:25.49, Z:-0.91 [[ 9.92014252e-01 1.23162674e-01 2.71786535e-02 2.08837445e+02] [-1.23094486e-01 9.92386176e-01 -4.17428716e-03 2.54898940e+01] [-2.74858364e-02 7.95409974e-04 9.99621877e-01 -9.14573692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89592000000002 meters Centerline goodness [0,1] 0.9996026226902444 Centerline is valid? [True, True] Translation: X:208.87, Y:25.48, Z:-0.91 [[ 9.92246020e-01 1.21816786e-01 2.46679240e-02 2.08867970e+02] [-1.21760128e-01 9.92552314e-01 -3.79158248e-03 2.54796582e+01] [-2.49460834e-02 7.58613028e-04 9.99688510e-01 -9.13169561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92592000000002 meters Centerline goodness [0,1] 0.9995535935717474 Centerline is valid? [True, True] Translation: X:208.90, Y:25.47, Z:-0.91 [[ 9.92144139e-01 1.22821970e-01 2.37649005e-02 2.08897969e+02] [-1.22769638e-01 9.92428467e-01 -3.65425861e-03 2.54709363e+01] [-2.40337870e-02 7.07943043e-04 9.99710896e-01 -9.12710082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95592 meters Centerline goodness [0,1] 0.9996529671310297 Centerline is valid? [True, True] Translation: X:208.93, Y:25.46, Z:-0.91 [[ 9.91904056e-01 1.24387403e-01 2.55757408e-02 2.08927593e+02] [-1.24327308e-01 9.92233467e-01 -3.93276134e-03 2.54635229e+01] [-2.58662919e-02 7.21158914e-04 9.99665151e-01 -9.14554208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98592 meters Centerline goodness [0,1] 0.9997516391814028 Centerline is valid? [True, True] Translation: X:208.96, Y:25.45, Z:-0.91 [[ 9.91500747e-01 1.27600628e-01 2.53840266e-02 2.08957848e+02] [-1.27542445e-01 9.91825427e-01 -3.90476329e-03 2.54532186e+01] [-2.56747732e-02 6.34034919e-04 9.99670148e-01 -9.13468062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01592 meters Centerline goodness [0,1] 0.9995529061102831 Centerline is valid? [True, True] Translation: X:208.99, Y:25.44, Z:-0.91 [[ 9.90763532e-01 1.33282500e-01 2.49679666e-02 2.08987554e+02] [-1.33227952e-01 9.91077971e-01 -3.84304344e-03 2.54423769e+01] [-2.52574121e-02 4.81116227e-04 9.99680865e-01 -9.13600022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:209.02, Y:25.43, Z:-0.91 [[ 9.90320758e-01 1.36682582e-01 2.41385125e-02 2.09018081e+02] [-1.36632571e-01 9.90614822e-01 -3.71690002e-03 2.54344678e+01] [-2.44200037e-02 3.82816226e-04 9.99701714e-01 -9.14012064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07592 meters Centerline goodness [0,1] 0.9996528294400635 Centerline is valid? [True, True] Translation: X:209.05, Y:25.43, Z:-0.91 [[ 9.89950905e-01 1.39290793e-01 2.43983710e-02 2.09048647e+02] [-1.39240453e-01 9.90251468e-01 -3.75844353e-03 2.54271346e+01] [-2.46840393e-02 3.23434330e-04 9.99695250e-01 -9.14281960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:209.08, Y:25.42, Z:-0.91 [[ 9.89220823e-01 1.44545684e-01 2.34245180e-02 2.09079404e+02] [-1.44500719e-01 9.89498111e-01 -3.60990101e-03 2.54196017e+01] [-2.37003119e-02 1.86129545e-04 9.99719091e-01 -9.13835522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13592 meters Centerline goodness [0,1] 0.9998015085351329 Centerline is valid? [True, True] Translation: X:209.11, Y:25.41, Z:-0.91 [[ 9.89098874e-01 1.45479286e-01 2.27858650e-02 2.09109982e+02] [-1.45436987e-01 9.89361285e-01 -3.51153192e-03 2.54148616e+01] [-2.30543078e-02 1.59344717e-04 9.99734201e-01 -9.13962185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16592 meters Centerline goodness [0,1] 0.9993547106125286 Centerline is valid? [True, True] Translation: X:209.14, Y:25.41, Z:-0.91 [[ 9.88736613e-01 1.47676934e-01 2.43194115e-02 2.09140181e+02] [-1.47629413e-01 9.89035646e-01 -3.74786693e-03 2.54084599e+01] [-2.46062384e-02 1.15392804e-04 9.99697214e-01 -9.14341260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19592 meters Centerline goodness [0,1] 0.9997517378351539 Centerline is valid? [True, True] Translation: X:209.17, Y:25.40, Z:-0.91 [[ 9.88809061e-01 1.47407663e-01 2.29700204e-02 2.09170579e+02] [-1.47365198e-01 9.89075815e-01 -3.53991213e-03 2.54038943e+01] [-2.32409018e-02 1.15315591e-04 9.99729887e-01 -9.13671597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22592 meters Centerline goodness [0,1] 0.9998010346199762 Centerline is valid? [True, True] Translation: X:209.20, Y:25.40, Z:-0.91 [[ 9.88919212e-01 1.46672966e-01 2.29310321e-02 2.09200325e+02] [-1.46630480e-01 9.89185030e-01 -3.53248609e-03 2.53998919e+01] [-2.32011539e-02 1.30955120e-04 9.99730808e-01 -9.12798792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25592 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:209.23, Y:25.40, Z:-0.91 [[ 9.89002076e-01 1.46077721e-01 2.31558313e-02 2.09229724e+02] [-1.46034270e-01 9.89273106e-01 -3.56562794e-03 2.53953326e+01] [-2.34283000e-02 1.44868519e-04 9.99725509e-01 -9.13886949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28592 meters Centerline goodness [0,1] 0.9995529949339426 Centerline is valid? [True, True] Translation: X:209.26, Y:25.39, Z:-0.91 [[ 9.89206261e-01 1.44585175e-01 2.37928773e-02 2.09259629e+02] [-1.44538904e-01 9.89492341e-01 -3.66220768e-03 2.53916469e+01] [-2.40723708e-02 1.83682344e-04 9.99710202e-01 -9.12565316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31592 meters Centerline goodness [0,1] 0.9998510057114477 Centerline is valid? [True, True] Translation: X:209.29, Y:25.39, Z:-0.91 [[ 9.89326754e-01 1.43937063e-01 2.26869190e-02 2.09289655e+02] [-1.43894825e-01 9.89586826e-01 -3.49192647e-03 2.53879729e+01] [-2.29532938e-02 1.90126049e-04 9.99736520e-01 -9.11717552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34592 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:209.32, Y:25.38, Z:-0.91 [[ 9.89333036e-01 1.44180951e-01 2.07845338e-02 2.09318755e+02] [-1.44145582e-01 9.89551325e-01 -3.19784171e-03 2.53831930e+01] [-2.10284308e-02 1.67731737e-04 9.99778864e-01 -9.10563708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37592 meters Centerline goodness [0,1] 0.9996520874751491 Centerline is valid? [True, True] Translation: X:209.35, Y:25.38, Z:-0.91 [[ 9.89381825e-01 1.43795185e-01 2.11317299e-02 2.09346806e+02] [-1.43758731e-01 9.89607455e-01 -3.24212042e-03 2.53775776e+01] [-2.13783188e-02 1.69824341e-04 9.99771443e-01 -9.10676949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40592 meters Centerline goodness [0,1] 0.9996034499851294 Centerline is valid? [True, True] Translation: X:209.38, Y:25.37, Z:-0.91 [[ 9.89228602e-01 1.44873586e-01 2.09384129e-02 2.09376145e+02] [-1.44838072e-01 9.89450162e-01 -3.21079806e-03 2.53724755e+01] [-2.11826759e-02 1.43533906e-04 9.99775612e-01 -9.09367492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43592 meters Centerline goodness [0,1] 0.9999007838079175 Centerline is valid? [True, True] Translation: X:209.41, Y:25.37, Z:-0.91 [[ 9.88996261e-01 1.46533617e-01 2.03542266e-02 2.09405707e+02] [-1.46500437e-01 9.89205685e-01 -3.11991125e-03 2.53678950e+01] [-2.05916886e-02 1.03677474e-04 9.99787963e-01 -9.09306972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46592 meters Centerline goodness [0,1] 0.999553261193289 Centerline is valid? [True, True] Translation: X:209.43, Y:25.36, Z:-0.91 [[ 9.89023069e-01 1.46415330e-01 1.98977250e-02 2.09433672e+02] [-1.46383771e-01 9.89223201e-01 -3.04129662e-03 2.53631515e+01] [-2.01285837e-02 9.52084990e-05 9.99797395e-01 -9.08485225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49592 meters Centerline goodness [0,1] 0.9994532259667959 Centerline is valid? [True, True] Translation: X:209.46, Y:25.36, Z:-0.91 [[ 9.88713933e-01 1.48368826e-01 2.07714036e-02 2.09461778e+02] [-1.48335063e-01 9.88932095e-01 -3.16542025e-03 2.53575229e+01] [-2.10111574e-02 4.85676472e-05 9.99779240e-01 -9.08993135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52592 meters Centerline goodness [0,1] 0.9997024252343402 Centerline is valid? [True, True] Translation: X:209.49, Y:25.35, Z:-0.91 [[ 9.88277736e-01 1.51058965e-01 2.20976325e-02 2.09490736e+02] [-1.51021650e-01 9.88524754e-01 -3.35745889e-03 2.53541364e+01] [-2.23512310e-02 -1.91190603e-05 9.99750180e-01 -9.08073912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55592000000001 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:209.52, Y:25.35, Z:-0.91 [[ 9.88070878e-01 1.52282116e-01 2.29368011e-02 2.09520292e+02] [-1.52242285e-01 9.88337065e-01 -3.48312103e-03 2.53502950e+01] [-2.31997077e-02 -5.03805427e-05 9.99730849e-01 -9.08607732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58592000000002 meters Centerline goodness [0,1] 0.9999504337050805 Centerline is valid? [True, True] Translation: X:209.55, Y:25.35, Z:-0.91 [[ 9.88011255e-01 1.52947934e-01 2.09926004e-02 2.09548913e+02] [-1.52914917e-01 9.88234246e-01 -3.17862957e-03 2.53457570e+01] [-2.12317714e-02 -6.95599463e-05 9.99774578e-01 -9.08352536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.58, Y:25.34, Z:-0.91 [[ 9.87578261e-01 1.55369821e-01 2.34392272e-02 2.09577746e+02] [-1.55329593e-01 9.87856365e-01 -3.53840504e-03 2.53424241e+01] [-2.37043511e-02 -1.46353713e-04 9.99719002e-01 -9.09233529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.61, Y:25.34, Z:-0.91 [[ 9.87513039e-01 1.55878905e-01 2.27983497e-02 2.09607379e+02] [-1.55841024e-01 9.87776160e-01 -3.43985299e-03 2.53397621e+01] [-2.30558669e-02 -1.56018481e-04 9.99734166e-01 -9.08350024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.64, Y:25.34, Z:-0.91 [[ 9.87519897e-01 1.55740102e-01 2.34408735e-02 2.09636602e+02] [-1.55700262e-01 9.87798053e-01 -3.52642604e-03 2.53380756e+01] [-2.37040552e-02 -1.67334280e-04 9.99719005e-01 -9.07850555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.66, Y:25.33, Z:-0.91 [[ 9.87676548e-01 1.54703225e-01 2.37054477e-02 2.09664894e+02] [-1.54662443e-01 9.87960975e-01 -3.55535301e-03 2.53343432e+01] [-2.39700818e-02 -1.54803657e-04 9.99712664e-01 -9.08100661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.69, Y:25.33, Z:-0.91 [[ 9.87828839e-01 1.53669805e-01 2.40785344e-02 2.09693826e+02] [-1.53627690e-01 9.88122245e-01 -3.60030783e-03 2.53321613e+01] [-2.43457941e-02 -1.42641712e-04 9.99703587e-01 -9.07712523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76592 meters Centerline goodness [0,1] 0.9999007641163045 Centerline is valid? [True, True] Translation: X:209.72, Y:25.33, Z:-0.91 [[ 9.88040009e-01 1.52340144e-01 2.38625591e-02 2.09722912e+02] [-1.52298655e-01 9.88328117e-01 -3.55715477e-03 2.53291939e+01] [-2.41259355e-02 -1.19624434e-04 9.99708920e-01 -9.06379292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.75, Y:25.33, Z:-0.91 [[ 9.88751991e-01 1.47800240e-01 2.29039168e-02 2.09751147e+02] [-1.47761040e-01 9.89017234e-01 -3.40385483e-03 2.53257855e+01] [-2.31554590e-02 -1.87383272e-05 9.99731876e-01 -9.06389632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:25.32, Z:-0.91 [[ 9.89229704e-01 1.44749087e-01 2.17323595e-02 2.09779388e+02] [-1.44713274e-01 9.89468393e-01 -3.21992465e-03 2.53215661e+01] [-2.19695639e-02 4.02842049e-05 9.99758639e-01 -9.06605833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85592 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:209.81, Y:25.32, Z:-0.91 [[ 9.89707629e-01 1.41419806e-01 2.18917069e-02 2.09807155e+02] [-1.41382900e-01 9.89949710e-01 -3.23234655e-03 2.53166740e+01] [-2.21288067e-02 1.03965049e-04 9.99755123e-01 -9.06906216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:25.31, Z:-0.91 [[ 9.89983777e-01 1.39549224e-01 2.14040945e-02 2.09834913e+02] [-1.39513716e-01 9.90215126e-01 -3.15064347e-03 2.53112803e+01] [-2.16343280e-02 1.32921154e-04 9.99765942e-01 -9.07337246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:25.31, Z:-0.91 [[ 9.90100443e-01 1.38017782e-01 2.55383045e-02 2.09862546e+02] [-1.37966835e-01 9.90429732e-01 -3.75478678e-03 2.53050405e+01] [-2.58121234e-02 1.94177019e-04 9.99666793e-01 -9.07245852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94592 meters Centerline goodness [0,1] 0.9999007394907936 Centerline is valid? [True, True] Translation: X:209.89, Y:25.30, Z:-0.91 [[ 9.90068284e-01 1.38695022e-01 2.29887841e-02 2.09893669e+02] [-1.38653894e-01 9.90335128e-01 -3.38120945e-03 2.52996681e+01] [-2.32355574e-02 1.60143808e-04 9.99730005e-01 -9.05423675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97592 meters Centerline goodness [0,1] 0.9999007394907936 Centerline is valid? [True, True] Translation: X:209.92, Y:25.30, Z:-0.91 [[ 9.90076868e-01 1.38633701e-01 2.29889779e-02 2.09922517e+02] [-1.38592587e-01 9.90343714e-01 -3.37989138e-03 2.52954046e+01] [-2.32355566e-02 1.60250359e-04 9.99730005e-01 -9.05448843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00592 meters Centerline goodness [0,1] 0.9999006211180124 Centerline is valid? [True, True] Translation: X:209.95, Y:25.29, Z:-0.91 [[ 9.89985759e-01 1.39588586e-01 2.10528942e-02 2.09951849e+02] [-1.39554350e-01 9.90209579e-01 -3.09391563e-03 2.52900127e+01] [-2.12786528e-02 1.24909437e-04 9.99773576e-01 -9.05555328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:25.28, Z:-0.91 [[ 9.89998734e-01 1.39583683e-01 2.04671022e-02 2.09980484e+02] [-1.39551495e-01 9.90210272e-01 -2.99958252e-03 2.52837180e+01] [-2.06854276e-02 1.13368180e-04 9.99786027e-01 -9.07072265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:210.01, Y:25.28, Z:-0.91 [[ 9.90049696e-01 1.39126722e-01 2.11034224e-02 2.10008664e+02] [-1.39092600e-01 9.90274579e-01 -3.08339071e-03 2.52759511e+01] [-2.13271648e-02 1.17380141e-04 9.99772543e-01 -9.06269382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:25.27, Z:-0.91 [[ 9.89894250e-01 1.39896823e-01 2.32002960e-02 2.10037895e+02] [-1.39855836e-01 9.90166081e-01 -3.38791413e-03 2.52710213e+01] [-2.34461045e-02 1.08979925e-04 9.99725096e-01 -9.06875644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12592 meters Centerline goodness [0,1] 0.9999005420458501 Centerline is valid? [True, True] Translation: X:210.07, Y:25.27, Z:-0.91 [[ 9.89823472e-01 1.40529532e-01 2.23818183e-02 2.10068509e+02] [-1.40491549e-01 9.90076483e-01 -3.26834012e-03 2.52666248e+01] [-2.26190103e-02 9.06234297e-05 9.99744153e-01 -9.05415455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.10, Y:25.26, Z:-0.91 [[ 9.89695633e-01 1.41538975e-01 2.16627052e-02 2.10097489e+02] [-1.41503665e-01 9.89932682e-01 -3.16200080e-03 2.52611279e+01] [-2.18921662e-02 6.40662051e-05 9.99760336e-01 -9.05829530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18592 meters Centerline goodness [0,1] 0.9999004975124378 Centerline is valid? [True, True] Translation: X:210.13, Y:25.26, Z:-0.91 [[ 9.89657132e-01 1.41884556e-01 2.11549799e-02 2.10126587e+02] [-1.41850990e-01 9.89883210e-01 -3.08652994e-03 2.52564789e+01] [-2.13788903e-02 5.37515263e-05 9.99771444e-01 -9.05628745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21592 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:210.16, Y:25.25, Z:-0.90 [[ 9.89558543e-01 1.42765831e-01 1.97941264e-02 2.10155543e+02] [-1.42736796e-01 9.89756494e-01 -2.87923897e-03 2.52535884e+01] [-2.00024221e-02 2.38253373e-05 9.99799931e-01 -9.04732568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24592 meters Centerline goodness [0,1] 0.9999007197815836 Centerline is valid? [True, True] Translation: X:210.18, Y:25.25, Z:-0.90 [[ 9.89587282e-01 1.42812927e-01 1.79298518e-02 2.10183566e+02] [-1.42789259e-01 9.89749700e-01 -2.59996323e-03 2.52490004e+01] [-1.81173738e-02 1.27003102e-05 9.99835867e-01 -9.04007888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27592 meters Centerline goodness [0,1] 0.9999504091247211 Centerline is valid? [True, True] Translation: X:210.21, Y:25.24, Z:-0.90 [[ 9.89460961e-01 1.43711702e-01 1.77187104e-02 2.10211194e+02] [-1.43688896e-01 9.89619597e-01 -2.56019664e-03 2.52425979e+01] [-1.79027132e-02 -1.27672975e-05 9.99839734e-01 -9.02928103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30592000000001 meters Centerline goodness [0,1] 0.9998508279051266 Centerline is valid? [True, True] Translation: X:210.24, Y:25.24, Z:-0.90 [[ 9.89544885e-01 1.42931797e-01 1.92723076e-02 2.10239334e+02] [-1.42904841e-01 9.89732540e-01 -2.77580944e-03 2.52389187e+01] [-1.94711814e-02 -7.31802299e-06 9.99810419e-01 -9.02385459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33592000000002 meters Centerline goodness [0,1] 0.9998508872210349 Centerline is valid? [True, True] Translation: X:210.27, Y:25.24, Z:-0.90 [[ 9.89671318e-01 1.42119745e-01 1.87792564e-02 2.10267739e+02] [-1.42094190e-01 9.89849472e-01 -2.69503204e-03 2.52373984e+01] [-1.89716543e-02 -1.22731219e-06 9.99820022e-01 -9.00558065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36592000000002 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:210.30, Y:25.23, Z:-0.90 [[ 9.89775258e-01 1.41510834e-01 1.78779731e-02 2.10295102e+02] [-1.41487742e-01 9.89936707e-01 -2.55639097e-03 2.52340010e+01] [-1.80598188e-02 7.38489791e-07 9.99836908e-01 -9.00395310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39592000000002 meters Centerline goodness [0,1] 0.9997517994539588 Centerline is valid? [True, True] Translation: X:210.32, Y:25.23, Z:-0.90 [[ 9.90055656e-01 1.39628896e-01 1.71338960e-02 2.10323039e+02] [-1.39607559e-01 9.90203904e-01 -2.44101559e-03 2.52300687e+01] [-1.73068870e-02 2.47198928e-05 9.99850224e-01 -9.00514664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42592000000002 meters Centerline goodness [0,1] 0.9997519595197937 Centerline is valid? [True, True] Translation: X:210.35, Y:25.23, Z:-0.90 [[ 9.90170201e-01 1.38883640e-01 1.65622369e-02 2.10350579e+02] [-1.38863743e-01 9.90308706e-01 -2.35097962e-03 2.52258582e+01] [-1.67282400e-02 2.79757498e-05 9.99860073e-01 -9.00498171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45592 meters Centerline goodness [0,1] 0.9997516268441706 Centerline is valid? [True, True] Translation: X:210.38, Y:25.22, Z:-0.90 [[ 9.90230902e-01 1.38789198e-01 1.34282970e-02 2.10379502e+02] [-1.38776193e-01 9.90321947e-01 -1.90004454e-03 2.52221931e+01] [-1.35620429e-02 1.79548796e-05 9.99908031e-01 -8.99082164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48592 meters Centerline goodness [0,1] 0.9994539859029088 Centerline is valid? [True, True] Translation: X:210.41, Y:25.22, Z:-0.90 [[ 9.90317180e-01 1.38049464e-01 1.46365373e-02 2.10407718e+02] [-1.38034031e-01 9.90425335e-01 -2.06429954e-03 2.52180863e+01] [-1.47813728e-02 2.39710569e-05 9.99890749e-01 -8.99970397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51592 meters Centerline goodness [0,1] 0.9993548707260186 Centerline is valid? [True, True] Translation: X:210.44, Y:25.21, Z:-0.90 [[ 9.90495812e-01 1.36856742e-01 1.37214852e-02 2.10435720e+02] [-1.36843162e-01 9.90590849e-01 -1.92819071e-03 2.52137324e+01] [-1.38562636e-02 3.21734033e-05 9.99903997e-01 -8.97886481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54592 meters Centerline goodness [0,1] 0.9993553186213737 Centerline is valid? [True, True] Translation: X:210.46, Y:25.21, Z:-0.90 [[ 9.90571698e-01 1.36104967e-01 1.55932404e-02 2.10464228e+02] [-1.36087450e-01 9.90694421e-01 -2.18398704e-03 2.52088123e+01] [-1.57453877e-02 4.13514336e-05 9.99876033e-01 -8.99129399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57592 meters Centerline goodness [0,1] 0.9995520828149107 Centerline is valid? [True, True] Translation: X:210.49, Y:25.21, Z:-0.90 [[ 9.90785516e-01 1.34437978e-01 1.64466095e-02 2.10492255e+02] [-1.34418384e-01 9.90922008e-01 -2.29610241e-03 2.52050549e+01] [-1.66059907e-02 6.42183370e-05 9.99862109e-01 -8.98750268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60592 meters Centerline goodness [0,1] 0.9993044169523526 Centerline is valid? [True, True] Translation: X:210.52, Y:25.20, Z:-0.90 [[ 9.90875609e-01 1.33771359e-01 1.64545301e-02 2.10519830e+02] [-1.33751796e-01 9.91012219e-01 -2.28872748e-03 2.52010670e+01] [-1.66128066e-02 6.70212824e-05 9.99861996e-01 -8.99340202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63592 meters Centerline goodness [0,1] 0.9996030367687193 Centerline is valid? [True, True] Translation: X:210.55, Y:25.20, Z:-0.90 [[ 9.90874056e-01 1.33482153e-01 1.87382157e-02 2.10548385e+02] [-1.33456891e-01 9.91051214e-01 -2.59785348e-03 2.51955566e+01] [-1.89172985e-02 7.34016074e-05 9.99821049e-01 -9.00381107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66592 meters Centerline goodness [0,1] 0.9995032536883414 Centerline is valid? [True, True] Translation: X:210.58, Y:25.19, Z:-0.90 [[ 9.90912096e-01 1.33339772e-01 1.77122489e-02 2.10577307e+02] [-1.33317309e-01 9.91070381e-01 -2.44825748e-03 2.51911201e+01] [-1.78805354e-02 6.46585768e-05 9.99840128e-01 -9.00103335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69592 meters Centerline goodness [0,1] 0.9995039682539683 Centerline is valid? [True, True] Translation: X:210.60, Y:25.19, Z:-0.90 [[ 9.90951772e-01 1.33145059e-01 1.69404629e-02 2.10604889e+02] [-1.33124630e-01 9.91096559e-01 -2.33295697e-03 2.51864141e+01] [-1.71002562e-02 5.66549820e-05 9.99853778e-01 -8.98731769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72592 meters Centerline goodness [0,1] 0.9995529061102831 Centerline is valid? [True, True] Translation: X:210.63, Y:25.18, Z:-0.90 [[ 9.91125794e-01 1.31743497e-01 1.77005987e-02 2.10633528e+02] [-1.31721114e-01 9.91283837e-01 -2.42961918e-03 2.51814224e+01] [-1.78664039e-02 7.65156622e-05 9.99840380e-01 -8.98943578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75592 meters Centerline goodness [0,1] 0.9996525192355423 Centerline is valid? [True, True] Translation: X:210.66, Y:25.17, Z:-0.90 [[ 9.91060086e-01 1.31979982e-01 1.95240832e-02 2.10662005e+02] [-1.31952969e-01 9.91252379e-01 -2.67106991e-03 2.51747032e+01] [-1.97058217e-02 7.09300198e-05 9.99805819e-01 -8.98412385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78592 meters Centerline goodness [0,1] 0.9994039044260097 Centerline is valid? [True, True] Translation: X:210.69, Y:25.17, Z:-0.90 [[ 9.91061285e-01 1.31917628e-01 1.98813826e-02 2.10690031e+02] [-1.31889786e-01 9.91260680e-01 -2.71092565e-03 2.51700652e+01] [-2.00652518e-02 6.45421621e-05 9.99798670e-01 -8.98815792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81592 meters Centerline goodness [0,1] 0.9997018485390579 Centerline is valid? [True, True] Translation: X:210.72, Y:25.17, Z:-0.90 [[ 9.90994761e-01 1.32424679e-01 1.98264387e-02 2.10719338e+02] [-1.32397124e-01 9.91193070e-01 -2.70182422e-03 2.51659786e+01] [-2.00096168e-02 5.25301829e-05 9.99799786e-01 -8.99164897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84592 meters Centerline goodness [0,1] 0.9995534828338957 Centerline is valid? [True, True] Translation: X:210.75, Y:25.16, Z:-0.90 [[ 9.90944714e-01 1.32617109e-01 2.10065552e-02 2.10747797e+02] [-1.32586412e-01 9.91167342e-01 -2.85354116e-03 2.51624563e+01] [-2.11994399e-02 4.25177517e-05 9.99775266e-01 -8.97850241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87592 meters Centerline goodness [0,1] 0.999751848726984 Centerline is valid? [True, True] Translation: X:210.78, Y:25.16, Z:-0.90 [[ 9.90889277e-01 1.32889220e-01 2.18836971e-02 2.10776674e+02] [-1.32856038e-01 9.91130897e-01 -2.96968542e-03 2.51584350e+01] [-2.20842475e-02 3.52481387e-05 9.99756113e-01 -8.98588768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90592 meters Centerline goodness [0,1] 0.9995040174585854 Centerline is valid? [True, True] Translation: X:210.81, Y:25.15, Z:-0.90 [[ 9.90942955e-01 1.32530312e-01 2.16281296e-02 2.10805882e+02] [-1.32497847e-01 9.91178952e-01 -2.93356314e-03 2.51547566e+01] [-2.18261329e-02 4.13131186e-05 9.99761781e-01 -8.98052811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93592 meters Centerline goodness [0,1] 0.999603410668253 Centerline is valid? [True, True] Translation: X:210.84, Y:25.15, Z:-0.90 [[ 9.91087720e-01 1.31366150e-01 2.20921935e-02 2.10835037e+02] [-1.31332020e-01 9.91333914e-01 -2.99508264e-03 2.51508654e+01] [-2.22941931e-02 6.69772331e-05 9.99751451e-01 -8.99748131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96592 meters Centerline goodness [0,1] 0.999454365079365 Centerline is valid? [True, True] Translation: X:210.87, Y:25.15, Z:-0.90 [[ 9.91138377e-01 1.31041460e-01 2.17452128e-02 2.10865022e+02] [-1.31008316e-01 9.91376886e-01 -2.94798754e-03 2.51465691e+01] [-2.19440100e-02 7.30598650e-05 9.99759199e-01 -9.00666889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99592 meters Centerline goodness [0,1] 0.999354582464502 Centerline is valid? [True, True] Translation: X:210.89, Y:25.14, Z:-0.90 [[ 9.91204022e-01 1.30756567e-01 2.04280727e-02 2.10894960e+02] [-1.30727270e-01 9.91414502e-01 -2.76880025e-03 2.51428984e+01] [-2.06147264e-02 7.39397661e-05 9.99787491e-01 -8.99510326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02592 meters Centerline goodness [0,1] 0.9997518856689163 Centerline is valid? [True, True] Translation: X:210.92, Y:25.14, Z:-0.90 [[ 9.91204748e-01 1.30599633e-01 2.13748473e-02 2.10924023e+02] [-1.30567563e-01 9.91435187e-01 -2.89511990e-03 2.51403236e+01] [-2.15698774e-02 7.87948510e-05 9.99767340e-01 -9.00927552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05592000000001 meters Centerline goodness [0,1] 0.9996525364836693 Centerline is valid? [True, True] Translation: X:210.95, Y:25.14, Z:-0.90 [[ 9.91114362e-01 1.31076987e-01 2.26085060e-02 2.10953733e+02] [-1.31041266e-01 9.91372190e-01 -3.06073344e-03 2.51364101e+01] [-2.28146358e-02 7.08896102e-05 9.99739710e-01 -9.01016928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.98, Y:25.13, Z:-0.90 [[ 9.90873594e-01 1.32783558e-01 2.31958437e-02 2.10983703e+02] [-1.32746426e-01 9.91145058e-01 -3.14019088e-03 2.51308740e+01] [-2.34074116e-02 3.23668793e-05 9.99726008e-01 -9.00527039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11592000000002 meters Centerline goodness [0,1] 0.9999007493424644 Centerline is valid? [True, True] Translation: X:211.01, Y:25.13, Z:-0.90 [[ 9.90837606e-01 1.33177892e-01 2.24607887e-02 2.11014826e+02] [-1.33143146e-01 9.91092149e-01 -3.04206884e-03 2.51266116e+01] [-2.26658477e-02 2.36961395e-05 9.99743096e-01 -9.00362954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14592000000002 meters Centerline goodness [0,1] 0.9999007049945388 Centerline is valid? [True, True] Translation: X:211.04, Y:25.12, Z:-0.90 [[ 9.90673169e-01 1.34029411e-01 2.45517565e-02 2.11044445e+02] [-1.33988172e-01 9.90977354e-01 -3.32456122e-03 2.51220622e+01] [-2.47758237e-02 3.90861648e-06 9.99693032e-01 -9.01473881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.08, Y:25.12, Z:-0.90 [[ 9.90457918e-01 1.35388555e-01 2.57498012e-02 2.11075526e+02] [-1.35343611e-01 9.90792581e-01 -3.48836507e-03 2.51165756e+01] [-2.59849967e-02 -2.99922721e-05 9.99662333e-01 -9.02379422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.11, Y:25.11, Z:-0.90 [[ 9.90170937e-01 1.37305493e-01 2.66217358e-02 2.11106327e+02] [-1.37258100e-01 9.90528745e-01 -3.60819028e-03 2.51099632e+01] [-2.68650189e-02 -8.13237260e-05 9.99639067e-01 -9.01213253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.14, Y:25.11, Z:-0.90 [[ 9.89993048e-01 1.38666932e-01 2.61772174e-02 2.11138499e+02] [-1.38621496e-01 9.90339068e-01 -3.55129228e-03 2.51050086e+01] [-2.64167679e-02 -1.12970368e-04 9.99651010e-01 -9.01038306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.17, Y:25.10, Z:-0.90 [[ 9.89672607e-01 1.41255725e-01 2.43916161e-02 2.11169363e+02] [-1.41217023e-01 9.89973127e-01 -3.31067320e-03 2.51018688e+01] [-2.46146960e-02 -1.68028834e-04 9.99696998e-01 -9.00307667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.20, Y:25.10, Z:-0.90 [[ 9.89559498e-01 1.42124472e-01 2.39297624e-02 2.11200180e+02] [-1.42087438e-01 9.89848777e-01 -3.24952326e-03 2.50982398e+01] [-2.41486828e-02 -1.84522022e-04 9.99708361e-01 -9.01388614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.23, Y:25.09, Z:-0.90 [[ 9.89107297e-01 1.44971006e-01 2.54982961e-02 2.11230967e+02] [-1.44929861e-01 9.89435867e-01 -3.46417032e-03 2.50932066e+01] [-2.57311330e-02 -2.69028362e-04 9.99668863e-01 -9.01698702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.26, Y:25.09, Z:-0.90 [[ 9.89069991e-01 1.45356050e-01 2.47420993e-02 2.11262450e+02] [-1.45317390e-01 9.89379374e-01 -3.36302485e-03 2.50895830e+01] [-2.49681587e-02 -2.69190330e-04 9.99688211e-01 -9.00496085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.29, Y:25.09, Z:-0.90 [[ 9.88815102e-01 1.46866854e-01 2.59773247e-02 2.11293980e+02] [-1.46824714e-01 9.89156218e-01 -3.53260399e-03 2.50877018e+01] [-2.62144547e-02 -3.21021101e-04 9.99656291e-01 -9.01819274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.32, Y:25.08, Z:-0.90 [[ 9.88771123e-01 1.47582209e-01 2.34767321e-02 2.11324816e+02] [-1.47547958e-01 9.89049745e-01 -3.19405319e-03 2.50847005e+01] [-2.36910413e-02 -3.05756330e-04 9.99719281e-01 -9.01786364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.35, Y:25.08, Z:-0.90 [[ 9.88553393e-01 1.48638682e-01 2.58598431e-02 2.11354802e+02] [-1.48597526e-01 9.88891505e-01 -3.51672665e-03 2.50846210e+01] [-2.60953008e-02 -3.66236646e-04 9.99659393e-01 -9.02348824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.39, Y:25.08, Z:-0.90 [[ 9.88602637e-01 1.48313969e-01 2.58416863e-02 2.11385016e+02] [-1.48272760e-01 9.88940261e-01 -3.51420232e-03 2.50838785e+01] [-2.60770893e-02 -3.57468484e-04 9.99659871e-01 -9.02642562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50592 meters Centerline goodness [0,1] 0.9998013705432516 Centerline is valid? [True, True] Translation: X:211.42, Y:25.08, Z:-0.90 [[ 9.88480610e-01 1.48849541e-01 2.73842684e-02 2.11415843e+02] [-1.48803471e-01 9.88859777e-01 -3.72397754e-03 2.50820072e+01] [-2.76335139e-02 -3.93794589e-04 9.99618044e-01 -9.02345409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53592 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:211.45, Y:25.08, Z:-0.90 [[ 9.88561074e-01 1.48347267e-01 2.72046317e-02 2.11447645e+02] [-1.48301563e-01 9.88935259e-01 -3.70123995e-03 2.50815745e+01] [-2.74526883e-02 -3.75587656e-04 9.99623033e-01 -9.02169360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.48, Y:25.08, Z:-0.90 [[ 9.88846641e-01 1.46638087e-01 2.60690028e-02 2.11477975e+02] [-1.46595524e-01 9.89190160e-01 -3.54678817e-03 2.50798227e+01] [-2.63072953e-02 -3.14369558e-04 9.99653854e-01 -9.02573093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59592 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:211.51, Y:25.08, Z:-0.90 [[ 9.89299510e-01 1.43375693e-01 2.70164787e-02 2.11507615e+02] [-1.43328809e-01 9.89668305e-01 -3.67401172e-03 2.50810353e+01] [-2.72641167e-02 -2.37541715e-04 9.99628237e-01 -9.02898149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62592 meters Centerline goodness [0,1] 0.9999502932697087 Centerline is valid? [True, True] Translation: X:211.54, Y:25.08, Z:-0.90 [[ 9.89592544e-01 1.40959366e-01 2.89318933e-02 2.11538166e+02] [-1.40904566e-01 9.90015365e-01 -3.93443288e-03 2.50793189e+01] [-2.91976140e-02 -1.83150429e-04 9.99573642e-01 -9.03188754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65592 meters Centerline goodness [0,1] 0.9998011631953074 Centerline is valid? [True, True] Translation: X:211.57, Y:25.08, Z:-0.90 [[ 9.90491281e-01 1.34844204e-01 2.72775113e-02 2.11570139e+02] [-1.34793115e-01 9.90866813e-01 -3.71155267e-03 2.50780129e+01] [-2.75288621e-02 -5.60160681e-07 9.99621009e-01 -9.02931876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68592 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:211.60, Y:25.08, Z:-0.90 [[ 9.90913401e-01 1.31721762e-01 2.72031212e-02 2.11600333e+02] [-1.31669772e-01 9.91286724e-01 -3.70149840e-03 2.50758984e+01] [-2.74536608e-02 8.60356088e-05 9.99623074e-01 -9.03433909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71592 meters Centerline goodness [0,1] 0.9999004479840716 Centerline is valid? [True, True] Translation: X:211.63, Y:25.07, Z:-0.90 [[ 9.91699124e-01 1.26286754e-01 2.41764995e-02 2.11630578e+02] [-1.26244075e-01 9.91993756e-01 -3.28966937e-03 2.50742041e+01] [-2.43983782e-02 2.10222409e-04 9.99702293e-01 -9.03022047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74592 meters Centerline goodness [0,1] 0.9997514539941343 Centerline is valid? [True, True] Translation: X:211.66, Y:25.07, Z:-0.90 [[ 9.92105333e-01 1.23204511e-01 2.34020868e-02 2.11659958e+02] [-1.23163698e-01 9.92381264e-01 -3.18288398e-03 2.50699784e+01] [-2.36159381e-02 2.75468616e-04 9.99721067e-01 -9.03076887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77592 meters Centerline goodness [0,1] 0.9997517748101077 Centerline is valid? [True, True] Translation: X:211.69, Y:25.06, Z:-0.90 [[ 9.92494747e-01 1.20021137e-01 2.34329792e-02 2.11689417e+02] [-1.19979364e-01 9.92771275e-01 -3.18563008e-03 2.50635068e+01] [-2.36459316e-02 3.50247175e-04 9.99720335e-01 -9.03527795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80592000000001 meters Centerline goodness [0,1] 0.9998512052375756 Centerline is valid? [True, True] Translation: X:211.72, Y:25.06, Z:-0.90 [[ 9.92525455e-01 1.19511213e-01 2.47040737e-02 2.11719857e+02] [-1.19464628e-01 9.92832777e-01 -3.35837486e-03 2.50578167e+01] [-2.49283775e-02 3.82009570e-04 9.99689167e-01 -9.03979321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83592000000002 meters Centerline goodness [0,1] 0.9996523466600447 Centerline is valid? [True, True] Translation: X:211.75, Y:25.05, Z:-0.90 [[ 9.92684583e-01 1.18187722e-01 2.46775589e-02 2.11750258e+02] [-1.18140792e-01 9.92991183e-01 -3.35623916e-03 2.50507261e+01] [-2.49012647e-02 4.16260528e-04 9.99689829e-01 -9.03688426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86592000000002 meters Centerline goodness [0,1] 0.9995533942040492 Centerline is valid? [True, True] Translation: X:211.78, Y:25.04, Z:-0.90 [[ 9.92720419e-01 1.17975945e-01 2.42455259e-02 2.11781010e+02] [-1.17930544e-01 9.93016366e-01 -3.29898102e-03 2.50444083e+01] [-2.44654044e-02 4.15677768e-04 9.99700591e-01 -9.03334986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89592000000002 meters Centerline goodness [0,1] 0.9995533942040492 Centerline is valid? [True, True] Translation: X:211.81, Y:25.04, Z:-0.90 [[ 9.92713265e-01 1.18036167e-01 2.42453258e-02 2.11811591e+02] [-1.17990748e-01 9.93009210e-01 -3.30045152e-03 2.50402672e+01] [-2.44654044e-02 4.15677890e-04 9.99700591e-01 -9.03361621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92592000000002 meters Centerline goodness [0,1] 0.9994034302759135 Centerline is valid? [True, True] Translation: X:211.84, Y:25.03, Z:-0.90 [[ 9.92734025e-01 1.18356012e-01 2.17027853e-02 2.11842457e+02] [-1.18319668e-01 9.92971158e-01 -2.95567823e-03 2.50314877e+01] [-2.19000621e-02 3.66335994e-04 9.99760098e-01 -9.03199109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95592 meters Centerline goodness [0,1] 0.9997020262216925 Centerline is valid? [True, True] Translation: X:211.87, Y:25.03, Z:-0.90 [[ 9.92815680e-01 1.17673835e-01 2.16770324e-02 2.11872009e+02] [-1.17637413e-01 9.93052226e-01 -2.95222378e-03 2.50258954e+01] [-2.18738248e-02 3.80984056e-04 9.99760667e-01 -9.03193623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98592 meters Centerline goodness [0,1] 0.999751577482983 Centerline is valid? [True, True] Translation: X:211.90, Y:25.02, Z:-0.90 [[ 9.92857953e-01 1.17425705e-01 2.10781696e-02 2.11902031e+02] [-1.17391212e-01 9.93081599e-01 -2.87066386e-03 2.50193749e+01] [-2.12694321e-02 3.75769576e-04 9.99773709e-01 -9.03098910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01592 meters Centerline goodness [0,1] 0.9998006081451573 Centerline is valid? [True, True] Translation: X:211.93, Y:25.01, Z:-0.90 [[ 9.92923766e-01 1.16939433e-01 2.06776319e-02 2.11931865e+02] [-1.16906133e-01 9.93138976e-01 -2.81611411e-03 2.50131580e+01] [-2.08650770e-02 3.78844628e-04 9.99782229e-01 -9.03002938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04592 meters Centerline goodness [0,1] 0.9996523811888564 Centerline is valid? [True, True] Translation: X:211.96, Y:25.00, Z:-0.90 [[ 9.92794766e-01 1.17830954e-01 2.17811789e-02 2.11961328e+02] [-1.17794219e-01 9.93033596e-01 -2.96640763e-03 2.50037724e+01] [-2.19789770e-02 3.79337003e-04 9.99758361e-01 -9.03820533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07592 meters Centerline goodness [0,1] 0.9996027608123541 Centerline is valid? [True, True] Translation: X:211.99, Y:25.00, Z:-0.90 [[ 9.92787859e-01 1.17886281e-01 2.17965762e-02 2.11992015e+02] [-1.17849479e-01 9.93027029e-01 -2.96980119e-03 2.49972212e+01] [-2.19946882e-02 3.79667407e-04 9.99758016e-01 -9.03995209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10592 meters Centerline goodness [0,1] 0.9996518105849582 Centerline is valid? [True, True] Translation: X:212.02, Y:24.99, Z:-0.90 [[ 9.92588942e-01 1.19444913e-01 2.23630485e-02 2.12022909e+02] [-1.19406537e-01 9.92840766e-01 -3.04837140e-03 2.49902356e+01] [-2.25670586e-02 3.55485573e-04 9.99745268e-01 -9.03567658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13592 meters Centerline goodness [0,1] 0.9997514910536779 Centerline is valid? [True, True] Translation: X:212.05, Y:24.98, Z:-0.90 [[ 9.92225083e-01 1.22486983e-01 2.20527440e-02 2.12053278e+02] [-1.22450385e-01 9.92470079e-01 -3.00745094e-03 2.49810632e+01] [-2.22550622e-02 2.83701277e-04 9.99752285e-01 -9.02938915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16592 meters Centerline goodness [0,1] 0.9997517255077213 Centerline is valid? [True, True] Translation: X:212.08, Y:24.97, Z:-0.90 [[ 9.92011098e-01 1.24025612e-01 2.30570988e-02 2.12084991e+02] [-1.23985953e-01 9.92278982e-01 -3.14725424e-03 2.49743141e+01] [-2.32694146e-02 2.63354767e-04 9.99729196e-01 -9.03666162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:212.12, Y:24.97, Z:-0.90 [[ 9.91740513e-01 1.26094314e-01 2.34729318e-02 2.12115677e+02] [-1.26053738e-01 9.92018233e-01 -3.20625120e-03 2.49662838e+01] [-2.36898664e-02 2.20918409e-04 9.99719331e-01 -9.03643568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22592 meters Centerline goodness [0,1] 0.9998509983113142 Centerline is valid? [True, True] Translation: X:212.15, Y:24.96, Z:-0.90 [[ 9.91500303e-01 1.27957786e-01 2.35362437e-02 2.12147310e+02] [-1.27917444e-01 9.91779599e-01 -3.21789058e-03 2.49597860e+01] [-2.37545205e-02 1.79843336e-04 9.99717805e-01 -9.04048832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25592 meters Centerline goodness [0,1] 0.9996521739130435 Centerline is valid? [True, True] Translation: X:212.18, Y:24.95, Z:-0.90 [[ 9.91175570e-01 1.30605770e-01 2.26522032e-02 2.12179126e+02] [-1.30569027e-01 9.91434375e-01 -3.09992026e-03 2.49522380e+01] [-2.28630404e-02 1.14889098e-04 9.99738600e-01 -9.04257879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28592 meters Centerline goodness [0,1] 0.9997518240929171 Centerline is valid? [True, True] Translation: X:212.21, Y:24.95, Z:-0.91 [[ 9.91032090e-01 1.31796423e-01 2.20249611e-02 2.12210393e+02] [-1.31761948e-01 9.91276801e-01 -3.01554986e-03 2.49467785e+01] [-2.22302717e-02 8.64549031e-05 9.99752873e-01 -9.05084687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31592 meters Centerline goodness [0,1] 0.999701655810253 Centerline is valid? [True, True] Translation: X:212.24, Y:24.94, Z:-0.91 [[ 9.90799339e-01 1.33486081e-01 2.23189671e-02 2.12241104e+02] [-1.33451073e-01 9.91050687e-01 -3.05733148e-03 2.49393709e+01] [-2.25273388e-02 5.07119015e-05 9.99746226e-01 -9.05763629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34592 meters Centerline goodness [0,1] 0.9997023218892638 Centerline is valid? [True, True] Translation: X:212.27, Y:24.93, Z:-0.91 [[ 9.90575254e-01 1.34906307e-01 2.36844887e-02 2.12272319e+02] [-1.34867253e-01 9.90858359e-01 -3.24594214e-03 2.49331579e+01] [-2.39058717e-02 2.10880278e-05 9.99714214e-01 -9.05754084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37592 meters Centerline goodness [0,1] 0.9997516515174092 Centerline is valid? [True, True] Translation: X:212.30, Y:24.93, Z:-0.91 [[ 9.90428719e-01 1.35741473e-01 2.50040901e-02 2.12303586e+02] [-1.35698150e-01 9.90744292e-01 -3.42921634e-03 2.49280833e+01] [-2.52381465e-02 3.38556886e-06 9.99681467e-01 -9.05460018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:212.33, Y:24.92, Z:-0.90 [[ 9.90294609e-01 1.36968989e-01 2.35814402e-02 2.12334952e+02] [-1.36930732e-01 9.90575336e-01 -3.23713454e-03 2.49230891e+01] [-2.38025801e-02 -2.33069826e-05 9.99716678e-01 -9.04653800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43592 meters Centerline goodness [0,1] 0.999850902042642 Centerline is valid? [True, True] Translation: X:212.37, Y:24.92, Z:-0.90 [[ 9.90159006e-01 1.38108443e-01 2.26097708e-02 2.12366895e+02] [-1.38073504e-01 9.90417112e-01 -3.10670739e-03 2.49174187e+01] [-2.28221664e-02 -4.56759809e-05 9.99739539e-01 -9.04753163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46592 meters Centerline goodness [0,1] 0.9998508501541216 Centerline is valid? [True, True] Translation: X:212.40, Y:24.91, Z:-0.90 [[ 9.89602739e-01 1.42020004e-01 2.27318452e-02 2.12398024e+02] [-1.41985650e-01 9.89863779e-01 -3.12641758e-03 2.49101617e+01] [-2.29454440e-02 -1.33684417e-04 9.99736710e-01 -9.04018108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:212.43, Y:24.91, Z:-0.90 [[ 9.88931566e-01 1.46413455e-01 2.40303565e-02 2.12429375e+02] [-1.46376302e-01 9.89223453e-01 -3.30739427e-03 2.49058894e+01] [-2.42556393e-02 -2.46688121e-04 9.99705758e-01 -9.03466843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52592 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:212.46, Y:24.90, Z:-0.90 [[ 9.88669546e-01 1.48384084e-01 2.26868276e-02 2.12460770e+02] [-1.48351421e-01 9.88929769e-01 -3.12542692e-03 2.49013792e+01] [-2.28994428e-02 -2.75608703e-04 9.99737735e-01 -9.03100745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55592000000001 meters Centerline goodness [0,1] 0.9999006704742985 Centerline is valid? [True, True] Translation: X:212.49, Y:24.90, Z:-0.90 [[ 9.88473666e-01 1.50043286e-01 2.01698586e-02 2.12491769e+02] [-1.50017786e-01 9.88679390e-01 -2.78003481e-03 2.48969512e+01] [-2.03586490e-02 -2.77846329e-04 9.99792703e-01 -9.02096787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.52, Y:24.89, Z:-0.90 [[ 9.88005084e-01 1.53186435e-01 1.94902335e-02 2.12522312e+02] [-1.53163235e-01 9.88197251e-01 -2.68641502e-03 2.48928593e+01] [-1.96717175e-02 -3.30995512e-04 9.99806438e-01 -9.00370386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61592000000002 meters Centerline goodness [0,1] 0.9998511461744567 Centerline is valid? [True, True] Translation: X:212.55, Y:24.89, Z:-0.90 [[ 9.87979709e-01 1.53282359e-01 2.00153342e-02 2.12551401e+02] [-1.53257938e-01 9.88182372e-01 -2.75752179e-03 2.48894026e+01] [-2.02014799e-02 -3.43133276e-04 9.99795870e-01 -9.01278647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.58, Y:24.89, Z:-0.90 [[ 9.87879763e-01 1.53636815e-01 2.21202034e-02 2.12581365e+02] [-1.53607108e-01 9.88127309e-01 -3.04605452e-03 2.48872793e+01] [-2.23255631e-02 -3.88684847e-04 9.99750678e-01 -9.03126205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.61, Y:24.88, Z:-0.90 [[ 9.87810546e-01 1.54266961e-01 2.07853226e-02 2.12611376e+02] [-1.54240872e-01 9.88029130e-01 -2.86218260e-03 2.48839530e+01] [-2.09780444e-02 -3.78652125e-04 9.99779865e-01 -9.02155125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.64, Y:24.88, Z:-0.90 [[ 9.87787847e-01 1.54572923e-01 1.95545521e-02 2.12640700e+02] [-1.54549917e-01 9.87981315e-01 -2.69147160e-03 2.48806924e+01] [-1.97355608e-02 -3.63551473e-04 9.99805169e-01 -9.01780309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.67, Y:24.88, Z:-0.90 [[ 9.88059224e-01 1.52867420e-01 1.92489174e-02 2.12669085e+02] [-1.52844968e-01 9.88246650e-01 -2.64094279e-03 2.48788720e+01] [-1.94263922e-02 -3.32692269e-04 9.99811234e-01 -9.01054221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.70, Y:24.88, Z:-0.90 [[ 9.88386430e-01 1.50880538e-01 1.80921898e-02 2.12698485e+02] [-1.50860511e-01 9.88551963e-01 -2.47452494e-03 2.48783041e+01] [-1.82584274e-02 -2.83610130e-04 9.99833261e-01 -9.01654117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.73, Y:24.87, Z:-0.90 [[ 9.88914416e-01 1.47511732e-01 1.69872700e-02 2.12727018e+02] [-1.47493712e-01 9.89060283e-01 -2.31564936e-03 2.48743078e+01] [-1.71430195e-02 -2.15536476e-04 9.99853024e-01 -9.02219991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:212.75, Y:24.87, Z:-0.90 [[ 9.89268727e-01 1.45036634e-01 1.76567694e-02 2.12754525e+02] [-1.45016937e-01 9.89426268e-01 -2.39768081e-03 2.48706161e+01] [-1.78178230e-02 -1.88579966e-04 9.99841232e-01 -9.02132525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.78, Y:24.87, Z:-0.90 [[ 9.89623199e-01 1.42609476e-01 1.75630594e-02 2.12783601e+02] [-1.42589749e-01 9.89779023e-01 -2.37682370e-03 2.48676616e+01] [-1.77225053e-02 -1.52152352e-04 9.99842932e-01 -9.01939436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:212.81, Y:24.86, Z:-0.90 [[ 9.90155929e-01 1.38823263e-01 1.78700208e-02 2.12811956e+02] [-1.38802372e-01 9.90317168e-01 -2.41015554e-03 2.48648915e+01] [-1.80315741e-02 -9.39714737e-05 9.99837414e-01 -9.02364401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.84, Y:24.86, Z:-0.90 [[ 9.90465962e-01 1.36600329e-01 1.78193192e-02 2.12840392e+02] [-1.36579342e-01 9.90626240e-01 -2.39516314e-03 2.48602039e+01] [-1.79794652e-02 -6.14233310e-05 9.99838354e-01 -9.02339762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.87, Y:24.86, Z:-0.90 [[ 9.90880841e-01 1.33543175e-01 1.79270707e-02 2.12868852e+02] [-1.33521582e-01 9.91042996e-01 -2.40143523e-03 2.48563492e+01] [-1.80871932e-02 -1.41146955e-05 9.99836413e-01 -9.02296740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97592 meters Centerline goodness [0,1] 0.9997516515174092 Centerline is valid? [True, True] Translation: X:212.90, Y:24.85, Z:-0.90 [[ 9.91008649e-01 1.32614382e-01 1.77562383e-02 2.12897064e+02] [-1.32593194e-01 9.91167708e-01 -2.37049085e-03 2.48525914e+01] [-1.79137712e-02 -5.17941998e-06 9.99839536e-01 -9.02445977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.92, Y:24.85, Z:-0.90 [[ 9.91326468e-01 1.30293098e-01 1.71913576e-02 2.12924784e+02] [-1.30273023e-01 9.91475521e-01 -2.28726608e-03 2.48456166e+01] [-1.73428252e-02 2.78572819e-05 9.99849602e-01 -9.02343687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:212.95, Y:24.84, Z:-0.90 [[ 9.91586977e-01 1.28275681e-01 1.73382745e-02 2.12952936e+02] [-1.28255091e-01 9.91738547e-01 -2.29893939e-03 2.48391330e+01] [-1.74899332e-02 5.58763946e-05 9.99847038e-01 -9.03234442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.98, Y:24.83, Z:-0.90 [[ 9.91781727e-01 1.26509080e-01 1.90908061e-02 2.12981985e+02] [-1.26483820e-01 9.91965445e-01 -2.52971071e-03 2.48328208e+01] [-1.92574513e-02 9.42427811e-05 9.99814554e-01 -9.02888289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09592 meters Centerline goodness [0,1] 0.9998011533107973 Centerline is valid? [True, True] Translation: X:213.01, Y:24.83, Z:-0.90 [[ 9.91927882e-01 1.25504473e-01 1.81025998e-02 2.13012478e+02] [-1.25481595e-01 9.92093048e-01 -2.39871183e-03 2.48291098e+01] [-1.82605125e-02 1.07806057e-04 9.99833257e-01 -9.02757560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:213.04, Y:24.82, Z:-0.90 [[ 9.91900673e-01 1.25859335e-01 1.71021367e-02 2.13042821e+02] [-1.25838959e-01 9.92048093e-01 -2.26666448e-03 2.48223986e+01] [-1.72514230e-02 9.61909440e-05 9.99851179e-01 -9.04115680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15592 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:213.07, Y:24.82, Z:-0.90 [[ 9.91851322e-01 1.26301468e-01 1.67001223e-02 2.13072565e+02] [-1.26282101e-01 9.91991901e-01 -2.21340952e-03 2.48163890e+01] [-1.68459430e-02 8.64466172e-05 9.99858093e-01 -9.03682149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:24.81, Z:-0.90 [[ 9.91628362e-01 1.27579860e-01 1.99141090e-02 2.13102915e+02] [-1.27552578e-01 9.91828298e-01 -2.63938656e-03 2.48099413e+01] [-2.00881095e-02 7.71946217e-05 9.99798211e-01 -9.04702870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:213.13, Y:24.81, Z:-0.90 [[ 9.91674784e-01 1.27368896e-01 1.89284871e-02 2.13133645e+02] [-1.27344188e-01 9.91855412e-01 -2.50991257e-03 2.48052049e+01] [-1.90940071e-02 7.85841871e-05 9.99817690e-01 -9.03459590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.16, Y:24.80, Z:-0.90 [[ 9.91731150e-01 1.27201574e-01 1.70025093e-02 2.13164204e+02] [-1.27181596e-01 9.91876884e-01 -2.25562492e-03 2.47983147e+01] [-1.71513150e-02 7.45672335e-05 9.99852903e-01 -9.02814981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27592 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:213.19, Y:24.79, Z:-0.90 [[ 9.91802961e-01 1.26588220e-01 1.73870578e-02 2.13194611e+02] [-1.26567232e-01 9.91955349e-01 -2.30669752e-03 2.47932439e+01] [-1.75391858e-02 8.71576467e-05 9.99846173e-01 -9.03496379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30592000000001 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:213.23, Y:24.79, Z:-0.90 [[ 9.91915563e-01 1.25932401e-01 1.56379476e-02 2.13225132e+02] [-1.25915342e-01 9.92038821e-01 -2.07464743e-03 2.47889404e+01] [-1.57747164e-02 8.88175515e-05 9.99875567e-01 -9.02157819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:24.78, Z:-0.90 [[ 9.91869390e-01 1.26215745e-01 1.62695895e-02 2.13254703e+02] [-1.26197326e-01 9.92002812e-01 -2.15795037e-03 2.47837316e+01] [-1.64118459e-02 8.72262206e-05 9.99865313e-01 -9.02064732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36592000000002 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:213.28, Y:24.78, Z:-0.90 [[ 9.91800216e-01 1.26829548e-01 1.57034321e-02 2.13284861e+02] [-1.26812466e-01 9.91924523e-01 -2.08283037e-03 2.47788093e+01] [-1.58407838e-02 7.43606558e-05 9.99874524e-01 -9.00847010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39592000000002 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:213.31, Y:24.77, Z:-0.90 [[ 9.91737088e-01 1.27319599e-01 1.57247856e-02 2.13314747e+02] [-1.27302532e-01 9.91861742e-01 -2.08566260e-03 2.47737305e+01] [-1.58623590e-02 6.66239317e-05 9.99874183e-01 -9.01347149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42592000000002 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:213.35, Y:24.77, Z:-0.90 [[ 9.91635945e-01 1.27961054e-01 1.68559180e-02 2.13345245e+02] [-1.27941537e-01 9.91779192e-01 -2.23569075e-03 2.47687832e+01] [-1.70034301e-02 6.04192626e-05 9.99855429e-01 -9.01603996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:213.38, Y:24.76, Z:-0.90 [[ 9.91790366e-01 1.26920816e-01 1.55877140e-02 2.13375038e+02] [-1.26903996e-01 9.91912850e-01 -2.06748206e-03 2.47626005e+01] [-1.57240603e-02 7.23655925e-05 9.99876367e-01 -9.02183199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.40, Y:24.76, Z:-0.90 [[ 9.91869969e-01 1.26142987e-01 1.67901916e-02 2.13404711e+02] [-1.26123405e-01 9.92012066e-01 -2.22434932e-03 2.47582512e+01] [-1.69366587e-02 8.86291578e-05 9.99856561e-01 -9.02519005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:213.43, Y:24.75, Z:-0.90 [[ 9.91807350e-01 1.26431158e-01 1.82576826e-02 2.13434459e+02] [-1.26408054e-01 9.91975380e-01 -2.41860797e-03 2.47535721e+01] [-1.84169591e-02 9.08750165e-05 9.99830389e-01 -9.02084682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54592 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:213.47, Y:24.75, Z:-0.90 [[ 9.91739233e-01 1.27099540e-01 1.72916103e-02 2.13465774e+02] [-1.27078900e-01 9.91889964e-01 -2.29171261e-03 2.47496709e+01] [-1.74426504e-02 7.53824792e-05 9.99847863e-01 -9.01357706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.50, Y:24.74, Z:-0.90 [[ 9.91576525e-01 1.28472881e-01 1.64533836e-02 2.13496775e+02] [-1.28454365e-01 9.91713021e-01 -2.18169734e-03 2.47445128e+01] [-1.65973237e-02 4.98109233e-05 9.99862254e-01 -9.03237719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60592 meters Centerline goodness [0,1] 0.9999004876107075 Centerline is valid? [True, True] Translation: X:213.53, Y:24.74, Z:-0.90 [[ 9.91532845e-01 1.28716424e-01 1.71668046e-02 2.13527267e+02] [-1.28696303e-01 9.91681441e-01 -2.27635466e-03 2.47398592e+01] [-1.73170057e-02 4.77761411e-05 9.99850048e-01 -9.04544090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:24.73, Z:-0.90 [[ 9.91305558e-01 1.30395475e-01 1.76156269e-02 2.13558191e+02] [-1.30374533e-01 9.91462062e-01 -2.33696630e-03 2.47347568e+01] [-1.77699556e-02 2.00185555e-05 9.99842102e-01 -9.03534325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:24.73, Z:-0.90 [[ 9.91155699e-01 1.31492563e-01 1.78909428e-02 2.13589247e+02] [-1.31471119e-01 9.91317157e-01 -2.37466925e-03 2.47309009e+01] [-1.80478499e-02 1.52469262e-06 9.99837124e-01 -9.02940966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.62, Y:24.73, Z:-0.90 [[ 9.90959844e-01 1.32851579e-01 1.86827607e-02 2.13620271e+02] [-1.32828412e-01 9.91135943e-01 -2.48101249e-03 2.47272916e+01] [-1.88467620e-02 -2.30176799e-05 9.99822384e-01 -9.02059918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72592 meters Centerline goodness [0,1] 0.9999005469915465 Centerline is valid? [True, True] Translation: X:213.65, Y:24.72, Z:-0.90 [[ 9.90774597e-01 1.34506912e-01 1.65405419e-02 2.13651616e+02] [-1.34488966e-01 9.90912654e-01 -2.19761807e-03 2.47249419e+01] [-1.66858271e-02 -4.71762260e-05 9.99860781e-01 -9.02513144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.68, Y:24.72, Z:-0.90 [[ 9.91042274e-01 1.32649663e-01 1.54686106e-02 2.13682111e+02] [-1.32633741e-01 9.91162987e-01 -2.05525140e-03 2.47229529e+01] [-1.56045427e-02 -1.48186811e-05 9.99878242e-01 -9.03494677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.71, Y:24.72, Z:-0.90 [[ 9.91115442e-01 1.32104415e-01 1.54468086e-02 2.13711335e+02] [-1.32088487e-01 9.91235806e-01 -2.05139762e-03 2.47198892e+01] [-1.55824284e-02 -7.17370721e-06 9.99878587e-01 -9.03675861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.74, Y:24.72, Z:-0.90 [[ 9.91123949e-01 1.32040564e-01 1.54469407e-02 2.13740238e+02] [-1.32024643e-01 9.91244314e-01 -2.05040257e-03 2.47160310e+01] [-1.55824284e-02 -7.17373924e-06 9.99878587e-01 -9.03701044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.77, Y:24.71, Z:-0.90 [[ 9.91327953e-01 1.30441036e-01 1.59381652e-02 2.13769708e+02] [-1.30423897e-01 9.91456069e-01 -2.11456059e-03 2.47134408e+01] [-1.60778161e-02 1.75054129e-05 9.99870743e-01 -9.03270578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87592 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:213.80, Y:24.71, Z:-0.90 [[ 9.91468102e-01 1.29399708e-01 1.57072852e-02 2.13799032e+02] [-1.29382947e-01 9.91592514e-01 -2.08291233e-03 2.47102119e+01] [-1.58447546e-02 3.28862869e-05 9.99874463e-01 -9.02706270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:213.83, Y:24.71, Z:-0.90 [[ 9.91659212e-01 1.27779157e-01 1.68669799e-02 2.13828791e+02] [-1.27759614e-01 9.91802643e-01 -2.23559685e-03 2.47074458e+01] [-1.70143779e-02 6.20313640e-05 9.99855243e-01 -9.03119409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.86, Y:24.70, Z:-0.90 [[ 9.91633208e-01 1.27999225e-01 1.67266240e-02 2.13859275e+02] [-1.27980038e-01 9.91774266e-01 -2.21693851e-03 2.47043682e+01] [-1.68728016e-02 5.77158691e-05 9.99857642e-01 -9.02567171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.89, Y:24.70, Z:-0.90 [[ 9.91562065e-01 1.28522245e-01 1.69323390e-02 2.13889372e+02] [-1.28502659e-01 9.91706625e-01 -2.24420388e-03 2.47025780e+01] [-1.70803429e-02 4.94168434e-05 9.99854119e-01 -9.02810730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:213.92, Y:24.70, Z:-0.90 [[ 9.91547090e-01 1.28592684e-01 1.72710998e-02 2.13919863e+02] [-1.28572317e-01 9.91697494e-01 -2.28910307e-03 2.46992053e+01] [-1.74220683e-02 4.91681675e-05 9.99848223e-01 -9.03073151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:213.95, Y:24.70, Z:-0.90 [[ 9.91491747e-01 1.29113145e-01 1.65502568e-02 2.13949542e+02] [-1.29094533e-01 9.91629868e-01 -2.19254191e-03 2.46960209e+01] [-1.66948150e-02 3.73395250e-05 9.99860631e-01 -9.03167617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.98, Y:24.70, Z:-0.90 [[ 9.91504697e-01 1.28935006e-01 1.71522612e-02 2.13978884e+02] [-1.28915008e-01 9.91653045e-01 -2.27118046e-03 2.46950542e+01] [-1.73019267e-02 4.07022143e-05 9.99850310e-01 -9.04308247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.01, Y:24.70, Z:-0.90 [[ 9.91602542e-01 1.28208635e-01 1.69394192e-02 2.14008566e+02] [-1.28189042e-01 9.91747217e-01 -2.24189876e-03 2.46953815e+01] [-1.70870527e-02 5.16245841e-05 9.99854004e-01 -9.04164180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.04, Y:24.69, Z:-0.90 [[ 9.91535006e-01 1.28708639e-01 1.71002134e-02 2.14038054e+02] [-1.28688767e-01 9.91682451e-01 -2.26206418e-03 2.46926999e+01] [-1.72491288e-02 4.23104410e-05 9.99851222e-01 -9.03791583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.07, Y:24.69, Z:-0.90 [[ 9.91602138e-01 1.28064972e-01 1.80156476e-02 2.14067360e+02] [-1.28042830e-01 9.91765779e-01 -2.38198513e-03 2.46909123e+01] [-1.81723517e-02 5.52070437e-05 9.99834868e-01 -9.04505236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.10, Y:24.69, Z:-0.90 [[ 9.91759553e-01 1.26785948e-01 1.83932908e-02 2.14097342e+02] [-1.26762669e-01 9.91930097e-01 -2.43072854e-03 2.46898559e+01] [-1.85530410e-02 7.91156164e-05 9.99827874e-01 -9.04024806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.13, Y:24.69, Z:-0.90 [[ 9.92059263e-01 1.24500966e-01 1.78305159e-02 2.14127322e+02] [-1.24478742e-01 9.92219480e-01 -2.35520284e-03 2.46873582e+01] [-1.79850102e-02 1.16980602e-04 9.99838250e-01 -9.03682052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.16, Y:24.69, Z:-0.91 [[ 9.92282703e-01 1.22432610e-01 1.96288715e-02 2.14157390e+02] [-1.22405296e-01 9.92476815e-01 -2.59148295e-03 2.46855551e+01] [-1.97984819e-02 1.68805877e-04 9.99803977e-01 -9.05493177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.19, Y:24.68, Z:-0.90 [[ 9.92281173e-01 1.22447576e-01 1.96128700e-02 2.14187416e+02] [-1.22420311e-01 9.92474968e-01 -2.58931569e-03 2.46823711e+01] [-1.97823380e-02 1.68315554e-04 9.99804296e-01 -9.04748189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:214.22, Y:24.68, Z:-0.90 [[ 9.92456062e-01 1.21152538e-01 1.87890033e-02 2.14217938e+02] [-1.21127284e-01 9.92633884e-01 -2.48054777e-03 2.46802762e+01] [-1.89511260e-02 1.85973732e-04 9.99820394e-01 -9.04422966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.25, Y:24.68, Z:-0.90 [[ 9.92546058e-01 1.20547668e-01 1.79048084e-02 2.14247749e+02] [-1.20524637e-01 9.92707522e-01 -2.36381525e-03 2.46761795e+01] [-1.80591904e-02 1.88224976e-04 9.99836902e-01 -9.04289963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35592 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:214.28, Y:24.67, Z:-0.91 [[ 9.92883211e-01 1.17830861e-01 1.72863229e-02 2.14277393e+02] [-1.17809000e-01 9.93033653e-01 -2.28112201e-03 2.46716136e+01] [-1.74346869e-02 2.28403327e-04 9.99847978e-01 -9.05748361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:24.67, Z:-0.91 [[ 9.93052210e-01 1.16263613e-01 1.81681287e-02 2.14306644e+02] [-1.16239223e-01 9.93218355e-01 -2.39634009e-03 2.46679082e+01] [-1.83235260e-02 2.67841664e-04 9.99832074e-01 -9.06246668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41592 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:214.34, Y:24.66, Z:-0.90 [[ 9.93316278e-01 1.14037041e-01 1.78416628e-02 2.14336561e+02] [-1.14013162e-01 9.93476452e-01 -2.35322703e-03 2.46644254e+01] [-1.79936270e-02 3.03314320e-04 9.99838056e-01 -9.04917449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44592 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:214.37, Y:24.66, Z:-0.90 [[ 9.93607599e-01 1.11428149e-01 1.81026797e-02 2.14367152e+02] [-1.11403133e-01 9.93772429e-01 -2.38765386e-03 2.46603488e+01] [-1.82559959e-02 3.55695790e-04 9.99833282e-01 -9.04656162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47592 meters Centerline goodness [0,1] 0.9998510870644297 Centerline is valid? [True, True] Translation: X:214.40, Y:24.66, Z:-0.90 [[ 9.93797020e-01 1.09627836e-01 1.86874555e-02 2.14396950e+02] [-1.09600859e-01 9.93972624e-01 -2.46478289e-03 2.46555540e+01] [-1.88450280e-02 4.01332716e-04 9.99822336e-01 -9.04444043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50592 meters Centerline goodness [0,1] 0.9997020114228955 Centerline is valid? [True, True] Translation: X:214.43, Y:24.65, Z:-0.90 [[ 9.93711536e-01 1.10196442e-01 1.98526641e-02 2.14427107e+02] [-1.10166109e-01 9.93909740e-01 -2.61846814e-03 2.46512500e+01] [-2.00203021e-02 4.14911235e-04 9.99799488e-01 -9.04787984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53592 meters Centerline goodness [0,1] 0.9996518971604754 Centerline is valid? [True, True] Translation: X:214.46, Y:24.65, Z:-0.90 [[ 9.93745979e-01 1.10129991e-01 1.84476185e-02 2.14458281e+02] [-1.10103769e-01 9.93917117e-01 -2.43423561e-03 2.46474964e+01] [-1.86034862e-02 3.87859522e-04 9.99826865e-01 -9.03828516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56592 meters Centerline goodness [0,1] 0.9997516268441706 Centerline is valid? [True, True] Translation: X:214.49, Y:24.64, Z:-0.90 [[ 9.93693529e-01 1.10653878e-01 1.81353295e-02 2.14488189e+02] [-1.10628622e-01 9.93858934e-01 -2.39307978e-03 2.46433489e+01] [-1.82887628e-02 3.71701380e-04 9.99832678e-01 -9.03896280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59592 meters Centerline goodness [0,1] 0.9997019522130048 Centerline is valid? [True, True] Translation: X:214.52, Y:24.64, Z:-0.90 [[ 9.93609357e-01 1.11385059e-01 1.82706131e-02 2.14518662e+02] [-1.11359548e-01 9.93777258e-01 -2.41093137e-03 2.46387441e+01] [-1.84254615e-02 3.60916754e-04 9.99830172e-01 -9.03954500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:214.55, Y:24.63, Z:-0.90 [[ 9.93559567e-01 1.11781076e-01 1.85574256e-02 2.14548872e+02] [-1.11754828e-01 9.93732792e-01 -2.44877823e-03 2.46342161e+01] [-1.87148494e-02 3.59125138e-04 9.99824797e-01 -9.03800149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65592 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:214.58, Y:24.63, Z:-0.90 [[ 9.93340130e-01 1.13490566e-01 1.98815969e-02 2.14578570e+02] [-1.13460767e-01 9.93539012e-01 -2.62410807e-03 2.46292081e+01] [-2.00509537e-02 3.50850602e-04 9.99798898e-01 -9.02609551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68592 meters Centerline goodness [0,1] 0.9998012422360248 Centerline is valid? [True, True] Translation: X:214.61, Y:24.63, Z:-0.90 [[ 9.93241632e-01 1.14317326e-01 2.00651516e-02 2.14609214e+02] [-1.14287118e-01 9.93444228e-01 -2.64958380e-03 2.46251226e+01] [-2.02365024e-02 3.38488590e-04 9.99795164e-01 -9.03357731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71592 meters Centerline goodness [0,1] 0.9998012126031209 Centerline is valid? [True, True] Translation: X:214.64, Y:24.62, Z:-0.90 [[ 9.93160983e-01 1.15312129e-01 1.82859179e-02 2.14640005e+02] [-1.15287188e-01 9.93329265e-01 -2.41579257e-03 2.46200419e+01] [-1.84425075e-02 2.91138861e-04 9.99829880e-01 -9.02569235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74592 meters Centerline goodness [0,1] 0.9996525537300839 Centerline is valid? [True, True] Translation: X:214.67, Y:24.62, Z:-0.90 [[ 9.92933352e-01 1.17530119e-01 1.64325895e-02 2.14670037e+02] [-1.17510281e-01 9.93069293e-01 -2.17099408e-03 2.46150970e+01] [-1.65738573e-02 2.24654215e-04 9.99862619e-01 -9.01462592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77592 meters Centerline goodness [0,1] 0.999701700308243 Centerline is valid? [True, True] Translation: X:214.70, Y:24.61, Z:-0.90 [[ 9.92784889e-01 1.18624196e-01 1.75061375e-02 2.14698986e+02] [-1.18601869e-01 9.92939199e-01 -2.31177112e-03 2.46114732e+01] [-1.76567621e-02 2.18830808e-04 9.99844083e-01 -9.02088123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80592000000001 meters Centerline goodness [0,1] 0.9998014001290899 Centerline is valid? [True, True] Translation: X:214.73, Y:24.61, Z:-0.90 [[ 9.92474188e-01 1.20914786e-01 1.93546209e-02 2.14728750e+02] [-1.20887932e-01 9.92662871e-01 -2.55581245e-03 2.46058010e+01] [-1.95216490e-02 1.96837801e-04 9.99809415e-01 -9.02289141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83592000000002 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:214.76, Y:24.60, Z:-0.90 [[ 9.92424847e-01 1.21459249e-01 1.84546547e-02 2.14758612e+02] [-1.21434928e-01 9.92596403e-01 -2.43697030e-03 2.46003057e+01] [-1.86140165e-02 1.77470206e-04 9.99826728e-01 -9.02062820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86592000000002 meters Centerline goodness [0,1] 0.9997515651396204 Centerline is valid? [True, True] Translation: X:214.79, Y:24.60, Z:-0.90 [[ 9.92425776e-01 1.21316812e-01 1.93212402e-02 2.14788826e+02] [-1.21290127e-01 9.92613820e-01 -2.55140447e-03 2.45951135e+01] [-1.94880583e-02 1.88603892e-04 9.99810072e-01 -9.02662219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89592000000002 meters Centerline goodness [0,1] 0.9997022480273932 Centerline is valid? [True, True] Translation: X:214.82, Y:24.59, Z:-0.90 [[ 9.92252119e-01 1.22596765e-01 2.01436330e-02 2.14819201e+02] [-1.22568011e-01 9.92456550e-01 -2.66061479e-03 2.45908708e+01] [-2.03178633e-02 1.71035639e-04 9.99793556e-01 -9.02446443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92592000000002 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:214.85, Y:24.59, Z:-0.90 [[ 9.91991181e-01 1.24395467e-01 2.18920976e-02 2.14849986e+02] [-1.24361910e-01 9.92232708e-01 -2.89294184e-03 2.45855909e+01] [-2.20819241e-02 1.47229723e-04 9.99756154e-01 -9.03518969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95592 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:214.88, Y:24.58, Z:-0.90 [[ 9.91887367e-01 1.25213404e-01 2.19329763e-02 2.14881835e+02] [-1.25179861e-01 9.92129823e-01 -2.90112447e-03 2.45797509e+01] [-2.21236196e-02 1.32021789e-04 9.99755234e-01 -9.03465093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:24.57, Z:-0.90 [[ 9.91833216e-01 1.25629969e-01 2.19996067e-02 2.14912994e+02] [-1.25596261e-01 9.92077162e-01 -2.91278145e-03 2.45726714e+01] [-2.21912400e-02 1.25925051e-04 9.99753736e-01 -9.04364163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01592 meters Centerline goodness [0,1] 0.9998507165605095 Centerline is valid? [True, True] Translation: X:214.95, Y:24.57, Z:-0.90 [[ 9.91799417e-01 1.26000541e-01 2.13957818e-02 2.14945133e+02] [-1.25968684e-01 9.92030166e-01 -2.83558745e-03 2.45674919e+01] [-2.15825466e-02 1.17135495e-04 9.99767063e-01 -9.03968523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04592 meters Centerline goodness [0,1] 0.9997508967716222 Centerline is valid? [True, True] Translation: X:214.98, Y:24.56, Z:-0.90 [[ 9.91887700e-01 1.25357044e-01 2.10808312e-02 2.14976896e+02] [-1.25325915e-01 9.92111684e-01 -2.79659024e-03 2.45616396e+01] [-2.12651112e-02 1.31929003e-04 9.99773863e-01 -9.04554355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07592 meters Centerline goodness [0,1] 0.9998012027235227 Centerline is valid? [True, True] Translation: X:215.01, Y:24.56, Z:-0.90 [[ 9.91817104e-01 1.25830232e-01 2.15774124e-02 2.15008682e+02] [-1.25797670e-01 9.92051781e-01 -2.86526530e-03 2.45560633e+01] [-2.17664474e-02 1.27430922e-04 9.99763075e-01 -9.04669177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:215.04, Y:24.55, Z:-0.90 [[ 9.91928861e-01 1.24931293e-01 2.16634930e-02 2.15040319e+02] [-1.24898195e-01 9.92165384e-01 -2.87950479e-03 2.45498570e+01] [-2.18535081e-02 1.50532740e-04 9.99761172e-01 -9.04818919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13592 meters Centerline goodness [0,1] 0.9999006556725611 Centerline is valid? [True, True] Translation: X:215.07, Y:24.54, Z:-0.90 [[ 9.91891191e-01 1.25132468e-01 2.22200512e-02 2.15072292e+02] [-1.25097633e-01 9.92140032e-01 -2.95635773e-03 2.45438724e+01] [-2.24153386e-02 1.52709384e-04 9.99748733e-01 -9.04565244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16592 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:215.10, Y:24.54, Z:-0.90 [[ 9.91786545e-01 1.26015392e-01 2.18990702e-02 2.15103445e+02] [-1.25981709e-01 9.92028277e-01 -2.91650680e-03 2.45375256e+01] [-2.20920216e-02 1.33669927e-04 9.99755933e-01 -9.04289417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:215.13, Y:24.53, Z:-0.90 [[ 9.91824807e-01 1.25757895e-01 2.16449601e-02 2.15134924e+02] [-1.25724866e-01 9.92060952e-01 -2.88548613e-03 2.45329133e+01] [-2.18359924e-02 1.40587010e-04 9.99761556e-01 -9.03975600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22592 meters Centerline goodness [0,1] 0.9998009157873781 Centerline is valid? [True, True] Translation: X:215.17, Y:24.53, Z:-0.91 [[ 9.91943203e-01 1.24351437e-01 2.41950962e-02 2.15166226e+02] [-1.24309651e-01 9.92238218e-01 -3.22936173e-03 2.45270122e+01] [-2.44088750e-02 1.95659442e-04 9.99702040e-01 -9.05322237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25592 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:215.20, Y:24.52, Z:-0.91 [[ 9.92035848e-01 1.23683564e-01 2.38170795e-02 2.15198150e+02] [-1.23642805e-01 9.92321687e-01 -3.18208107e-03 2.45213491e+01] [-2.40277756e-02 2.11927986e-04 9.99711269e-01 -9.06017360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28592 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:215.23, Y:24.51, Z:-0.91 [[ 9.92085520e-01 1.22743205e-01 2.64655603e-02 2.15229179e+02] [-1.22692472e-01 9.92438429e-01 -3.53851448e-03 2.45136821e+01] [-2.66997677e-02 2.63383958e-04 9.99643463e-01 -9.06407571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31592 meters Centerline goodness [0,1] 0.9996525364836693 Centerline is valid? [True, True] Translation: X:215.26, Y:24.51, Z:-0.90 [[ 9.92208702e-01 1.22230352e-01 2.41170647e-02 2.15261223e+02] [-1.22187999e-01 9.92501726e-01 -3.22756783e-03 2.45090642e+01] [-2.43307351e-02 2.55605009e-04 9.99703931e-01 -9.04757453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34592 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:215.29, Y:24.50, Z:-0.91 [[ 9.92170505e-01 1.22641032e-01 2.35979961e-02 2.15293181e+02] [-1.22600527e-01 9.92451066e-01 -3.16110404e-03 2.45020907e+01] [-2.38075375e-02 2.43227423e-04 9.99716531e-01 -9.06076101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37592 meters Centerline goodness [0,1] 0.9998015676158349 Centerline is valid? [True, True] Translation: X:215.32, Y:24.49, Z:-0.91 [[ 9.91975136e-01 1.23897950e-01 2.51918282e-02 2.15324507e+02] [-1.23852112e-01 9.92294938e-01 -3.37781564e-03 2.44945879e+01] [-2.54162281e-02 2.30648005e-04 9.99676929e-01 -9.07392557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40592 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:215.36, Y:24.49, Z:-0.91 [[ 9.91632727e-01 1.26174346e-01 2.72867795e-02 2.15355779e+02] [-1.26121307e-01 9.92008063e-01 -3.66306234e-03 2.44855061e+01] [-2.75308898e-02 1.90968202e-04 9.99620935e-01 -9.07933493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43592 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:215.39, Y:24.48, Z:-0.91 [[ 9.91453830e-01 1.27358205e-01 2.82699711e-02 2.15387173e+02] [-1.27301649e-01 9.91856774e-01 -3.79876370e-03 2.44804381e+01] [-2.85235660e-02 1.67484889e-04 9.99593106e-01 -9.07962408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46592 meters Centerline goodness [0,1] 0.9998495788206979 Centerline is valid? [True, True] Translation: X:215.42, Y:24.47, Z:-0.91 [[ 9.91198484e-01 1.29304582e-01 2.83882139e-02 2.15419181e+02] [-1.29248191e-01 9.91604917e-01 -3.82018944e-03 2.44734826e+01] [-2.86438605e-02 1.17440695e-04 9.99589674e-01 -9.07863249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49592 meters Centerline goodness [0,1] 0.9996512728540826 Centerline is valid? [True, True] Translation: X:215.45, Y:24.47, Z:-0.91 [[ 9.91169066e-01 1.29530695e-01 2.83845345e-02 2.15451282e+02] [-1.29474250e-01 9.91575406e-01 -3.82534134e-03 2.44675581e+01] [-2.86409054e-02 1.16493704e-04 9.99589758e-01 -9.09474951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52592 meters Centerline goodness [0,1] 0.9994538774699633 Centerline is valid? [True, True] Translation: X:215.48, Y:24.46, Z:-0.91 [[ 9.91143164e-01 1.29953498e-01 2.73370800e-02 2.15482565e+02] [-1.29901204e-01 9.91520084e-01 -3.68779313e-03 2.44621507e+01] [-2.75845054e-02 1.04011354e-04 9.99619470e-01 -9.09308527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.51, Y:24.46, Z:-0.91 [[ 9.90948377e-01 1.30977643e-01 2.94307927e-02 2.15514095e+02] [-1.30917367e-01 9.91385319e-01 -3.97407029e-03 2.44561475e+01] [-2.96977701e-02 8.50966175e-05 9.99558920e-01 -9.10354397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58592000000002 meters Centerline goodness [0,1] 0.9997020410190197 Centerline is valid? [True, True] Translation: X:215.55, Y:24.45, Z:-0.91 [[ 9.90577331e-01 1.33725777e-01 2.95629631e-02 2.15546480e+02] [-1.33666009e-01 9.91018373e-01 -3.99767258e-03 2.44487026e+01] [-2.98320315e-02 8.44053118e-06 9.99554926e-01 -9.10744502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61592000000002 meters Centerline goodness [0,1] 0.9998508501541216 Centerline is valid? [True, True] Translation: X:215.58, Y:24.44, Z:-0.91 [[ 9.90399800e-01 1.35189226e-01 2.88462970e-02 2.15577838e+02] [-1.35132831e-01 9.90819798e-01 -3.90458356e-03 2.44433875e+01] [-2.91093398e-02 -3.09830105e-05 9.99576233e-01 -9.10096417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64592000000002 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:215.61, Y:24.44, Z:-0.91 [[ 9.90250545e-01 1.36478814e-01 2.78817255e-02 2.15609698e+02] [-1.36426536e-01 9.90642988e-01 -3.77767023e-03 2.44392091e+01] [-2.81364078e-02 -6.29672184e-05 9.99604091e-01 -9.10011942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.64, Y:24.43, Z:-0.91 [[ 9.89635176e-01 1.40535716e-01 2.95284827e-02 2.15641846e+02] [-1.40478768e-01 9.90075592e-01 -4.00469174e-03 2.44343018e+01] [-2.97982322e-02 -1.84941051e-04 9.99555917e-01 -9.11957567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.67, Y:24.43, Z:-0.91 [[ 9.89607834e-01 1.40728278e-01 2.95277108e-02 2.15674101e+02] [-1.40671246e-01 9.90048240e-01 -4.01037933e-03 2.44299873e+01] [-2.97982319e-02 -1.84997056e-04 9.99555917e-01 -9.11985653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.71, Y:24.42, Z:-0.91 [[ 9.89137591e-01 1.44117086e-01 2.89325217e-02 2.15707114e+02] [-1.44063612e-01 9.89560604e-01 -3.93524673e-03 2.44240621e+01] [-2.91976200e-02 -2.75623121e-04 9.99573621e-01 -9.11781984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.74, Y:24.42, Z:-0.91 [[ 9.88865628e-01 1.45970518e-01 2.89374921e-02 2.15739057e+02] [-1.45917706e-01 9.89288887e-01 -3.93976555e-03 2.44205029e+01] [-2.92026290e-02 -3.26593745e-04 9.99573459e-01 -9.12315990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:215.77, Y:24.42, Z:-0.91 [[ 9.88675006e-01 1.47314508e-01 2.86385868e-02 2.15772089e+02] [-1.47263156e-01 9.89089636e-01 -3.90564068e-03 2.44191796e+01] [-2.89014870e-02 -3.55999354e-04 9.99582201e-01 -9.11359503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:215.80, Y:24.41, Z:-0.91 [[ 9.88602366e-01 1.47946324e-01 2.78791561e-02 2.15804016e+02] [-1.47897802e-01 9.88995326e-01 -3.80590224e-03 2.44149761e+01] [-2.81354243e-02 -3.60741960e-04 9.99604056e-01 -9.11845334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.84, Y:24.41, Z:-0.91 [[ 9.88708969e-01 1.47358296e-01 2.72049073e-02 2.15836259e+02] [-1.47311773e-01 9.89083122e-01 -3.71744075e-03 2.44116549e+01] [-2.74557104e-02 -3.32136109e-04 9.99622966e-01 -9.11419255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.87, Y:24.41, Z:-0.91 [[ 9.88739822e-01 1.47595749e-01 2.46791233e-02 2.15868160e+02] [-1.47557457e-01 9.89047725e-01 -3.37555785e-03 2.44102139e+01] [-2.49070487e-02 -3.04040199e-04 9.99689725e-01 -9.09946923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:215.90, Y:24.41, Z:-0.91 [[ 9.88700189e-01 1.47785632e-01 2.51265601e-02 2.15900627e+02] [-1.47745915e-01 9.89019368e-01 -3.44010909e-03 2.44084598e+01] [-2.53590533e-02 -3.11110130e-04 9.99678359e-01 -9.11609704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94592 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:215.93, Y:24.40, Z:-0.91 [[ 9.88608241e-01 1.48615089e-01 2.38180837e-02 2.15932410e+02] [-1.48579566e-01 9.88895069e-01 -3.26409472e-03 2.44047825e+01] [-2.40386792e-02 -3.11969605e-04 9.99710981e-01 -9.10743989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.96, Y:24.40, Z:-0.91 [[ 9.88608274e-01 1.48583510e-01 2.40129317e-02 2.15964623e+02] [-1.48547318e-01 9.88899815e-01 -3.29396672e-03 2.44023921e+01] [-2.42358128e-02 -3.10613857e-04 9.99706221e-01 -9.10348800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.00, Y:24.40, Z:-0.91 [[ 9.88631207e-01 1.48553278e-01 2.32435071e-02 2.15996337e+02] [-1.48519289e-01 9.88904361e-01 -3.19147987e-03 2.43993300e+01] [-2.34597103e-02 -2.96912544e-04 9.99724739e-01 -9.10219297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.03, Y:24.40, Z:-0.91 [[ 9.88736698e-01 1.47804743e-01 2.35265634e-02 2.16028130e+02] [-1.47769634e-01 9.89016522e-01 -3.23345299e-03 2.43966871e+01] [-2.37460795e-02 -2.79478028e-04 9.99717983e-01 -9.09539628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:216.06, Y:24.40, Z:-0.91 [[ 9.89053120e-01 1.45447311e-01 2.48798093e-02 2.16060254e+02] [-1.45407219e-01 9.89365972e-01 -3.42274863e-03 2.43960182e+01] [-2.51130663e-02 -2.32423667e-04 9.99684590e-01 -9.09039816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09592 meters Centerline goodness [0,1] 0.9998508946322068 Centerline is valid? [True, True] Translation: X:216.09, Y:24.40, Z:-0.91 [[ 9.89490637e-01 1.42650471e-01 2.36457612e-02 2.16092380e+02] [-1.42613383e-01 9.89773116e-01 -3.25612656e-03 2.43954595e+01] [-2.38684268e-02 -1.50295254e-04 9.99715097e-01 -9.08300259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12592 meters Centerline goodness [0,1] 0.9997517378351539 Centerline is valid? [True, True] Translation: X:216.12, Y:24.39, Z:-0.91 [[ 9.89814654e-01 1.40491286e-01 2.30032520e-02 2.16124066e+02] [-1.40455534e-01 9.90081911e-01 -3.17067223e-03 2.43928652e+01] [-2.32205556e-02 -9.25562025e-05 9.99730362e-01 -9.08489309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15592 meters Centerline goodness [0,1] 0.9999005074121978 Centerline is valid? [True, True] Translation: X:216.16, Y:24.39, Z:-0.91 [[ 9.90063064e-01 1.39068947e-01 2.08556505e-02 2.16155704e+02] [-1.39039185e-01 9.90282700e-01 -2.87741883e-03 2.43894634e+01] [-2.10531495e-02 -5.09265507e-05 9.99778357e-01 -9.07719236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18592 meters Centerline goodness [0,1] 0.9993546785802929 Centerline is valid? [True, True] Translation: X:216.19, Y:24.39, Z:-0.91 [[ 9.90460302e-01 1.36025043e-01 2.20358137e-02 2.16187700e+02] [-1.35990999e-01 9.90705399e-01 -3.04316846e-03 2.43872295e+01] [-2.22449468e-02 1.74652249e-05 9.99752550e-01 -9.07619935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21592 meters Centerline goodness [0,1] 0.9995034510154427 Centerline is valid? [True, True] Translation: X:216.22, Y:24.38, Z:-0.91 [[ 9.90661253e-01 1.34538720e-01 2.21272150e-02 2.16220060e+02] [-1.34503957e-01 9.90908336e-01 -3.05868048e-03 2.43833413e+01] [-2.23375527e-02 5.39182548e-05 9.99750484e-01 -9.07438754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24592 meters Centerline goodness [0,1] 0.9993548066901583 Centerline is valid? [True, True] Translation: X:216.25, Y:24.38, Z:-0.91 [[ 9.91058875e-01 1.31566689e-01 2.21926260e-02 2.16251418e+02] [-1.31530910e-01 9.91307314e-01 -3.07060452e-03 2.43785202e+01] [-2.24037018e-02 1.24133547e-04 9.99748998e-01 -9.07484280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27592 meters Centerline goodness [0,1] 0.9995035742652899 Centerline is valid? [True, True] Translation: X:216.28, Y:24.37, Z:-0.91 [[ 9.91210256e-01 1.30533237e-01 2.15244456e-02 2.16282934e+02] [-1.30499277e-01 9.91443923e-01 -2.98094137e-03 2.43712003e+01] [-2.17293927e-02 1.45815068e-04 9.99763878e-01 -9.07387604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30592000000001 meters Centerline goodness [0,1] 0.999354101455756 Centerline is valid? [True, True] Translation: X:216.31, Y:24.37, Z:-0.91 [[ 9.91300890e-01 1.30074003e-01 2.00822906e-02 2.16314492e+02] [-1.30044295e-01 9.91504277e-01 -2.78379405e-03 2.43660268e+01] [-2.02737762e-02 1.47990197e-04 9.99794455e-01 -9.06292570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33592000000002 meters Centerline goodness [0,1] 0.9991062562065541 Centerline is valid? [True, True] Translation: X:216.35, Y:24.36, Z:-0.91 [[ 9.91242203e-01 1.30629826e-01 1.93582762e-02 2.16346642e+02] [-1.30602279e-01 9.91431203e-01 -2.68592862e-03 2.43606202e+01] [-1.95432614e-02 1.34170825e-04 9.99809003e-01 -9.06401218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36592000000002 meters Centerline goodness [0,1] 0.9990557598648245 Centerline is valid? [True, True] Translation: X:216.38, Y:24.35, Z:-0.91 [[ 9.90982674e-01 1.32659884e-01 1.88333771e-02 2.16378204e+02] [-1.32634130e-01 9.91161615e-01 -2.61552696e-03 2.43541910e+01] [-1.90138960e-02 9.39932990e-05 9.99819215e-01 -9.05524480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39592000000002 meters Centerline goodness [0,1] 0.9992557677995535 Centerline is valid? [True, True] Translation: X:216.41, Y:24.35, Z:-0.90 [[ 9.90544828e-01 1.36109238e-01 1.71819670e-02 2.16408563e+02] [-1.36088302e-01 9.90693835e-01 -2.38734090e-03 2.43473641e+01] [-1.73470079e-02 2.65034623e-05 9.99849529e-01 -9.04633791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42592000000002 meters Centerline goodness [0,1] 0.999502784407319 Centerline is valid? [True, True] Translation: X:216.44, Y:24.34, Z:-0.91 [[ 9.90387105e-01 1.37220926e-01 1.74298359e-02 2.16439658e+02] [-1.37199534e-01 9.90540467e-01 -2.42291995e-03 2.43423444e+01] [-1.75974331e-02 8.26332832e-06 9.99845153e-01 -9.05232764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45592 meters Centerline goodness [0,1] 0.999553261193289 Centerline is valid? [True, True] Translation: X:216.47, Y:24.34, Z:-0.90 [[ 9.90121172e-01 1.39035263e-01 1.81455086e-02 2.16471051e+02] [-1.39012361e-01 9.90287430e-01 -2.52359830e-03 2.43374681e+01] [-1.83201383e-02 -2.37818856e-05 9.99832172e-01 -9.04322187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48592 meters Centerline goodness [0,1] 0.999553083722316 Centerline is valid? [True, True] Translation: X:216.50, Y:24.33, Z:-0.90 [[ 9.89799964e-01 1.41242681e-01 1.86155079e-02 2.16501828e+02] [-1.41218944e-01 9.89975000e-01 -2.59018566e-03 2.43315157e+01] [-1.87947322e-02 -6.50966908e-05 9.99823361e-01 -9.04838470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51592 meters Centerline goodness [0,1] 0.9995515248156269 Centerline is valid? [True, True] Translation: X:216.53, Y:24.33, Z:-0.91 [[ 9.89597838e-01 1.42552669e-01 1.93612156e-02 2.16532456e+02] [-1.42527217e-01 9.89787214e-01 -2.69522193e-03 2.43267920e+01] [-1.95476947e-02 -9.23143822e-05 9.99808921e-01 -9.05551904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54592 meters Centerline goodness [0,1] 0.999600937796179 Centerline is valid? [True, True] Translation: X:216.56, Y:24.32, Z:-0.90 [[ 9.89139017e-01 1.45733823e-01 1.91221823e-02 2.16564016e+02] [-1.45709566e-01 9.89323824e-01 -2.66321004e-03 2.43228558e+01] [-1.93061503e-02 -1.51999925e-04 9.99813607e-01 -9.04357419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57592 meters Centerline goodness [0,1] 0.9992056399563102 Centerline is valid? [True, True] Translation: X:216.60, Y:24.32, Z:-0.90 [[ 9.88929769e-01 1.47328687e-01 1.76683226e-02 2.16595445e+02] [-1.47308212e-01 9.89087574e-01 -2.46189805e-03 2.43191009e+01] [-1.78382266e-02 -1.68044744e-04 9.99840872e-01 -9.03741836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60592 meters Centerline goodness [0,1] 0.9996025042233926 Centerline is valid? [True, True] Translation: X:216.63, Y:24.31, Z:-0.90 [[ 9.88618508e-01 1.49371264e-01 1.79351975e-02 2.16626523e+02] [-1.49350480e-01 9.88781160e-01 -2.50026278e-03 2.43146769e+01] [-1.81074528e-02 -2.06824296e-04 9.99836025e-01 -9.03027202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63592 meters Centerline goodness [0,1] 0.9991546914623838 Centerline is valid? [True, True] Translation: X:216.66, Y:24.31, Z:-0.90 [[ 9.88338734e-01 1.51410066e-01 1.61721622e-02 2.16657388e+02] [-1.51393423e-01 9.88471013e-01 -2.25554428e-03 2.43102362e+01] [-1.63272257e-02 -2.19117223e-04 9.99866678e-01 -9.02664275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66592 meters Centerline goodness [0,1] 0.9991065667345014 Centerline is valid? [True, True] Translation: X:216.69, Y:24.31, Z:-0.90 [[ 9.88439886e-01 1.50637851e-01 1.71705786e-02 2.16686505e+02] [-1.50618991e-01 9.88588989e-01 -2.39377185e-03 2.43062398e+01] [-1.73352376e-02 -2.20115652e-04 9.99849709e-01 -9.03600590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69592 meters Centerline goodness [0,1] 0.9991058566390144 Centerline is valid? [True, True] Translation: X:216.72, Y:24.30, Z:-0.90 [[ 9.88508566e-01 1.50233879e-01 1.67510123e-02 2.16717106e+02] [-1.50215873e-01 9.88650463e-01 -2.33522427e-03 2.43017957e+01] [-1.69117259e-02 -2.07878734e-04 9.99856965e-01 -9.03726312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72592 meters Centerline goodness [0,1] 0.9991551955473836 Centerline is valid? [True, True] Translation: X:216.75, Y:24.30, Z:-0.90 [[ 9.88788881e-01 1.48308950e-01 1.73494524e-02 2.16747204e+02] [-1.48289337e-01 9.88941061e-01 -2.41865158e-03 2.42966221e+01] [-1.75162936e-02 -1.81203012e-04 9.99846562e-01 -9.03923812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75592 meters Centerline goodness [0,1] 0.9992547694753577 Centerline is valid? [True, True] Translation: X:216.78, Y:24.29, Z:-0.90 [[ 9.88888169e-01 1.47915128e-01 1.48762663e-02 2.16778102e+02] [-1.47900650e-01 9.89000047e-01 -2.07479677e-03 2.42912591e+01] [-1.50195219e-02 -1.48467476e-04 9.99887190e-01 -9.02902304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78592 meters Centerline goodness [0,1] 0.9995035249726939 Centerline is valid? [True, True] Translation: X:216.81, Y:24.29, Z:-0.90 [[ 9.88834348e-01 1.48181975e-01 1.57713000e-02 2.16807621e+02] [-1.48165752e-01 9.88960098e-01 -2.19869821e-03 2.42869854e+01] [-1.59229938e-02 -1.62618208e-04 9.99873208e-01 -9.02959011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81592 meters Centerline goodness [0,1] 0.9996525192355423 Centerline is valid? [True, True] Translation: X:216.84, Y:24.28, Z:-0.90 [[ 9.88767049e-01 1.48558862e-01 1.64312791e-02 2.16837261e+02] [-1.48541322e-01 9.88903551e-01 -2.28961410e-03 2.42826794e+01] [-1.65890927e-02 -1.76828939e-04 9.99862376e-01 -9.02748717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84592 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:216.87, Y:24.28, Z:-0.90 [[ 9.88689847e-01 1.49002634e-01 1.70470388e-02 2.16867794e+02] [-1.48983822e-01 9.88836781e-01 -2.37535818e-03 2.42774096e+01] [-1.72106736e-02 -1.91240470e-04 9.99851867e-01 -9.03710227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87592 meters Centerline goodness [0,1] 0.9999006754072308 Centerline is valid? [True, True] Translation: X:216.90, Y:24.27, Z:-0.90 [[ 9.88494344e-01 1.50508844e-01 1.50339709e-02 2.16898910e+02] [-1.50494373e-01 9.88608644e-01 -2.09579173e-03 2.42725970e+01] [-1.51781488e-02 -1.90849758e-04 9.99884787e-01 -9.02844367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.93, Y:24.27, Z:-0.90 [[ 9.88369474e-01 1.51226514e-01 1.60101245e-02 2.16928763e+02] [-1.51210212e-01 9.88499112e-01 -2.23092725e-03 2.42693563e+01] [-1.61633693e-02 -2.15913934e-04 9.99869341e-01 -9.01545932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93592 meters Centerline goodness [0,1] 0.999900616179686 Centerline is valid? [True, True] Translation: X:216.96, Y:24.27, Z:-0.90 [[ 9.88300716e-01 1.51710871e-01 1.56686265e-02 2.16958680e+02] [-1.51695334e-01 9.88424890e-01 -2.18229947e-03 2.42655769e+01] [-1.58183390e-02 -2.20089404e-04 9.99874858e-01 -9.00615463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96592 meters Centerline goodness [0,1] 0.9996524157108099 Centerline is valid? [True, True] Translation: X:216.99, Y:24.26, Z:-0.90 [[ 9.88176854e-01 1.52411812e-01 1.66476627e-02 2.16988025e+02] [-1.52394390e-01 9.88317044e-01 -2.31754510e-03 2.42618037e+01] [-1.68063901e-02 -2.46865986e-04 9.99858732e-01 -8.99915251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.02, Y:24.26, Z:-0.90 [[ 9.88120550e-01 1.52554063e-01 1.85751297e-02 2.17018610e+02] [-1.52532401e-01 9.88295088e-01 -2.58580699e-03 2.42574994e+01] [-1.87521848e-02 -2.78220109e-04 9.99824124e-01 -9.00388701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02592 meters Centerline goodness [0,1] 0.9998509983113142 Centerline is valid? [True, True] Translation: X:217.05, Y:24.25, Z:-0.90 [[ 9.88127164e-01 1.52526793e-01 1.84468349e-02 2.17049671e+02] [-1.52505402e-01 9.88299298e-01 -2.56911678e-03 2.42533163e+01] [-1.86228531e-02 -2.74627893e-04 9.99826542e-01 -8.99908131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05592000000001 meters Centerline goodness [0,1] 0.9998014198480862 Centerline is valid? [True, True] Translation: X:217.08, Y:24.25, Z:-0.90 [[ 9.88016553e-01 1.53192140e-01 1.88536274e-02 2.17080812e+02] [-1.53169892e-01 9.88196379e-01 -2.62702919e-03 2.42510060e+01] [-1.90335266e-02 -2.92259753e-04 9.99818803e-01 -9.00067259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.11, Y:24.25, Z:-0.90 [[ 9.87873476e-01 1.54035458e-01 1.94697966e-02 2.17111834e+02] [-1.54011871e-01 9.88065270e-01 -2.71416850e-03 2.42487704e+01] [-1.96555080e-02 -3.17324724e-04 9.99806761e-01 -9.00003565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.14, Y:24.25, Z:-0.90 [[ 9.87865962e-01 1.54125940e-01 1.91320437e-02 2.17142961e+02] [-1.54103156e-01 9.88051161e-01 -2.66834688e-03 2.42462075e+01] [-1.93146995e-02 -3.12339272e-04 9.99813405e-01 -8.99723584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.17, Y:24.24, Z:-0.90 [[ 9.87796490e-01 1.54743238e-01 1.76812138e-02 2.17174317e+02] [-1.54723857e-01 9.87954676e-01 -2.46716764e-03 2.42434123e+01] [-1.78500154e-02 -2.98646070e-04 9.99840631e-01 -8.99392625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.20, Y:24.24, Z:-0.90 [[ 9.87989835e-01 1.53350863e-01 1.89630743e-02 2.17204096e+02] [-1.53328335e-01 9.88171759e-01 -2.64490150e-03 2.42420815e+01] [-1.91443725e-02 -2.94440819e-04 9.99816686e-01 -9.00752636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20592 meters Centerline goodness [0,1] 0.9999007985714994 Centerline is valid? [True, True] Translation: X:217.23, Y:24.24, Z:-0.90 [[ 9.88111432e-01 1.52513143e-01 1.93788407e-02 2.17234579e+02] [-1.52489457e-01 9.88301402e-01 -2.70283355e-03 2.42392582e+01] [-1.95643531e-02 -2.84368162e-04 9.99808559e-01 -9.01297264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.27, Y:24.24, Z:-0.90 [[ 9.88183738e-01 1.52018811e-01 1.95750085e-02 2.17265658e+02] [-1.51994521e-01 9.88377562e-01 -2.73142509e-03 2.42358200e+01] [-1.97627271e-02 -2.76144193e-04 9.99804660e-01 -9.01461813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:217.30, Y:24.23, Z:-0.90 [[ 9.88407111e-01 1.50558911e-01 1.95805420e-02 2.17296614e+02] [-1.50534296e-01 9.88601008e-01 -2.73348427e-03 2.42323713e+01] [-1.97688940e-02 -2.45747822e-04 9.99804546e-01 -9.01488528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:217.33, Y:24.23, Z:-0.90 [[ 9.88536123e-01 1.49776101e-01 1.90644228e-02 2.17327751e+02] [-1.49752597e-01 9.88719915e-01 -2.66268275e-03 2.42288893e+01] [-1.92481808e-02 -2.22788747e-04 9.99814712e-01 -9.01644032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32592 meters Centerline goodness [0,1] 0.999950295740345 Centerline is valid? [True, True] Translation: X:217.36, Y:24.23, Z:-0.90 [[ 9.88858311e-01 1.47946677e-01 1.64627417e-02 2.17357131e+02] [-1.47928932e-01 9.88995325e-01 -2.29719838e-03 2.42275874e+01] [-1.66214374e-02 -1.63712090e-04 9.99861841e-01 -9.00453021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35592 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:217.39, Y:24.22, Z:-0.90 [[ 9.89050563e-01 1.46687564e-01 1.61784652e-02 2.17385807e+02] [-1.46670377e-01 9.89182863e-01 -2.25023193e-03 2.42249142e+01] [-1.63335415e-02 -1.47308433e-04 9.99866588e-01 -9.01548503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.41, Y:24.22, Z:-0.90 [[ 9.89452367e-01 1.43701835e-01 1.82701013e-02 2.17414691e+02] [-1.43679565e-01 9.89621023e-01 -2.53263042e-03 2.42227757e+01] [-1.84444199e-02 -1.19123026e-04 9.99829880e-01 -9.01945792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.44, Y:24.22, Z:-0.90 [[ 9.89607150e-01 1.42505155e-01 1.92345666e-02 2.17444619e+02] [-1.42480277e-01 9.89794054e-01 -2.66470844e-03 2.42194722e+01] [-1.94179943e-02 -1.03531846e-04 9.99811448e-01 -9.01265123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.48, Y:24.22, Z:-0.90 [[ 9.89822127e-01 1.40924599e-01 1.98094366e-02 2.17475361e+02] [-1.40897896e-01 9.90020329e-01 -2.74429196e-03 2.42160585e+01] [-1.99984832e-02 -7.47470215e-05 9.99800008e-01 -9.00934770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:217.51, Y:24.21, Z:-0.90 [[ 9.90245235e-01 1.38048049e-01 1.88973581e-02 2.17506123e+02] [-1.38023225e-01 9.90425533e-01 -2.61793754e-03 2.42132908e+01] [-1.90778271e-02 -1.58741221e-05 9.99818002e-01 -9.01536921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.54, Y:24.21, Z:-0.90 [[ 9.90440617e-01 1.36751379e-01 1.80677834e-02 2.17536207e+02] [-1.36728471e-01 9.90605401e-01 -2.50301276e-03 2.42101234e+01] [-1.82403342e-02 8.70511162e-06 9.99833631e-01 -9.03063098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:217.57, Y:24.21, Z:-0.90 [[ 9.90448804e-01 1.36809492e-01 1.71560360e-02 2.17565496e+02] [-1.36788865e-01 9.90597377e-01 -2.37564209e-03 2.42059048e+01] [-1.73197347e-02 6.19717202e-06 9.99850002e-01 -9.02911795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56592 meters Centerline goodness [0,1] 0.9999502016831832 Centerline is valid? [True, True] Translation: X:217.60, Y:24.20, Z:-0.90 [[ 9.90398695e-01 1.37222369e-01 1.67465051e-02 2.17595255e+02] [-1.37202783e-01 9.90540267e-01 -2.31836003e-03 2.42009758e+01] [-1.69062185e-02 -1.56636346e-06 9.99857080e-01 -9.02698545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59592 meters Centerline goodness [0,1] 0.9998511092361904 Centerline is valid? [True, True] Translation: X:217.62, Y:24.20, Z:-0.90 [[ 9.90208812e-01 1.38552604e-01 1.70201058e-02 2.17624498e+02] [-1.38532589e-01 9.90355075e-01 -2.35514567e-03 2.41950012e+01] [-1.71822597e-02 -2.57533185e-05 9.99852374e-01 -9.02798217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62592 meters Centerline goodness [0,1] 0.9998511092361904 Centerline is valid? [True, True] Translation: X:217.65, Y:24.19, Z:-0.90 [[ 9.90217712e-01 1.38488966e-01 1.70202571e-02 2.17653379e+02] [-1.38468960e-01 9.90363976e-01 -2.35405178e-03 2.41909850e+01] [-1.71822597e-02 -2.57535396e-05 9.99852374e-01 -9.02823401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65592 meters Centerline goodness [0,1] 0.9998013705432516 Centerline is valid? [True, True] Translation: X:217.68, Y:24.19, Z:-0.90 [[ 9.90073011e-01 1.39412544e-01 1.78766475e-02 2.17683039e+02] [-1.39390645e-01 9.90234387e-01 -2.47132484e-03 2.41863117e+01] [-1.80466047e-02 -4.50454064e-05 9.99837146e-01 -9.03076278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:217.71, Y:24.18, Z:-0.90 [[ 9.89792041e-01 1.41553407e-01 1.65634587e-02 2.17712785e+02] [-1.41534926e-01 9.89930617e-01 -2.28870079e-03 2.41819577e+01] [-1.67206483e-02 -7.89700666e-05 9.99860197e-01 -9.03339159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:217.74, Y:24.18, Z:-0.90 [[ 9.89697386e-01 1.42082949e-01 1.76499117e-02 2.17742124e+02] [-1.42062069e-01 9.89854750e-01 -2.43766114e-03 2.41776318e+01] [-1.78171990e-02 -9.48361025e-05 9.99841257e-01 -9.03933040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:217.77, Y:24.17, Z:-0.90 [[ 9.89465029e-01 1.43565547e-01 1.86518054e-02 2.17771173e+02] [-1.43542514e-01 9.89640802e-01 -2.57481085e-03 2.41723082e+01] [-1.88282418e-02 -1.29641747e-04 9.99822725e-01 -9.04192076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:217.80, Y:24.17, Z:-0.90 [[ 9.89386473e-01 1.44044651e-01 1.91192400e-02 2.17801241e+02] [-1.44020540e-01 9.89571179e-01 -2.63928107e-03 2.41676640e+01] [-1.93000232e-02 -1.42294278e-04 9.99813727e-01 -9.03493840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80592000000001 meters Centerline goodness [0,1] 0.9999503475670308 Centerline is valid? [True, True] Translation: X:217.83, Y:24.16, Z:-0.90 [[ 9.89301970e-01 1.44731267e-01 1.82886039e-02 2.17831180e+02] [-1.44709323e-01 9.89470989e-01 -2.52461741e-03 2.41629539e+01] [-1.84614341e-02 -1.48922510e-04 9.99829562e-01 -9.03526374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.86, Y:24.16, Z:-0.90 [[ 9.89245258e-01 1.45259026e-01 1.71357618e-02 2.17861286e+02] [-1.45239841e-01 9.89393649e-01 -2.36547539e-03 2.41585440e+01] [-1.72976205e-02 -1.48759997e-04 9.99850374e-01 -9.01782093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86592000000002 meters Centerline goodness [0,1] 0.9997512932749701 Centerline is valid? [True, True] Translation: X:217.89, Y:24.15, Z:-0.90 [[ 9.89121474e-01 1.45964016e-01 1.82541975e-02 2.17890977e+02] [-1.45942386e-01 9.89289885e-01 -2.51871745e-03 2.41544210e+01] [-1.84263351e-02 -1.72743627e-04 9.99830206e-01 -9.01177815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89592000000002 meters Centerline goodness [0,1] 0.9996528294400635 Centerline is valid? [True, True] Translation: X:217.92, Y:24.15, Z:-0.90 [[ 9.88883608e-01 1.47657888e-01 1.75030626e-02 2.17920384e+02] [-1.47638287e-01 9.89038477e-01 -2.41392891e-03 2.41498755e+01] [-1.76676381e-02 -1.97027450e-04 9.99843896e-01 -9.01011966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92592000000002 meters Centerline goodness [0,1] 0.9996520701824146 Centerline is valid? [True, True] Translation: X:217.95, Y:24.15, Z:-0.90 [[ 9.88711282e-01 1.48650775e-01 1.87869177e-02 2.17950151e+02] [-1.48628395e-01 9.88889728e-01 -2.58975317e-03 2.41469439e+01] [-1.89631587e-02 -2.31751245e-04 9.99820156e-01 -9.01040793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95592 meters Centerline goodness [0,1] 0.999752119379307 Centerline is valid? [True, True] Translation: X:217.98, Y:24.15, Z:-0.90 [[ 9.88094721e-01 1.52606484e-01 1.94957202e-02 2.17979951e+02] [-1.52583178e-01 9.88286982e-01 -2.68616905e-03 2.41454025e+01] [-1.96772933e-02 -3.20529490e-04 9.99806332e-01 -9.02474949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98592 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:218.01, Y:24.14, Z:-0.90 [[ 9.87903713e-01 1.53862910e-01 1.92992078e-02 2.18009527e+02] [-1.53840336e-01 9.88092145e-01 -2.65782758e-03 2.41432870e+01] [-1.94783367e-02 -3.43318876e-04 9.99810220e-01 -9.02076111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01592 meters Centerline goodness [0,1] 0.9997022628026995 Centerline is valid? [True, True] Translation: X:218.04, Y:24.14, Z:-0.90 [[ 9.87557855e-01 1.56042510e-01 1.94991661e-02 2.18038986e+02] [-1.56019916e-01 9.87750263e-01 -2.68408390e-03 2.41417046e+01] [-1.96791376e-02 -3.91570102e-04 9.99806270e-01 -9.02183024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04592 meters Centerline goodness [0,1] 0.9998010840917002 Centerline is valid? [True, True] Translation: X:218.07, Y:24.14, Z:-0.90 [[ 9.87441221e-01 1.56893933e-01 1.85506938e-02 2.18067356e+02] [-1.56873777e-01 9.87615379e-01 -2.54587159e-03 2.41397932e+01] [-1.87203823e-02 -3.96218837e-04 9.99824680e-01 -9.00640356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07592 meters Centerline goodness [0,1] 0.9998511092361904 Centerline is valid? [True, True] Translation: X:218.10, Y:24.14, Z:-0.90 [[ 9.87729061e-01 1.55089961e-01 1.83958157e-02 2.18096323e+02] [-1.55069986e-01 9.87900283e-01 -2.51600459e-03 2.41409955e+01] [-1.85634386e-02 -3.67508039e-04 9.99827617e-01 -9.01389888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:24.14, Z:-0.90 [[ 9.87923858e-01 1.53762907e-01 1.90635468e-02 2.18124043e+02] [-1.53741402e-01 9.88107704e-01 -2.59732162e-03 2.41399562e+01] [-1.92362092e-02 -3.64900423e-04 9.99814900e-01 -9.01422308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13592 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:218.15, Y:24.14, Z:-0.90 [[ 9.88225741e-01 1.51615893e-01 2.05549211e-02 2.18152510e+02] [-1.51590653e-01 9.88439422e-01 -2.78960094e-03 2.41386774e+01] [-2.07402422e-02 -3.59178471e-04 9.99784834e-01 -9.02335540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.18, Y:24.14, Z:-0.90 [[ 9.88786950e-01 1.47989910e-01 1.99838360e-02 2.18181435e+02] [-1.47965500e-01 9.88988830e-01 -2.70278506e-03 2.41399394e+01] [-2.01637755e-02 -2.84439694e-04 9.99796650e-01 -9.02405781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:24.14, Z:-0.90 [[ 9.89265640e-01 1.44847974e-01 1.93017325e-02 2.18211084e+02] [-1.44824777e-01 9.89453897e-01 -2.60168572e-03 2.41417772e+01] [-1.94750234e-02 -2.21610816e-04 9.99810319e-01 -9.02918097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.24, Y:24.14, Z:-0.90 [[ 9.89637313e-01 1.42315804e-01 1.90840159e-02 2.18240010e+02] [-1.42292824e-01 9.89821287e-01 -2.56364439e-03 2.41404421e+01] [-1.92546123e-02 -1.78440366e-04 9.99814597e-01 -9.02221256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25592 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:218.27, Y:24.14, Z:-0.90 [[ 9.89991797e-01 1.39980768e-01 1.79339684e-02 2.18268381e+02] [-1.39960238e-01 9.90154214e-01 -2.40101092e-03 2.41385543e+01] [-1.80934898e-02 -1.33061374e-04 9.99836291e-01 -9.02138501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.30, Y:24.14, Z:-0.90 [[ 9.90468746e-01 1.36475187e-01 1.86061169e-02 2.18296347e+02] [-1.36452652e-01 9.90643486e-01 -2.48133175e-03 2.41388250e+01] [-1.87706687e-02 -8.11724419e-05 9.99823812e-01 -9.01964477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:24.14, Z:-0.90 [[ 9.90669412e-01 1.34896498e-01 1.94177971e-02 2.18324362e+02] [-1.34871849e-01 9.90859693e-01 -2.57940367e-03 2.41377615e+01] [-1.95882650e-02 -6.35778852e-05 9.99808130e-01 -9.01634522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.35, Y:24.14, Z:-0.90 [[ 9.90944797e-01 1.32541708e-01 2.14733791e-02 2.18353905e+02] [-1.32511225e-01 9.91177429e-01 -2.84258265e-03 2.41387994e+01] [-2.16606895e-02 -2.86212909e-05 9.99765379e-01 -9.01809197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:24.14, Z:-0.90 [[ 9.91157455e-01 1.31011633e-01 2.10440176e-02 2.18382570e+02] [-1.30982216e-01 9.91380831e-01 -2.77616884e-03 2.41368252e+01] [-2.12263460e-02 -4.77161580e-06 9.99774696e-01 -9.01986013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40592 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:218.41, Y:24.13, Z:-0.90 [[ 9.91472478e-01 1.28820427e-01 1.96881580e-02 2.18411258e+02] [-1.28794421e-01 9.91667937e-01 -2.58849449e-03 2.41349928e+01] [-1.98575660e-02 3.06961280e-05 9.99802819e-01 -9.00995730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43592 meters Centerline goodness [0,1] 0.999652795000248 Centerline is valid? [True, True] Translation: X:218.44, Y:24.13, Z:-0.90 [[ 9.91887963e-01 1.25832968e-01 1.80092287e-02 2.18439884e+02] [-1.25810864e-01 9.92051439e-01 -2.35967813e-03 2.41347991e+01] [-1.81630065e-02 7.47797170e-05 9.99835036e-01 -9.00320436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46592 meters Centerline goodness [0,1] 0.9997024104751513 Centerline is valid? [True, True] Translation: X:218.47, Y:24.13, Z:-0.90 [[ 9.92108624e-01 1.24265356e-01 1.66913192e-02 2.18467738e+02] [-1.24246290e-01 9.92249018e-01 -2.17846312e-03 2.41319752e+01] [-1.68326526e-02 8.74375525e-05 9.99858317e-01 -9.00334320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49592 meters Centerline goodness [0,1] 0.9994546085576875 Centerline is valid? [True, True] Translation: X:218.50, Y:24.13, Z:-0.90 [[ 9.92637258e-01 1.19952907e-01 1.68099127e-02 2.18496909e+02] [-1.19933079e-01 9.92779571e-01 -2.18638411e-03 2.41313811e+01] [-1.69508011e-02 1.54221741e-04 9.99856313e-01 -9.00341024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52592 meters Centerline goodness [0,1] 0.999553216838761 Centerline is valid? [True, True] Translation: X:218.53, Y:24.13, Z:-0.90 [[ 9.92732786e-01 1.18774665e-01 1.93441089e-02 2.18526047e+02] [-1.18748353e-01 9.92921216e-01 -2.50730174e-03 2.41298162e+01] [-1.95049801e-02 1.91999570e-04 9.99809741e-01 -9.00904218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55592000000001 meters Centerline goodness [0,1] 0.999553261193289 Centerline is valid? [True, True] Translation: X:218.55, Y:24.13, Z:-0.90 [[ 9.92971401e-01 1.16909952e-01 1.84353133e-02 2.18554308e+02] [-1.16885905e-01 9.93142497e-01 -2.38025496e-03 2.41290166e+01] [-1.85871686e-02 2.08696807e-04 9.99827222e-01 -9.00479168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58592000000002 meters Centerline goodness [0,1] 0.9995535714285714 Centerline is valid? [True, True] Translation: X:218.58, Y:24.13, Z:-0.90 [[ 9.92993066e-01 1.16475385e-01 1.99563422e-02 2.18582895e+02] [-1.16447297e-01 9.93193553e-01 -2.56773477e-03 2.41251607e+01] [-2.01195883e-02 2.25880714e-04 9.99797555e-01 -9.01386461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61592000000002 meters Centerline goodness [0,1] 0.9996521911954686 Centerline is valid? [True, True] Translation: X:218.61, Y:24.12, Z:-0.90 [[ 9.93108054e-01 1.15582372e-01 1.94192703e-02 2.18610179e+02] [-1.15555795e-01 9.93297872e-01 -2.48892785e-03 2.41216521e+01] [-1.95767961e-02 2.27765080e-04 9.99808330e-01 -9.01226653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64592000000002 meters Centerline goodness [0,1] 0.999603410668253 Centerline is valid? [True, True] Translation: X:218.64, Y:24.12, Z:-0.90 [[ 9.93251398e-01 1.14761942e-01 1.67736858e-02 2.18639503e+02] [-1.14742068e-01 9.93393001e-01 -2.14565176e-03 2.41203528e+01] [-1.69091013e-02 2.06524204e-04 9.99857010e-01 -9.00099486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67592000000002 meters Centerline goodness [0,1] 0.999204336366801 Centerline is valid? [True, True] Translation: X:218.67, Y:24.12, Z:-0.90 [[ 9.93511833e-01 1.12525369e-01 1.65009024e-02 2.18668172e+02] [-1.12505944e-01 9.93648825e-01 -2.10373278e-03 2.41170920e+01] [-1.66328256e-02 2.33633797e-04 9.99861638e-01 -9.00580072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70592 meters Centerline goodness [0,1] 0.9993060718711276 Centerline is valid? [True, True] Translation: X:218.70, Y:24.11, Z:-0.90 [[ 9.93665785e-01 1.11048651e-01 1.72193284e-02 2.18696493e+02] [-1.11027407e-01 9.93814937e-01 -2.18779031e-03 2.41134522e+01] [-1.73557769e-02 2.62114988e-04 9.99849343e-01 -9.00476341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73592 meters Centerline goodness [0,1] 0.9995038698154396 Centerline is valid? [True, True] Translation: X:218.72, Y:24.11, Z:-0.90 [[ 9.93759114e-01 1.09922814e-01 1.89683605e-02 2.18724608e+02] [-1.09896989e-01 9.93940081e-01 -2.40170337e-03 2.41098960e+01] [-1.91174157e-02 3.02148920e-04 9.99817200e-01 -9.00608177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76592 meters Centerline goodness [0,1] 0.9992558416431017 Centerline is valid? [True, True] Translation: X:218.75, Y:24.11, Z:-0.90 [[ 9.94024997e-01 1.07444885e-01 1.92328255e-02 2.18753053e+02] [-1.07418032e-01 9.94210982e-01 -2.42687322e-03 2.41060723e+01] [-1.93822415e-02 3.46420374e-04 9.99812087e-01 -9.01508100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79592 meters Centerline goodness [0,1] 0.9989595719381689 Centerline is valid? [True, True] Translation: X:218.78, Y:24.10, Z:-0.90 [[ 9.94201640e-01 1.05834402e-01 1.90309834e-02 2.18781237e+02] [-1.05807972e-01 9.94383701e-01 -2.39317983e-03 2.41002609e+01] [-1.91773805e-02 3.65673557e-04 9.99816030e-01 -9.02734562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82592 meters Centerline goodness [0,1] 0.9989589530041642 Centerline is valid? [True, True] Translation: X:218.81, Y:24.10, Z:-0.90 [[ 9.94333653e-01 1.04667236e-01 1.85837692e-02 2.18810037e+02] [-1.04641979e-01 9.94507231e-01 -2.32900430e-03 2.40957847e+01] [-1.87254633e-02 3.71164963e-04 9.99824594e-01 -9.01726460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85592 meters Centerline goodness [0,1] 0.9989582816607967 Centerline is valid? [True, True] Translation: X:218.84, Y:24.09, Z:-0.90 [[ 9.94358338e-01 1.04330026e-01 1.91504872e-02 2.18838605e+02] [-1.04303301e-01 9.94542659e-01 -2.39179745e-03 2.40915284e+01] [-1.92955127e-02 3.80844704e-04 9.99813752e-01 -9.01833175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88592 meters Centerline goodness [0,1] 0.9990079857149943 Centerline is valid? [True, True] Translation: X:218.87, Y:24.09, Z:-0.90 [[ 9.94594699e-01 1.01922780e-01 1.98275674e-02 2.18866734e+02] [-1.01893823e-01 9.94792219e-01 -2.46787482e-03 2.40871853e+01] [-1.99758424e-02 4.34228561e-04 9.99800369e-01 -9.01577903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91592 meters Centerline goodness [0,1] 0.9990553373440063 Centerline is valid? [True, True] Translation: X:218.90, Y:24.08, Z:-0.90 [[ 9.94735574e-01 1.00657053e-01 1.92170383e-02 2.18897014e+02] [-1.00629623e-01 9.94921082e-01 -2.39152945e-03 2.40826514e+01] [-1.93601608e-02 4.45136106e-04 9.99812475e-01 -9.02468277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94592 meters Centerline goodness [0,1] 0.9991063005809047 Centerline is valid? [True, True] Translation: X:218.93, Y:24.08, Z:-0.90 [[ 9.95064067e-01 9.71841156e-02 2.00686177e-02 2.18926573e+02] [-9.71535181e-02 9.95266277e-01 -2.49633867e-03 2.40778196e+01] [-2.02162229e-02 5.34280102e-04 9.99795489e-01 -9.03481191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97592 meters Centerline goodness [0,1] 0.9989574024426572 Centerline is valid? [True, True] Translation: X:218.96, Y:24.07, Z:-0.90 [[ 9.95328630e-01 9.50105776e-02 1.71437630e-02 2.18957183e+02] [-9.49879114e-02 9.95476140e-01 -2.13345117e-03 2.40733076e+01] [-1.72689075e-02 4.95034788e-04 9.99850759e-01 -9.02458970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00592 meters Centerline goodness [0,1] 0.9986612455374851 Centerline is valid? [True, True] Translation: X:218.99, Y:24.07, Z:-0.90 [[ 9.95527241e-01 9.26857094e-02 1.82995128e-02 2.18985074e+02] [-9.26596272e-02 9.95695255e-01 -2.26990100e-03 2.40678507e+01] [-1.84311254e-02 5.64122254e-04 9.99829973e-01 -9.02884600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03592 meters Centerline goodness [0,1] 0.9988596360751648 Centerline is valid? [True, True] Translation: X:219.02, Y:24.06, Z:-0.90 [[ 9.95575516e-01 9.23165869e-02 1.75225463e-02 2.19015220e+02] [-9.22926217e-02 9.95729556e-01 -2.17317532e-03 2.40625796e+01] [-1.76483374e-02 5.46358403e-04 9.99844107e-01 -9.02394037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06592 meters Centerline goodness [0,1] 0.999602721358693 Centerline is valid? [True, True] Translation: X:219.05, Y:24.06, Z:-0.90 [[ 9.95636467e-01 9.18642388e-02 1.64008573e-02 2.19045191e+02] [-9.18431826e-02 9.95771406e-01 -2.03406158e-03 2.40571461e+01] [-1.65183622e-02 5.18878958e-04 9.99863428e-01 -9.02268946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09592 meters Centerline goodness [0,1] 0.9995529505265249 Centerline is valid? [True, True] Translation: X:219.07, Y:24.05, Z:-0.90 [[ 9.95694341e-01 9.08932236e-02 1.81989600e-02 2.19074221e+02] [-9.08671538e-02 9.95860467e-01 -2.25602726e-03 2.40530502e+01] [-1.83286824e-02 5.92625876e-04 9.99831840e-01 -9.02484729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12592 meters Centerline goodness [0,1] 0.9998511387882697 Centerline is valid? [True, True] Translation: X:219.11, Y:24.05, Z:-0.90 [[ 9.95841561e-01 8.89533306e-02 1.96695237e-02 2.19105454e+02] [-8.89224777e-02 9.96035563e-01 -2.43939334e-03 2.40469102e+01] [-1.98085373e-02 6.80186489e-04 9.99803560e-01 -9.03301135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15592 meters Centerline goodness [0,1] 0.9998513453248105 Centerline is valid? [True, True] Translation: X:219.14, Y:24.04, Z:-0.90 [[ 9.95972401e-01 8.75017147e-02 1.95556992e-02 2.19137609e+02] [-8.74708936e-02 9.96164118e-01 -2.42755223e-03 2.40411390e+01] [-1.96931008e-02 7.07220543e-04 9.99805822e-01 -9.02838043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18592 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:219.17, Y:24.04, Z:-0.90 [[ 9.96079408e-01 8.61952293e-02 1.99046741e-02 2.19169694e+02] [-8.61629901e-02 9.96277984e-01 -2.47324671e-03 2.40355178e+01] [-2.00437706e-02 7.48503886e-04 9.99798823e-01 -9.02936530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21592 meters Centerline goodness [0,1] 0.9997020114228955 Centerline is valid? [True, True] Translation: X:219.20, Y:24.03, Z:-0.90 [[ 9.96329328e-01 8.36972247e-02 1.79623322e-02 2.19201106e+02] [-8.36705275e-02 9.96490969e-01 -2.23401406e-03 2.40281940e+01] [-1.80862826e-02 7.22895918e-04 9.99836168e-01 -9.03020250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:219.23, Y:24.02, Z:-0.90 [[ 9.96384739e-01 8.30815787e-02 1.77455190e-02 2.19231648e+02] [-8.30554052e-02 9.96542485e-01 -2.20814320e-03 2.40226903e+01] [-1.78676196e-02 7.26298911e-04 9.99840098e-01 -9.03098977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27592 meters Centerline goodness [0,1] 0.9997017892644136 Centerline is valid? [True, True] Translation: X:219.26, Y:24.01, Z:-0.90 [[ 9.96269216e-01 8.37468378e-02 2.08354534e-02 2.19263067e+02] [-8.37108485e-02 9.96486708e-01 -2.59506279e-03 2.40145990e+01] [-2.09795807e-02 8.41227689e-04 9.99779550e-01 -9.04216470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30592000000001 meters Centerline goodness [0,1] 0.9997519841269841 Centerline is valid? [True, True] Translation: X:219.29, Y:24.01, Z:-0.90 [[ 9.96162948e-01 8.50893372e-02 2.04740437e-02 2.19294512e+02] [-8.50548189e-02 9.96373004e-01 -2.55247043e-03 2.40085662e+01] [-2.06169725e-02 8.01260383e-04 9.99787127e-01 -9.04002153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33592000000002 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:219.32, Y:24.00, Z:-0.90 [[ 9.95864055e-01 8.87311388e-02 1.95337790e-02 2.19324930e+02] [-8.87003831e-02 9.96055371e-01 -2.43701784e-03 2.39993687e+01] [-1.96729648e-02 6.94284788e-04 9.99806227e-01 -9.03717160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36592000000002 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:219.36, Y:23.99, Z:-0.90 [[ 9.95657268e-01 9.09560399e-02 1.98394666e-02 2.19356514e+02] [-9.09247075e-02 9.95854688e-01 -2.47753123e-03 2.39926154e+01] [-1.99825723e-02 6.62874271e-04 9.99800109e-01 -9.04311385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39592000000002 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:219.39, Y:23.98, Z:-0.90 [[ 9.95300972e-01 9.47118185e-02 2.01406771e-02 2.19387048e+02] [-9.46802695e-02 9.95504553e-01 -2.51641301e-03 2.39828876e+01] [-2.02884698e-02 5.97663580e-04 9.99793989e-01 -9.04640648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.42, Y:23.98, Z:-0.91 [[ 9.95244502e-01 9.53261146e-02 2.00327847e-02 2.19418170e+02] [-9.52949790e-02 9.95445925e-01 -2.50531058e-03 2.39759948e+01] [-2.01803754e-02 5.84372791e-04 9.99796185e-01 -9.05217821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.45, Y:23.97, Z:-0.91 [[ 9.95095026e-01 9.70626973e-02 1.90976762e-02 2.19449967e+02] [-9.70346651e-02 9.95278130e-01 -2.39124601e-03 2.39673966e+01] [-1.92396002e-02 5.26380397e-04 9.99814763e-01 -9.05356112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.48, Y:23.96, Z:-0.91 [[ 9.95083346e-01 9.71824318e-02 1.90973852e-02 2.19481434e+02] [-9.71543771e-02 9.95266446e-01 -2.39356906e-03 2.39634953e+01] [-1.92395995e-02 5.26406143e-04 9.99814763e-01 -9.05383468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.51, Y:23.96, Z:-0.91 [[ 9.95053241e-01 9.76291485e-02 1.83738035e-02 2.19512800e+02] [-9.76032142e-02 9.95222738e-01 -2.30512474e-03 2.39582807e+01] [-1.85110744e-02 5.00379574e-04 9.99828530e-01 -9.05188804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.54, Y:23.95, Z:-0.91 [[ 9.94859428e-01 9.96467881e-02 1.80342913e-02 2.19543618e+02] [-9.96221137e-02 9.95022769e-01 -2.26368100e-03 2.39499361e+01] [-1.81700990e-02 4.55430168e-04 9.99834806e-01 -9.05727175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.58, Y:23.94, Z:-0.91 [[ 9.94637848e-01 1.01634563e-01 1.91302461e-02 2.19575554e+02] [-1.01607120e-01 9.94821701e-01 -2.40356069e-03 2.39429868e+01] [-1.92754688e-02 4.46903212e-04 9.99814111e-01 -9.05283769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60592 meters Centerline goodness [0,1] 0.9999007197815836 Centerline is valid? [True, True] Translation: X:219.61, Y:23.94, Z:-0.91 [[ 9.94439759e-01 1.03295669e-01 2.04834223e-02 2.19606834e+02] [-1.03264506e-01 9.94650595e-01 -2.57613439e-03 2.39366633e+01] [-2.06399517e-02 4.46599966e-04 9.99786874e-01 -9.06272035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.64, Y:23.93, Z:-0.91 [[ 9.93989443e-01 1.07422257e-01 2.11055913e-02 2.19637979e+02] [-1.07390026e-01 9.94213417e-01 -2.65792434e-03 2.39285103e+01] [-2.12689823e-02 3.75418720e-04 9.99773719e-01 -9.06005726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.67, Y:23.92, Z:-0.91 [[ 9.93613009e-01 1.10794351e-01 2.13962546e-02 2.19670026e+02] [-1.10761934e-01 9.93843305e-01 -2.69792277e-03 2.39212495e+01] [-2.15634390e-02 3.10800626e-04 9.99767434e-01 -9.06041784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:219.70, Y:23.92, Z:-0.91 [[ 9.93436242e-01 1.12227447e-01 2.21231351e-02 2.19701778e+02] [-1.12193082e-01 9.93682502e-01 -2.79241083e-03 2.39150157e+01] [-2.22967574e-02 2.92019412e-04 9.99751354e-01 -9.06154492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72592 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:219.73, Y:23.91, Z:-0.91 [[ 9.93346277e-01 1.13165428e-01 2.13719543e-02 2.19733267e+02] [-1.13133516e-01 9.93576125e-01 -2.70031814e-03 2.39092145e+01] [-2.15402462e-02 2.64466648e-04 9.99767947e-01 -9.07346115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:219.76, Y:23.90, Z:-0.91 [[ 9.93038644e-01 1.15574239e-01 2.27342503e-02 2.19764344e+02] [-1.15538692e-01 9.93298819e-01 -2.87533018e-03 2.39016217e+01] [-2.29142180e-02 2.28628435e-04 9.99737409e-01 -9.07592501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78592 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:219.80, Y:23.90, Z:-0.91 [[ 9.92789661e-01 1.17430272e-01 2.40586859e-02 2.19796048e+02] [-1.17390933e-01 9.93081110e-01 -3.04591385e-03 2.38961279e+01] [-2.42499090e-02 1.99680196e-04 9.99705908e-01 -9.07933584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81592 meters Centerline goodness [0,1] 0.999851072279587 Centerline is valid? [True, True] Translation: X:219.83, Y:23.89, Z:-0.91 [[ 9.92568781e-01 1.19218466e-01 2.43756694e-02 2.19828085e+02] [-1.19178527e-01 9.92868033e-01 -3.08993419e-03 2.38891213e+01] [-2.45702002e-02 1.61915847e-04 9.99698094e-01 -9.07536547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84592 meters Centerline goodness [0,1] 0.9999008280854862 Centerline is valid? [True, True] Translation: X:219.86, Y:23.88, Z:-0.91 [[ 9.92486039e-01 1.20132229e-01 2.32316470e-02 2.19859920e+02] [-1.20096130e-01 9.92757890e-01 -2.94797532e-03 2.38843022e+01] [-2.34175477e-02 1.35793454e-04 9.99725762e-01 -9.08274465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87592 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:219.89, Y:23.88, Z:-0.91 [[ 9.92346519e-01 1.21037892e-01 2.44584459e-02 2.19891240e+02] [-1.20998075e-01 9.92647880e-01 -3.10680882e-03 2.38790664e+01] [-2.46546660e-02 1.23606036e-04 9.99696020e-01 -9.08342251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90592 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:219.92, Y:23.87, Z:-0.91 [[ 9.92138951e-01 1.22620597e-01 2.49897995e-02 2.19924100e+02] [-1.22579411e-01 9.92453616e-01 -3.17918123e-03 2.38726474e+01] [-2.51910500e-02 9.09546308e-05 9.99682651e-01 -9.09098497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93592 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:219.96, Y:23.87, Z:-0.91 [[ 9.92150965e-01 1.22705792e-01 2.40780198e-02 2.19956122e+02] [-1.22667504e-01 9.92443087e-01 -3.06637724e-03 2.38674286e+01] [-2.42723266e-02 8.87185401e-05 9.99705380e-01 -9.08022814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96592 meters Centerline goodness [0,1] 0.9999004033663662 Centerline is valid? [True, True] Translation: X:219.99, Y:23.86, Z:-0.91 [[ 9.92118033e-01 1.23133704e-01 2.32357205e-02 2.19987723e+02] [-1.23098094e-01 9.92390087e-01 -2.96216423e-03 2.38623086e+01] [-2.34236409e-02 7.85436375e-05 9.99725626e-01 -9.08539899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.02, Y:23.86, Z:-0.91 [[ 9.91937540e-01 1.24456966e-01 2.38826163e-02 2.20019250e+02] [-1.24419653e-01 9.92225005e-01 -3.04779701e-03 2.38577754e+01] [-2.40762487e-02 5.17574317e-05 9.99710124e-01 -9.09227592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:220.05, Y:23.85, Z:-0.91 [[ 9.91635491e-01 1.26834753e-01 2.39165082e-02 2.20052105e+02] [-1.26797913e-01 9.91923861e-01 -3.05677044e-03 2.38526945e+01] [-2.41110599e-02 -1.36126369e-06 9.99709286e-01 -9.08800740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05592000000001 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:220.08, Y:23.85, Z:-0.91 [[ 9.91490396e-01 1.27823179e-01 2.46582392e-02 2.20083602e+02] [-1.27784242e-01 9.91796972e-01 -3.15486278e-03 2.38484496e+01] [-2.48592316e-02 -2.29182577e-05 9.99690961e-01 -9.09258042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08592000000002 meters Centerline goodness [0,1] 0.9998012027235227 Centerline is valid? [True, True] Translation: X:220.12, Y:23.84, Z:-0.91 [[ 9.91364603e-01 1.29066000e-01 2.31989459e-02 2.20115957e+02] [-1.29031804e-01 9.91636005e-01 -2.97119977e-03 2.38448018e+01] [-2.33883909e-02 -4.78595656e-05 9.99726453e-01 -9.08624772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11592000000002 meters Centerline goodness [0,1] 0.9999006704742985 Centerline is valid? [True, True] Translation: X:220.15, Y:23.84, Z:-0.91 [[ 9.91169958e-01 1.30589059e-01 2.29915551e-02 2.20147787e+02] [-1.30555812e-01 9.91436580e-01 -2.94765851e-03 2.38407230e+01] [-2.31796007e-02 -8.00505937e-05 9.99731314e-01 -9.09163872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14592000000002 meters Centerline goodness [0,1] 0.9997515281021716 Centerline is valid? [True, True] Translation: X:220.18, Y:23.84, Z:-0.91 [[ 9.91022505e-01 1.31806439e-01 2.23932595e-02 2.20179368e+02] [-1.31775129e-01 9.91275467e-01 -2.87457784e-03 2.38366604e+01] [-2.25767767e-02 -1.02103335e-04 9.99745107e-01 -9.08765189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17592000000002 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:220.21, Y:23.83, Z:-0.91 [[ 9.90852549e-01 1.33232964e-01 2.14523697e-02 2.20211855e+02] [-1.33204502e-01 9.91084740e-01 -2.75666783e-03 2.38336432e+01] [-2.16283953e-02 -1.26100886e-04 9.99766071e-01 -9.08490864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20592 meters Centerline goodness [0,1] 0.9995030315078024 Centerline is valid? [True, True] Translation: X:220.24, Y:23.83, Z:-0.91 [[ 9.90749687e-01 1.34032525e-01 2.12212301e-02 2.20243688e+02] [-1.34004797e-01 9.90976923e-01 -2.72976608e-03 2.38310004e+01] [-2.13956268e-02 -1.39231751e-04 9.99771078e-01 -9.08356107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23592 meters Centerline goodness [0,1] 0.9997017744420696 Centerline is valid? [True, True] Translation: X:220.28, Y:23.83, Z:-0.91 [[ 9.90557988e-01 1.35243336e-01 2.24524549e-02 2.20275644e+02] [-1.35212556e-01 9.90812399e-01 -2.89041116e-03 2.38310827e+01] [-2.26370796e-02 -1.72733955e-04 9.99743734e-01 -9.08477414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26592 meters Centerline goodness [0,1] 0.9997515898251192 Centerline is valid? [True, True] Translation: X:220.31, Y:23.83, Z:-0.91 [[ 9.90444401e-01 1.36282773e-01 2.11398555e-02 2.20307867e+02] [-1.36255665e-01 9.90669961e-01 -2.72419840e-03 2.38290990e+01] [-2.13138811e-02 -1.82258007e-04 9.99772817e-01 -9.07521601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29592 meters Centerline goodness [0,1] 0.9993551907147463 Centerline is valid? [True, True] Translation: X:220.34, Y:23.83, Z:-0.91 [[ 9.90363364e-01 1.36969529e-01 2.04879287e-02 2.20340524e+02] [-1.36944158e-01 9.90575243e-01 -2.64289284e-03 2.38291458e+01] [-2.06568308e-02 -1.88277897e-04 9.99786607e-01 -9.07736326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32592 meters Centerline goodness [0,1] 0.9992558416431017 Centerline is valid? [True, True] Translation: X:220.37, Y:23.83, Z:-0.91 [[ 9.90402082e-01 1.36714693e-01 2.03177021e-02 2.20371979e+02] [-1.36689660e-01 9.90610448e-01 -2.62231995e-03 2.38274310e+01] [-2.04854376e-02 -1.80068654e-04 9.99790135e-01 -9.08174794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35592 meters Centerline goodness [0,1] 0.9994547437295529 Centerline is valid? [True, True] Translation: X:220.40, Y:23.83, Z:-0.91 [[ 9.90528156e-01 1.35719565e-01 2.08367923e-02 2.20404084e+02] [-1.35692988e-01 9.90747280e-01 -2.69069259e-03 2.38276892e+01] [-2.10091749e-02 -1.62199823e-04 9.99779270e-01 -9.06775199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38592 meters Centerline goodness [0,1] 0.9993048659384309 Centerline is valid? [True, True] Translation: X:220.44, Y:23.83, Z:-0.91 [[ 9.90554503e-01 1.35341028e-01 2.20132567e-02 2.20435840e+02] [-1.35311239e-01 9.90799061e-01 -2.84405595e-03 2.38259488e+01] [-2.21956316e-02 -1.61448610e-04 9.99753634e-01 -9.07602506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41592 meters Centerline goodness [0,1] 0.9992567634525815 Centerline is valid? [True, True] Translation: X:220.47, Y:23.82, Z:-0.91 [[ 9.90672064e-01 1.34859665e-01 1.95379741e-02 2.20467755e+02] [-1.34836056e-01 9.90864700e-01 -2.52675556e-03 2.38247961e+01] [-1.97002462e-02 -1.31237210e-04 9.99805923e-01 -9.05701520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44592 meters Centerline goodness [0,1] 0.9992067033566364 Centerline is valid? [True, True] Translation: X:220.50, Y:23.83, Z:-0.91 [[ 9.90820022e-01 1.34041841e-01 1.75633021e-02 2.20498422e+02] [-1.34022633e-01 9.90975668e-01 -2.27148133e-03 2.38259477e+01] [-1.77092786e-02 -1.03250806e-04 9.99843173e-01 -9.05107293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47592 meters Centerline goodness [0,1] 0.99945479777954 Centerline is valid? [True, True] Translation: X:220.53, Y:23.82, Z:-0.91 [[ 9.90999313e-01 1.32685476e-01 1.77461869e-02 2.20526881e+02] [-1.32665786e-01 9.91158190e-01 -2.28740988e-03 2.38246476e+01] [-1.78927846e-02 -8.74902192e-05 9.99839907e-01 -9.05498610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50592 meters Centerline goodness [0,1] 0.999553748512495 Centerline is valid? [True, True] Translation: X:220.56, Y:23.83, Z:-0.90 [[ 9.91233931e-01 1.30892543e-01 1.79565239e-02 2.20556417e+02] [-1.30872239e-01 9.91396559e-01 -2.30628663e-03 2.38266922e+01] [-1.81039118e-02 -6.39409288e-05 9.99836109e-01 -9.04682246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53592 meters Centerline goodness [0,1] 0.999553748512495 Centerline is valid? [True, True] Translation: X:220.58, Y:23.83, Z:-0.90 [[ 9.91452936e-01 1.29164875e-01 1.83714548e-02 2.20584908e+02] [-1.29143480e-01 9.91623131e-01 -2.35117598e-03 2.38266993e+01] [-1.85212489e-02 -4.14732822e-05 9.99828466e-01 -9.03819172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56592 meters Centerline goodness [0,1] 0.9996522084761763 Centerline is valid? [True, True] Translation: X:220.61, Y:23.83, Z:-0.90 [[ 9.91998032e-01 1.24869909e-01 1.86389694e-02 2.20614452e+02] [-1.24847289e-01 9.92173122e-01 -2.37691579e-03 2.38286414e+01] [-1.87898897e-02 3.08709928e-05 9.99823454e-01 -9.04151262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59592 meters Centerline goodness [0,1] 0.999553770638108 Centerline is valid? [True, True] Translation: X:220.64, Y:23.83, Z:-0.90 [[ 9.92381364e-01 1.22053814e-01 1.67957061e-02 2.20644441e+02] [-1.22035066e-01 9.92523481e-01 -2.14046591e-03 2.38270019e+01] [-1.69313847e-02 7.44933776e-05 9.99856651e-01 -9.03736189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62592 meters Centerline goodness [0,1] 0.9994535519125683 Centerline is valid? [True, True] Translation: X:220.67, Y:23.83, Z:-0.90 [[ 9.92726734e-01 1.19095460e-01 1.76040486e-02 2.20672977e+02] [-1.19074537e-01 9.92882801e-01 -2.23572091e-03 2.38250449e+01] [-1.77450213e-02 1.23265978e-04 9.99842537e-01 -9.04562209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65592 meters Centerline goodness [0,1] 0.9998508946322068 Centerline is valid? [True, True] Translation: X:220.70, Y:23.83, Z:-0.91 [[ 9.93432027e-01 1.12991142e-01 1.80501877e-02 2.20702112e+02] [-1.12968285e-01 9.93595969e-01 -2.28426049e-03 2.38251631e+01] [-1.81926949e-02 2.30158787e-04 9.99834473e-01 -9.06111254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:220.73, Y:23.82, Z:-0.91 [[ 9.93984707e-01 1.08156999e-01 1.72181521e-02 2.20731769e+02] [-1.08135499e-01 9.94133780e-01 -2.17758040e-03 2.38241146e+01] [-1.73526672e-02 3.02588139e-04 9.99849385e-01 -9.06381179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71592 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:220.76, Y:23.82, Z:-0.91 [[ 9.94240750e-01 1.05853394e-01 1.67448588e-02 2.20761329e+02] [-1.05832751e-01 9.94381692e-01 -2.11669312e-03 2.38213845e+01] [-1.68748402e-02 3.32348074e-04 9.99857555e-01 -9.06072006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74592 meters Centerline goodness [0,1] 0.9998509983113142 Centerline is valid? [True, True] Translation: X:220.79, Y:23.82, Z:-0.91 [[ 9.94428393e-01 1.04247605e-01 1.56399809e-02 2.20791127e+02] [-1.04229413e-01 9.94551318e-01 -1.97606513e-03 2.38182296e+01] [-1.57607636e-02 3.34909251e-04 9.99875735e-01 -9.05479516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77592 meters Centerline goodness [0,1] 0.99975205791927 Centerline is valid? [True, True] Translation: X:220.82, Y:23.81, Z:-0.91 [[ 9.94632483e-01 1.02264465e-01 1.57544516e-02 2.20819637e+02] [-1.02245860e-01 9.94757180e-01 -1.98400561e-03 2.38137461e+01] [-1.58747472e-02 3.62528965e-04 9.99873923e-01 -9.05521413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80592000000001 meters Centerline goodness [0,1] 0.9996527605535989 Centerline is valid? [True, True] Translation: X:220.85, Y:23.81, Z:-0.91 [[ 9.94917430e-01 9.94438426e-02 1.58186432e-02 2.20847948e+02] [-9.94248380e-02 9.95043095e-01 -1.98528955e-03 2.38086062e+01] [-1.59376565e-02 4.02433134e-04 9.99872907e-01 -9.05433839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83592000000002 meters Centerline goodness [0,1] 0.9993544863200755 Centerline is valid? [True, True] Translation: X:220.88, Y:23.80, Z:-0.91 [[ 9.95034586e-01 9.81541289e-02 1.64905825e-02 2.20876795e+02] [-9.81333204e-02 9.95171128e-01 -2.06828625e-03 2.38031809e+01] [-1.66139624e-02 4.39740741e-04 9.99861882e-01 -9.05739322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86592000000002 meters Centerline goodness [0,1] 0.9997023218892638 Centerline is valid? [True, True] Translation: X:220.91, Y:23.80, Z:-0.91 [[ 9.95199736e-01 9.66338105e-02 1.54722831e-02 2.20907326e+02] [-9.66153100e-02 9.95319907e-01 -1.94051999e-03 2.37983389e+01] [-1.55873912e-02 4.36345553e-04 9.99878414e-01 -9.05877165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89592000000002 meters Centerline goodness [0,1] 0.9998511904761904 Centerline is valid? [True, True] Translation: X:220.94, Y:23.79, Z:-0.91 [[ 9.95459658e-01 9.40671927e-02 1.45406922e-02 2.20936179e+02] [-9.40505916e-02 9.95565750e-01 -1.82285332e-03 2.37901839e+01] [-1.46476859e-02 4.47016241e-04 9.99892617e-01 -9.05616424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92592000000002 meters Centerline goodness [0,1] 0.9998511092361904 Centerline is valid? [True, True] Translation: X:220.97, Y:23.78, Z:-0.91 [[ 9.95512661e-01 9.32191291e-02 1.62707090e-02 2.20965084e+02] [-9.31982453e-02 9.95645484e-01 -2.03874426e-03 2.37846171e+01] [-1.63899079e-02 5.13194196e-04 9.99865545e-01 -9.05874730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95592 meters Centerline goodness [0,1] 0.9996526744070656 Centerline is valid? [True, True] Translation: X:221.00, Y:23.78, Z:-0.91 [[ 9.95520846e-01 9.28787859e-02 1.76571644e-02 2.20995878e+02] [-9.28541205e-02 9.95677264e-01 -2.21342213e-03 2.37762809e+01] [-1.77864171e-02 5.63967403e-04 9.99841650e-01 -9.05223915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.03, Y:23.77, Z:-0.90 [[ 9.95393994e-01 9.43422974e-02 1.70389806e-02 2.21026700e+02] [-9.43195255e-02 9.95539683e-01 -2.13696066e-03 2.37695625e+01] [-1.71645871e-02 5.20009243e-04 9.99852542e-01 -9.04868386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01592 meters Centerline goodness [0,1] 0.9999504165013884 Centerline is valid? [True, True] Translation: X:221.06, Y:23.76, Z:-0.91 [[ 9.95015470e-01 9.78737380e-02 1.91035381e-02 2.21057019e+02] [-9.78457401e-02 9.95198706e-01 -2.39706096e-03 2.37597259e+01] [-1.92464257e-02 5.15912909e-04 9.99814637e-01 -9.05787765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04592 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:221.09, Y:23.75, Z:-0.91 [[ 9.94827543e-01 9.96043721e-02 1.99280972e-02 2.21088389e+02] [-9.95742034e-02 9.95026991e-01 -2.50292687e-03 2.37525645e+01] [-2.00782970e-02 5.05656185e-04 9.99798283e-01 -9.06094236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07592 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:221.12, Y:23.75, Z:-0.91 [[ 9.94657297e-01 1.01582266e-01 1.83822092e-02 2.21119906e+02] [-1.01556892e-01 9.94827049e-01 -2.31104880e-03 2.37457126e+01] [-1.85218805e-02 4.31861515e-04 9.99828362e-01 -9.05344890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.15, Y:23.74, Z:-0.91 [[ 9.94368944e-01 1.04229861e-01 1.91452128e-02 2.21151325e+02] [-1.04202781e-01 9.94553154e-01 -2.40936487e-03 2.37360505e+01] [-1.92920596e-02 4.00813186e-04 9.99813811e-01 -9.06705737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.18, Y:23.73, Z:-0.91 [[ 9.94051010e-01 1.07193681e-01 1.92900056e-02 2.21182696e+02] [-1.07166701e-01 9.94238097e-01 -2.42998488e-03 2.37271534e+01] [-1.94393374e-02 3.48282671e-04 9.99810978e-01 -9.06559144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16592 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:221.21, Y:23.72, Z:-0.91 [[ 9.93966026e-01 1.07913908e-01 1.96501483e-02 2.21214275e+02] [-1.07886002e-01 9.94160184e-01 -2.47782632e-03 2.37218177e+01] [-1.98027870e-02 3.42899234e-04 9.99803847e-01 -9.07376308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.25, Y:23.72, Z:-0.91 [[ 9.93887932e-01 1.09076020e-01 1.70058688e-02 2.21245836e+02] [-1.09055253e-01 9.94033372e-01 -2.14650821e-03 2.37161017e+01] [-1.71385337e-02 2.78809276e-04 9.99853086e-01 -9.05635479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.28, Y:23.71, Z:-0.91 [[ 9.93585042e-01 1.11103583e-01 2.10892723e-02 2.21276976e+02] [-1.11072044e-01 9.93808785e-01 -2.66463610e-03 2.37076597e+01] [-2.12547547e-02 3.05114007e-04 9.99774046e-01 -9.08051335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.31, Y:23.70, Z:-0.91 [[ 9.93547886e-01 1.11551461e-01 2.04662918e-02 2.21308509e+02] [-1.11521799e-01 9.93758617e-01 -2.58852261e-03 2.37016833e+01] [-2.06273073e-02 2.89383489e-04 9.99787193e-01 -9.07678552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:221.34, Y:23.70, Z:-0.91 [[ 9.93465812e-01 1.12387783e-01 1.98662171e-02 2.21340283e+02] [-1.12359952e-01 9.93664388e-01 -2.51515227e-03 2.36952711e+01] [-2.00230248e-02 2.66550597e-04 9.99799484e-01 -9.07834089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31592 meters Centerline goodness [0,1] 0.999701922599235 Centerline is valid? [True, True] Translation: X:221.37, Y:23.69, Z:-0.91 [[ 9.93346645e-01 1.13503104e-01 1.94804428e-02 2.21371498e+02] [-1.13476509e-01 9.93537612e-01 -2.46880056e-03 2.36875997e+01] [-1.96347691e-02 2.41802106e-04 9.99807190e-01 -9.07992055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34592 meters Centerline goodness [0,1] 0.9993051074601678 Centerline is valid? [True, True] Translation: X:221.40, Y:23.68, Z:-0.91 [[ 9.93216387e-01 1.14606949e-01 1.96584721e-02 2.21403319e+02] [-1.14580032e-01 9.93410890e-01 -2.49390102e-03 2.36796161e+01] [-1.98147587e-02 2.24515007e-04 9.99803643e-01 -9.09383931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37592 meters Centerline goodness [0,1] 0.9992549545522277 Centerline is valid? [True, True] Translation: X:221.44, Y:23.67, Z:-0.91 [[ 9.93232424e-01 1.14783689e-01 1.77216233e-02 2.21435188e+02] [-1.14761790e-01 9.93390489e-01 -2.25114805e-03 2.36730554e+01] [-1.78628871e-02 2.02148027e-04 9.99840425e-01 -9.07780267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40592 meters Centerline goodness [0,1] 0.9994535790571755 Centerline is valid? [True, True] Translation: X:221.47, Y:23.67, Z:-0.91 [[ 9.93180232e-01 1.14770457e-01 2.05126694e-02 2.21466777e+02] [-1.14741057e-01 9.93392010e-01 -2.60841304e-03 2.36671739e+01] [-2.06764907e-02 2.36978903e-04 9.99786190e-01 -9.08968557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43592 meters Centerline goodness [0,1] 0.9994535790571755 Centerline is valid? [True, True] Translation: X:221.50, Y:23.66, Z:-0.91 [[ 9.93165664e-01 1.14896513e-01 2.05123381e-02 2.21498223e+02] [-1.14867086e-01 9.93377438e-01 -2.61101687e-03 2.36632143e+01] [-2.06764906e-02 2.36979788e-04 9.99786190e-01 -9.08995908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46592 meters Centerline goodness [0,1] 0.999603017070266 Centerline is valid? [True, True] Translation: X:221.53, Y:23.66, Z:-0.91 [[ 9.93028289e-01 1.15880399e-01 2.15997682e-02 2.21529210e+02] [-1.15847940e-01 9.93263147e-01 -2.75222914e-03 2.36555574e+01] [-2.17731832e-02 2.30752736e-04 9.99762910e-01 -9.08527261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49592 meters Centerline goodness [0,1] 0.9995519490217554 Centerline is valid? [True, True] Translation: X:221.56, Y:23.65, Z:-0.91 [[ 9.93006825e-01 1.16291671e-01 2.03394434e-02 2.21560966e+02] [-1.16262911e-01 9.93215084e-01 -2.59485379e-03 2.36498659e+01] [-2.05032018e-02 2.11984628e-04 9.99789765e-01 -9.08151599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52592 meters Centerline goodness [0,1] 0.9994039636417822 Centerline is valid? [True, True] Translation: X:221.59, Y:23.64, Z:-0.91 [[ 9.92841587e-01 1.17632877e-01 2.06903079e-02 2.21592155e+02] [-1.17603350e-01 9.93057133e-01 -2.64233622e-03 2.36431479e+01] [-2.08574834e-02 1.90171756e-04 9.99782441e-01 -9.09591539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55592000000001 meters Centerline goodness [0,1] 0.999453904582237 Centerline is valid? [True, True] Translation: X:221.62, Y:23.64, Z:-0.91 [[ 9.92827501e-01 1.17628468e-01 2.13798142e-02 2.21623890e+02] [-1.17596879e-01 9.93057654e-01 -2.73318224e-03 2.36382302e+01] [-2.15528882e-02 1.99379067e-04 9.99767690e-01 -9.10392778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58592000000002 meters Centerline goodness [0,1] 0.999454419204444 Centerline is valid? [True, True] Translation: X:221.66, Y:23.63, Z:-0.91 [[ 9.92671673e-01 1.18646131e-01 2.29356708e-02 2.21655697e+02] [-1.18609979e-01 9.92936583e-01 -2.93507019e-03 2.36325922e+01] [-2.31219014e-02 1.93161596e-04 9.99732634e-01 -9.10532043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61592000000002 meters Centerline goodness [0,1] 0.9993547426415843 Centerline is valid? [True, True] Translation: X:221.69, Y:23.63, Z:-0.91 [[ 9.92626642e-01 1.19009584e-01 2.30014901e-02 2.21688360e+02] [-1.18973218e-01 9.92893087e-01 -2.94795660e-03 2.36253439e+01] [-2.31888556e-02 1.89658962e-04 9.99731084e-01 -9.10209517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64592000000002 meters Centerline goodness [0,1] 0.9994039932452567 Centerline is valid? [True, True] Translation: X:221.72, Y:23.62, Z:-0.91 [[ 9.92513845e-01 1.19897731e-01 2.32551505e-02 2.21721074e+02] [-1.19860695e-01 9.92786232e-01 -2.98504211e-03 2.36173516e+01] [-2.34452930e-02 1.75317111e-04 9.99725106e-01 -9.10077639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67592000000002 meters Centerline goodness [0,1] 0.9994532259667959 Centerline is valid? [True, True] Translation: X:221.75, Y:23.61, Z:-0.91 [[ 9.92399224e-01 1.20904985e-01 2.29295835e-02 2.21752235e+02] [-1.20869176e-01 9.92664073e-01 -2.94631894e-03 2.36110992e+01] [-2.31175984e-02 1.52444752e-04 9.99732741e-01 -9.10566392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70592 meters Centerline goodness [0,1] 0.9993046242487459 Centerline is valid? [True, True] Translation: X:221.78, Y:23.61, Z:-0.91 [[ 9.92277649e-01 1.22081848e-01 2.19337374e-02 2.21783608e+02] [-1.22049307e-01 9.92520029e-01 -2.82125038e-03 2.36051689e+01] [-2.21140972e-02 1.22466257e-04 9.99755446e-01 -9.10942187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73592 meters Centerline goodness [0,1] 0.9993543901470004 Centerline is valid? [True, True] Translation: X:221.81, Y:23.60, Z:-0.91 [[ 9.92073325e-01 1.23478664e-01 2.33139016e-02 2.21814801e+02] [-1.23442212e-01 9.92347222e-01 -3.00183544e-03 2.35963664e+01] [-2.35061481e-02 1.00121290e-04 9.99723687e-01 -9.10633280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76592 meters Centerline goodness [0,1] 0.9991552375273306 Centerline is valid? [True, True] Translation: X:221.85, Y:23.59, Z:-0.91 [[ 9.91893289e-01 1.24940773e-01 2.31841818e-02 2.21846002e+02] [-1.24905053e-01 9.92164199e-01 -2.98816021e-03 2.35896036e+01] [-2.33758583e-02 6.81145898e-05 9.99726745e-01 -9.09517122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79592 meters Centerline goodness [0,1] 0.9993047278506159 Centerline is valid? [True, True] Translation: X:221.88, Y:23.58, Z:-0.91 [[ 9.91419937e-01 1.28613609e-01 2.33462470e-02 2.21878603e+02] [-1.28578297e-01 9.91694781e-01 -3.01366377e-03 2.35824479e+01] [-2.35399495e-02 -1.40143397e-05 9.99722897e-01 -9.08984622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82592 meters Centerline goodness [0,1] 0.9994542567969835 Centerline is valid? [True, True] Translation: X:221.91, Y:23.58, Z:-0.91 [[ 9.91131979e-01 1.30903684e-01 2.28391286e-02 2.21910542e+02] [-1.30870426e-01 9.91395089e-01 -2.95127350e-03 2.35776591e+01] [-2.30289325e-02 -6.38649483e-05 9.99734797e-01 -9.09540043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85592 meters Centerline goodness [0,1] 0.9993040711835761 Centerline is valid? [True, True] Translation: X:221.94, Y:23.57, Z:-0.91 [[ 9.90871563e-01 1.33224692e-01 2.06089068e-02 2.21942338e+02] [-1.33198058e-01 9.91085854e-01 -2.66580838e-03 2.35724327e+01] [-2.07803475e-02 -1.03592638e-04 9.99784060e-01 -9.08854968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88592 meters Centerline goodness [0,1] 0.9993532981792856 Centerline is valid? [True, True] Translation: X:221.97, Y:23.57, Z:-0.91 [[ 9.90453095e-01 1.36292552e-01 2.06641430e-02 2.21974454e+02] [-1.36266386e-01 9.90668619e-01 -2.67569748e-03 2.35673606e+01] [-2.08359956e-02 -1.65675226e-04 9.99782893e-01 -9.08979258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91592 meters Centerline goodness [0,1] 0.999453904582237 Centerline is valid? [True, True] Translation: X:222.01, Y:23.56, Z:-0.91 [[ 9.90310805e-01 1.37382599e-01 2.02615375e-02 2.22007417e+02] [-1.37357588e-01 9.90518041e-01 -2.62759183e-03 2.35638356e+01] [-2.04304038e-02 -1.80943345e-04 9.99791261e-01 -9.09259849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94592 meters Centerline goodness [0,1] 0.9993549347491688 Centerline is valid? [True, True] Translation: X:222.04, Y:23.56, Z:-0.91 [[ 9.89915968e-01 1.39980113e-01 2.17242795e-02 2.22039117e+02] [-1.39951921e-01 9.90154284e-01 -2.82024146e-03 2.35603720e+01] [-2.19051661e-02 -2.48552584e-04 9.99760022e-01 -9.09718960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97592 meters Centerline goodness [0,1] 0.9995042141794744 Centerline is valid? [True, True] Translation: X:222.07, Y:23.56, Z:-0.91 [[ 9.89832331e-01 1.40671964e-01 2.10559903e-02 2.22070878e+02] [-1.40645577e-01 9.90056228e-01 -2.73628113e-03 2.35565026e+01] [-2.12315324e-02 -2.52972377e-04 9.99774554e-01 -9.09645506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00592 meters Centerline goodness [0,1] 0.9996021681834004 Centerline is valid? [True, True] Translation: X:222.10, Y:23.55, Z:-0.91 [[ 9.89549059e-01 1.42552742e-01 2.17112081e-02 2.22102453e+02] [-1.42525091e-01 9.89787162e-01 -2.82364055e-03 2.35538592e+01] [-2.18919928e-02 -3.00261054e-04 9.99760297e-01 -9.08700498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03592 meters Centerline goodness [0,1] 0.9996026621635046 Centerline is valid? [True, True] Translation: X:222.13, Y:23.55, Z:-0.91 [[ 9.89333517e-01 1.44009512e-01 2.19192302e-02 2.22134379e+02] [-1.43981621e-01 9.89576248e-01 -2.85361149e-03 2.35507120e+01] [-2.21016968e-02 -3.32792800e-04 9.99755672e-01 -9.09078618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06592 meters Centerline goodness [0,1] 0.9996027805362463 Centerline is valid? [True, True] Translation: X:222.17, Y:23.55, Z:-0.91 [[ 9.89286188e-01 1.44320330e-01 2.20109012e-02 2.22167471e+02] [-1.44292186e-01 9.89530964e-01 -2.86989725e-03 2.35492128e+01] [-2.21946528e-02 -3.36851337e-04 9.99753612e-01 -9.08691430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09592 meters Centerline goodness [0,1] 0.9994036674452119 Centerline is valid? [True, True] Translation: X:222.20, Y:23.55, Z:-0.91 [[ 9.89366538e-01 1.43779665e-01 2.19376460e-02 2.22199586e+02] [-1.43751509e-01 9.89609673e-01 -2.86331674e-03 2.35460332e+01] [-2.21213934e-02 -3.20699952e-04 9.99755241e-01 -9.08745260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12592 meters Centerline goodness [0,1] 0.9993553825556603 Centerline is valid? [True, True] Translation: X:222.23, Y:23.54, Z:-0.91 [[ 9.89430802e-01 1.43532552e-01 2.06178343e-02 2.22231322e+02] [-1.43507572e-01 9.89645553e-01 -2.69380292e-03 2.35436867e+01] [-2.07909964e-02 -2.93483748e-04 9.99783801e-01 -9.07999223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15592 meters Centerline goodness [0,1] 0.9994045846978268 Centerline is valid? [True, True] Translation: X:222.26, Y:23.54, Z:-0.91 [[ 9.89466899e-01 1.43281154e-01 2.06341232e-02 2.22263533e+02] [-1.43256022e-01 9.89681984e-01 -2.69867679e-03 2.35406374e+01] [-2.08078895e-02 -2.85711053e-04 9.99783452e-01 -9.08528193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18592 meters Centerline goodness [0,1] 0.9996028199781551 Centerline is valid? [True, True] Translation: X:222.30, Y:23.54, Z:-0.91 [[ 9.89426969e-01 1.43514161e-01 2.09274814e-02 2.22295903e+02] [-1.43488303e-01 9.89648220e-01 -2.73982592e-03 2.35375458e+01] [-2.11040485e-02 -2.91991140e-04 9.99777242e-01 -9.08727220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21592 meters Centerline goodness [0,1] 0.9995031549659661 Centerline is valid? [True, True] Translation: X:222.33, Y:23.54, Z:-0.91 [[ 9.89819047e-01 1.40639764e-01 2.18794441e-02 2.22328734e+02] [-1.40610717e-01 9.90060806e-01 -2.86807190e-03 2.35365297e+01] [-2.20653450e-02 -2.37612129e-04 9.99756502e-01 -9.08219485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24592 meters Centerline goodness [0,1] 0.9993053143452588 Centerline is valid? [True, True] Translation: X:222.36, Y:23.53, Z:-0.91 [[ 9.90081683e-01 1.38915326e-01 2.09950959e-02 2.22361246e+02] [-1.38888133e-01 9.90304245e-01 -2.75496500e-03 2.35338818e+01] [-2.11742395e-02 -1.88329290e-04 9.99775783e-01 -9.08245089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27592 meters Centerline goodness [0,1] 0.9994542838716078 Centerline is valid? [True, True] Translation: X:222.39, Y:23.53, Z:-0.91 [[ 9.90723601e-01 1.34252565e-01 2.10474270e-02 2.22392911e+02] [-1.34224124e-01 9.90947144e-01 -2.76465290e-03 2.35294594e+01] [-2.12280494e-02 -8.60655694e-05 9.99774656e-01 -9.09212070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30592000000001 meters Centerline goodness [0,1] 0.9991539763113367 Centerline is valid? [True, True] Translation: X:222.42, Y:23.53, Z:-0.91 [[ 9.91109415e-01 1.31676052e-01 1.90668712e-02 2.22424375e+02] [-1.31652187e-01 9.91292801e-01 -2.50701729e-03 2.35252583e+01] [-1.92309663e-02 -2.54668456e-05 9.99815068e-01 -9.08684404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33592000000002 meters Centerline goodness [0,1] 0.9994025392083644 Centerline is valid? [True, True] Translation: X:222.46, Y:23.52, Z:-0.91 [[ 9.91658570e-01 1.27363295e-01 1.97957702e-02 2.22456622e+02] [-1.27336657e-01 9.91856132e-01 -2.60549539e-03 2.35225059e+01] [-1.99664006e-02 6.30346311e-05 9.99800650e-01 -9.07864035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36592000000002 meters Centerline goodness [0,1] 0.9994042003872697 Centerline is valid? [True, True] Translation: X:222.49, Y:23.52, Z:-0.91 [[ 9.91885566e-01 1.25354198e-01 2.11978446e-02 2.22488133e+02] [-1.25323148e-01 9.92112046e-01 -2.79219410e-03 2.35190440e+01] [-2.13806502e-02 1.12956425e-04 9.99771401e-01 -9.07833020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39592000000002 meters Centerline goodness [0,1] 0.9991556570974471 Centerline is valid? [True, True] Translation: X:222.52, Y:23.51, Z:-0.91 [[ 9.92454974e-01 1.20782151e-01 2.10901880e-02 2.22519643e+02] [-1.20750325e-01 9.92679015e-01 -2.78075613e-03 2.35131704e+01] [-2.12716528e-02 2.13128201e-04 9.99773710e-01 -9.08856355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42592 meters Centerline goodness [0,1] 0.9990559475305575 Centerline is valid? [True, True] Translation: X:222.55, Y:23.51, Z:-0.91 [[ 9.92610490e-01 1.19461517e-01 2.12922683e-02 2.22551557e+02] [-1.19428714e-01 9.92838801e-01 -2.81018738e-03 2.35069920e+01] [-2.14754993e-02 2.46513262e-04 9.99769344e-01 -9.08804929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45592 meters Centerline goodness [0,1] 0.999204336366801 Centerline is valid? [True, True] Translation: X:222.58, Y:23.50, Z:-0.91 [[ 9.93059978e-01 1.15715034e-01 2.10216613e-02 2.22582964e+02] [-1.15682161e-01 9.93282399e-01 -2.77721829e-03 2.34996585e+01] [-2.12018121e-02 3.26113120e-04 9.99775163e-01 -9.10112736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48592 meters Centerline goodness [0,1] 0.9994044073853484 Centerline is valid? [True, True] Translation: X:222.61, Y:23.49, Z:-0.91 [[ 9.93251940e-01 1.14139349e-01 2.05619296e-02 2.22614284e+02] [-1.14107506e-01 9.93464687e-01 -2.71913584e-03 2.34937034e+01] [-2.07379113e-02 3.54516439e-04 9.99784884e-01 -9.09816820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51592 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:222.65, Y:23.49, Z:-0.91 [[ 9.93387679e-01 1.12729174e-01 2.17497584e-02 2.22645626e+02] [-1.12693147e-01 9.93625667e-01 -2.87899377e-03 2.34871182e+01] [-2.19356648e-02 4.08908218e-04 9.99759301e-01 -9.09946570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54592 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:222.68, Y:23.48, Z:-0.91 [[ 9.93597782e-01 1.10621685e-01 2.29410383e-02 2.22676315e+02] [-1.10580988e-01 9.93862470e-01 -3.03893940e-03 2.34771442e+01] [-2.31364096e-02 4.82640769e-04 9.99732201e-01 -9.10580071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.71, Y:23.47, Z:-0.91 [[ 9.93745311e-01 1.09760564e-01 2.05639395e-02 2.22707915e+02] [-1.09727628e-01 9.93957953e-01 -2.72662579e-03 2.34693638e+01] [-2.07389672e-02 4.53139290e-04 9.99784822e-01 -9.10354184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.74, Y:23.46, Z:-0.91 [[ 9.93741567e-01 1.09949022e-01 1.97207987e-02 2.22739272e+02] [-1.09918719e-01 9.93937133e-01 -2.61732932e-03 2.34575580e+01] [-1.98890069e-02 4.33264014e-04 9.99802100e-01 -9.11063267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.77, Y:23.45, Z:-0.91 [[ 9.93709045e-01 1.10127698e-01 2.03524878e-02 2.22770609e+02] [-1.10095406e-01 9.93917346e-01 -2.70375847e-03 2.34492404e+01] [-2.05264494e-02 4.46033836e-04 9.99789211e-01 -9.11478850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.80, Y:23.44, Z:-0.91 [[ 9.93454788e-01 1.12228047e-01 2.12708478e-02 2.22800891e+02] [-1.12193198e-01 9.93682387e-01 -2.82847420e-03 2.34360073e+01] [-2.14539009e-02 4.23516803e-04 9.99769749e-01 -9.11096331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.83, Y:23.43, Z:-0.91 [[ 9.93299126e-01 1.13621007e-01 2.11450640e-02 2.22832518e+02] [-1.13586827e-01 9.93524087e-01 -2.81445353e-03 2.34269776e+01] [-2.13279115e-02 3.93793510e-04 9.99772457e-01 -9.11078624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.86, Y:23.42, Z:-0.91 [[ 9.93155988e-01 1.14947417e-01 2.06948127e-02 2.22863940e+02] [-1.14914909e-01 9.93371512e-01 -2.75718349e-03 2.34188591e+01] [-2.08745685e-02 3.60170782e-04 9.99782038e-01 -9.10107922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.90, Y:23.41, Z:-0.91 [[ 9.92793217e-01 1.18206304e-01 1.97205086e-02 2.22895317e+02] [-1.18177377e-01 9.92989019e-01 -2.62992584e-03 2.34077922e+01] [-1.98931223e-02 2.80454564e-04 9.99802073e-01 -9.09711913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.93, Y:23.40, Z:-0.91 [[ 9.92566658e-01 1.20152619e-01 1.93591851e-02 2.22927081e+02] [-1.20125063e-01 9.92755403e-01 -2.58426596e-03 2.34004004e+01] [-1.95294420e-02 2.39532884e-04 9.99809254e-01 -9.10381067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.96, Y:23.39, Z:-0.91 [[ 9.91966861e-01 1.24609987e-01 2.17737910e-02 2.22958540e+02] [-1.24576107e-01 9.92205785e-01 -2.91082901e-03 2.33891787e+01] [-2.19667998e-02 1.74951792e-04 9.99758685e-01 -9.10623013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84592 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:222.99, Y:23.38, Z:-0.91 [[ 9.91661480e-01 1.27331477e-01 1.98545897e-02 2.22990027e+02] [-1.27303799e-01 9.91860214e-01 -2.65692647e-03 2.33821798e+01] [-2.00312879e-02 1.07206930e-04 9.99799348e-01 -9.09860410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.02, Y:23.38, Z:-0.91 [[ 9.91304248e-01 1.30190510e-01 1.91394615e-02 2.23021524e+02] [-1.30165273e-01 9.91488996e-01 -2.56378605e-03 2.33754228e+01] [-1.93103461e-02 5.01987697e-05 9.99813537e-01 -9.09572162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.05, Y:23.37, Z:-0.91 [[ 9.90731920e-01 1.34458687e-01 1.92645635e-02 2.23054165e+02] [-1.34433850e-01 9.90919200e-01 -2.58443393e-03 2.33673743e+01] [-1.94371254e-02 -2.93282365e-05 9.99811081e-01 -9.08898442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.09, Y:23.36, Z:-0.91 [[ 9.90238151e-01 1.37982296e-01 1.97304298e-02 2.23085564e+02] [-1.37956888e-01 9.90434691e-01 -2.64965686e-03 2.33617085e+01] [-1.99073078e-02 -9.81573776e-05 9.99801825e-01 -9.08719179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.12, Y:23.36, Z:-0.91 [[ 9.89952662e-01 1.39951471e-01 2.01819649e-02 2.23117199e+02] [-1.39925241e-01 9.90158354e-01 -2.71301283e-03 2.33569975e+01] [-2.03630313e-02 -1.38212023e-04 9.99792642e-01 -9.08615936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.15, Y:23.35, Z:-0.91 [[ 9.89699704e-01 1.41677498e-01 2.05422083e-02 2.23149311e+02] [-1.41650636e-01 9.89912853e-01 -2.76422954e-03 2.33518274e+01] [-2.07266251e-02 -1.74059717e-04 9.99785165e-01 -9.09080678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.18, Y:23.35, Z:-0.91 [[ 9.89409917e-01 1.43828867e-01 1.95261987e-02 2.23182206e+02] [-1.43804939e-01 9.89602554e-01 -2.63140952e-03 2.33462891e+01] [-1.97016487e-02 -2.04421140e-04 9.99805883e-01 -9.10403089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.21, Y:23.34, Z:-0.91 [[ 9.89311299e-01 1.44412728e-01 2.02019031e-02 2.23214231e+02] [-1.44387179e-01 9.89517516e-01 -2.72527598e-03 2.33431893e+01] [-2.03837015e-02 -2.20749481e-04 9.99792206e-01 -9.09924174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.25, Y:23.34, Z:-0.91 [[ 9.89286573e-01 1.44458445e-01 2.10673461e-02 2.23246586e+02] [-1.44430448e-01 9.89510843e-01 -2.85253041e-03 2.33396908e+01] [-2.12584395e-02 -2.20796197e-04 9.99773989e-01 -9.10524235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.28, Y:23.34, Z:-0.91 [[ 9.89272558e-01 1.44353115e-01 2.24050007e-02 2.23278893e+02] [-1.44321344e-01 9.89526213e-01 -3.03706318e-03 2.33356631e+01] [-2.26087451e-02 -2.29036571e-04 9.99744363e-01 -9.10996046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.31, Y:23.33, Z:-0.91 [[ 9.89551208e-01 1.42457283e-01 2.22335203e-02 2.23310952e+02] [-1.42425451e-01 9.89800934e-01 -3.01683573e-03 2.33317793e+01] [-2.24365293e-02 -1.81305708e-04 9.99748253e-01 -9.10724938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.34, Y:23.33, Z:-0.91 [[ 9.89783468e-01 1.40987190e-01 2.12437764e-02 2.23343285e+02] [-1.40957729e-01 9.90011411e-01 -2.88542368e-03 2.33275487e+01] [-2.14383888e-02 -1.38529816e-04 9.99770162e-01 -9.10928325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.38, Y:23.32, Z:-0.91 [[ 9.90321961e-01 1.36864433e-01 2.30334485e-02 2.23375173e+02] [-1.36828608e-01 9.90589786e-01 -3.13168528e-03 2.33224342e+01] [-2.32453152e-02 -5.02579991e-05 9.99729790e-01 -9.11715097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.41, Y:23.32, Z:-0.91 [[ 9.90442882e-01 1.35890459e-01 2.35940624e-02 2.23407670e+02] [-1.35852296e-01 9.90723868e-01 -3.22038185e-03 2.33174951e+01] [-2.38128199e-02 -1.57032595e-05 9.99716434e-01 -9.12442784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.44, Y:23.31, Z:-0.91 [[ 9.90532378e-01 1.35136062e-01 2.41630554e-02 2.23440031e+02] [-1.35095491e-01 9.90827051e-01 -3.31116428e-03 2.33122965e+01] [-2.43888666e-02 1.54955882e-05 9.99702547e-01 -9.12096577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.47, Y:23.31, Z:-0.91 [[ 9.90460695e-01 1.35660763e-01 2.41612980e-02 2.23472311e+02] [-1.35620036e-01 9.90755347e-01 -3.32396252e-03 2.33081950e+01] [-2.43888665e-02 1.54981257e-05 9.99702547e-01 -9.12124661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.51, Y:23.30, Z:-0.91 [[ 9.90371357e-01 1.36232899e-01 2.46002662e-02 2.23505419e+02] [-1.36190525e-01 9.90676838e-01 -3.39763676e-03 2.33036471e+01] [-2.48337838e-02 1.45989708e-05 9.99691594e-01 -9.12791963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.54, Y:23.30, Z:-0.91 [[ 9.90373788e-01 1.36326850e-01 2.39739459e-02 2.23538369e+02] [-1.36286322e-01 9.90663913e-01 -3.32404923e-03 2.32977593e+01] [-2.42032802e-02 2.47303276e-05 9.99707057e-01 -9.13448280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.57, Y:23.29, Z:-0.91 [[ 9.90379732e-01 1.36283825e-01 2.39730023e-02 2.23571177e+02] [-1.36242977e-01 9.90669833e-01 -3.33672796e-03 2.32916562e+01] [-2.42040722e-02 3.84745470e-05 9.99707038e-01 -9.13770555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.60, Y:23.29, Z:-0.91 [[ 9.90387155e-01 1.36506489e-01 2.23441725e-02 2.23603198e+02] [-1.36470824e-01 9.90639176e-01 -3.12049182e-03 2.32857621e+01] [-2.25609800e-02 4.11673885e-05 9.99745468e-01 -9.13221381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.64, Y:23.28, Z:-0.91 [[ 9.90236192e-01 1.37608513e-01 2.22751443e-02 2.23635167e+02] [-1.37573240e-01 9.90486697e-01 -3.11560791e-03 2.32784568e+01] [-2.24919682e-02 2.07239506e-05 9.99747023e-01 -9.13745468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.67, Y:23.27, Z:-0.91 [[ 9.89982173e-01 1.39315296e-01 2.29465982e-02 2.23667640e+02] [-1.39278040e-01 9.90248074e-01 -3.22166216e-03 2.32722464e+01] [-2.31716515e-02 -6.56913223e-06 9.99731501e-01 -9.14381977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.70, Y:23.26, Z:-0.91 [[ 9.89590357e-01 1.42476060e-01 2.02853912e-02 2.23698539e+02] [-1.42447413e-01 9.89798246e-01 -2.85762464e-03 2.32641172e+01] [-2.04855877e-02 -6.17237210e-05 9.99790146e-01 -9.13802106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.73, Y:23.26, Z:-0.91 [[ 9.89328881e-01 1.44283340e-01 2.02653033e-02 2.23730975e+02] [-1.44255039e-01 9.89536411e-01 -2.85917888e-03 2.32582983e+01] [-2.04657874e-02 -9.47038656e-05 9.99790549e-01 -9.13294363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.76, Y:23.25, Z:-0.91 [[ 9.88560947e-01 1.49474720e-01 2.01137071e-02 2.23762176e+02] [-1.49447858e-01 9.88765528e-01 -2.84057284e-03 2.32519353e+01] [-2.03123340e-02 -1.97871065e-04 9.99793664e-01 -9.13670483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.79, Y:23.25, Z:-0.91 [[ 9.88159510e-01 1.52070825e-01 2.03776263e-02 2.23793770e+02] [-1.52043748e-01 9.88369567e-01 -2.88062464e-03 2.32456505e+01] [-2.05786846e-02 -2.51774048e-04 9.99788205e-01 -9.13727669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.82, Y:23.24, Z:-0.91 [[ 9.87621906e-01 1.55959204e-01 1.67241680e-02 2.23824968e+02] [-1.55941485e-01 9.87763460e-01 -2.36642170e-03 2.32371731e+01] [-1.68885873e-02 -2.70861681e-04 9.99857341e-01 -9.13333135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.86, Y:23.23, Z:-0.91 [[ 9.87352690e-01 1.57505979e-01 1.80701969e-02 2.23857041e+02] [-1.57485507e-01 9.87517982e-01 -2.55934036e-03 2.32315505e+01] [-1.82477558e-02 -3.18822534e-04 9.99833445e-01 -9.13929194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.89, Y:23.23, Z:-0.91 [[ 9.87069332e-01 1.59219779e-01 1.85255673e-02 2.23888794e+02] [-1.59198517e-01 9.87243098e-01 -2.62632608e-03 2.32272965e+01] [-1.87074015e-02 -3.56876915e-04 9.99824938e-01 -9.13776480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.92, Y:23.22, Z:-0.91 [[ 9.86563126e-01 1.62060395e-01 2.07274363e-02 2.23920567e+02] [-1.62034346e-01 9.86780735e-01 -2.94127514e-03 2.32242283e+01] [-2.09300991e-02 -4.56802990e-04 9.99780837e-01 -9.13354123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.95, Y:23.22, Z:-0.91 [[ 9.86296813e-01 1.63460362e-01 2.23451616e-02 2.23952314e+02] [-1.63430220e-01 9.86549768e-01 -3.18087962e-03 2.32203685e+01] [-2.25645618e-02 -5.14583239e-04 9.99745255e-01 -9.12661395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.98, Y:23.22, Z:-0.91 [[ 9.85908713e-01 1.65944135e-01 2.11318201e-02 2.23984988e+02] [-1.65917508e-01 9.86135013e-01 -3.01936336e-03 2.32164168e+01] [-2.13398733e-02 -5.29322284e-04 9.99772139e-01 -9.13080270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.02, Y:23.21, Z:-0.91 [[ 9.85759814e-01 1.67018386e-01 1.95562894e-02 2.24017836e+02] [-1.66995590e-01 9.85953654e-01 -2.80453914e-03 2.32137794e+01] [-1.97500046e-02 -5.01212098e-04 9.99804824e-01 -9.12412834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.05, Y:23.21, Z:-0.91 [[ 9.85664703e-01 1.67502362e-01 2.02002836e-02 2.24050509e+02] [-1.67478080e-01 9.85871535e-01 -2.89992301e-03 2.32122946e+01] [-2.04006286e-02 -5.24752961e-04 9.99791748e-01 -9.14087228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.08, Y:23.21, Z:-0.91 [[ 9.85590041e-01 1.67763612e-01 2.16250285e-02 2.24082165e+02] [-1.67735783e-01 9.85827090e-01 -3.10734648e-03 2.32080833e+01] [-2.18398386e-02 -5.64721340e-04 9.99761323e-01 -9.13858397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.12, Y:23.21, Z:-0.91 [[ 9.85483451e-01 1.68313543e-01 2.22017718e-02 2.24115718e+02] [-1.68284095e-01 9.85733338e-01 -3.20154884e-03 2.32075716e+01] [-2.24238907e-02 -5.81131673e-04 9.99748384e-01 -9.12675099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.15, Y:23.21, Z:-0.91 [[ 9.85487582e-01 1.68289334e-01 2.22019195e-02 2.24149172e+02] [-1.68259616e-01 9.85737478e-01 -3.21330328e-03 2.32063957e+01] [-2.24260288e-02 -5.69015954e-04 9.99748343e-01 -9.11903618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.18, Y:23.21, Z:-0.91 [[ 9.85885639e-01 1.66152544e-01 2.05630660e-02 2.24182013e+02] [-1.66126389e-01 9.86099949e-01 -2.98563883e-03 2.32067113e+01] [-2.07733098e-02 -4.72569464e-04 9.99784100e-01 -9.12974499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.21, Y:23.20, Z:-0.91 [[ 9.86052901e-01 1.65249272e-01 1.98079400e-02 2.24213686e+02] [-1.65224762e-01 9.86251738e-01 -2.87891701e-03 2.32036108e+01] [-2.00113542e-02 -4.33997715e-04 9.99799659e-01 -9.12038179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.25, Y:23.20, Z:-0.91 [[ 9.86353369e-01 1.63526511e-01 1.91340612e-02 2.24245571e+02] [-1.63503266e-01 9.86538866e-01 -2.78355970e-03 2.32010070e+01] [-1.93316808e-02 -3.82908013e-04 9.99813052e-01 -9.12074353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.28, Y:23.20, Z:-0.91 [[ 9.87107953e-01 1.58836188e-01 1.97219265e-02 2.24278502e+02] [-1.58810504e-01 9.87304906e-01 -2.87176059e-03 2.32024213e+01] [-1.99276943e-02 -2.97311362e-04 9.99801380e-01 -9.12596005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.31, Y:23.20, Z:-0.91 [[ 9.87739621e-01 1.55015758e-01 1.84541366e-02 2.24311058e+02] [-1.54992555e-01 9.87911977e-01 -2.68966360e-03 2.32006034e+01] [-1.86480028e-02 -2.03566480e-04 9.99826090e-01 -9.11461205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.34, Y:23.20, Z:-0.91 [[ 9.88159938e-01 1.52262493e-01 1.88698404e-02 2.24342912e+02] [-1.52237682e-01 9.88340078e-01 -2.75283912e-03 2.31976525e+01] [-1.90689737e-02 -1.52455432e-04 9.99818159e-01 -9.12048415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.37, Y:23.20, Z:-0.91 [[ 9.88411938e-01 1.50606163e-01 1.89637844e-02 2.24374668e+02] [-1.50580750e-01 9.88593834e-01 -2.76913273e-03 2.31951605e+01] [-1.91645288e-02 -1.18537033e-04 9.99816337e-01 -9.12396101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.41, Y:23.19, Z:-0.91 [[ 9.88788327e-01 1.48035019e-01 1.95774946e-02 2.24407825e+02] [-1.48007351e-01 9.88982118e-01 -2.86274414e-03 2.31934176e+01] [-1.97855784e-02 -6.69651161e-05 9.99804244e-01 -9.12585077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.44, Y:23.19, Z:-0.91 [[ 9.89053632e-01 1.46283635e-01 1.93393767e-02 2.24439470e+02] [-1.46256249e-01 9.89242689e-01 -2.83063310e-03 2.31889160e+01] [-1.95454123e-02 -2.88567408e-05 9.99808970e-01 -9.11909296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.47, Y:23.18, Z:-0.91 [[ 9.89500530e-01 1.43130829e-01 2.00565708e-02 2.24471043e+02] [-1.43100670e-01 9.89703776e-01 -2.93833206e-03 2.31842104e+01] [-2.02706297e-02 3.73724093e-05 9.99794529e-01 -9.12359017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.50, Y:23.18, Z:-0.91 [[ 9.89690672e-01 1.41740264e-01 2.05443649e-02 2.24503286e+02] [-1.41708263e-01 9.89903881e-01 -3.01257299e-03 2.31799284e+01] [-2.07639494e-02 7.02091299e-05 9.99784404e-01 -9.12163771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.54, Y:23.18, Z:-0.91 [[ 9.89873204e-01 1.40737485e-01 1.85472392e-02 2.24535111e+02] [-1.40711181e-01 9.90046945e-01 -2.72218955e-03 2.31761246e+01] [-1.87457516e-02 8.48185694e-05 9.99824279e-01 -9.11586756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31592 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:224.57, Y:23.17, Z:-0.91 [[ 9.90052155e-01 1.39386892e-01 1.91839936e-02 2.24566656e+02] [-1.39358448e-01 9.90237992e-01 -2.81821422e-03 2.31715388e+01] [-1.93895415e-02 1.16727492e-04 9.99811998e-01 -9.11694359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.60, Y:23.17, Z:-0.91 [[ 9.90083487e-01 1.39192864e-01 1.89746086e-02 2.24599029e+02] [-1.39164930e-01 9.90265283e-01 -2.79122513e-03 2.31659452e+01] [-1.91784148e-02 1.22945831e-04 9.99816070e-01 -9.10518236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.63, Y:23.16, Z:-0.91 [[ 9.89961814e-01 1.39889614e-01 2.01619336e-02 2.24630559e+02] [-1.39858162e-01 9.90167098e-01 -2.96863540e-03 2.31604682e+01] [-2.03789645e-02 1.19024704e-04 9.99792320e-01 -9.09995353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.66, Y:23.16, Z:-0.91 [[ 9.89721170e-01 1.41486949e-01 2.08194536e-02 2.24663042e+02] [-1.41453678e-01 9.89940117e-01 -3.06957892e-03 2.31550854e+01] [-2.10443177e-02 9.30389550e-05 9.99778540e-01 -9.09757681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.70, Y:23.15, Z:-0.91 [[ 9.89267196e-01 1.44590891e-01 2.10686924e-02 2.24695882e+02] [-1.44557431e-01 9.89491523e-01 -3.11061090e-03 2.31491904e+01] [-2.12970585e-02 3.15892759e-05 9.99773191e-01 -9.10277428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.73, Y:23.14, Z:-0.91 [[ 9.89011752e-01 1.46162239e-01 2.21890693e-02 2.24728022e+02] [-1.46125452e-01 9.89260633e-01 -3.27908300e-03 2.31443906e+01] [-2.24300508e-02 6.63841711e-07 9.99748415e-01 -9.10743046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.76, Y:23.14, Z:-0.91 [[ 9.88648455e-01 1.48811191e-01 2.07234796e-02 2.24760848e+02] [-1.48779614e-01 9.88865626e-01 -3.06592954e-03 2.31431745e+01] [-2.09489813e-02 -5.21047872e-05 9.99780545e-01 -9.08845520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.79, Y:23.14, Z:-0.91 [[ 9.88511878e-01 1.49692261e-01 2.08924237e-02 2.24793652e+02] [-1.49660274e-01 9.88732635e-01 -3.09513431e-03 2.31403446e+01] [-2.11203388e-02 -6.71888281e-05 9.99776939e-01 -9.09535781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.83, Y:23.14, Z:-0.91 [[ 9.88607271e-01 1.49407816e-01 1.82474072e-02 2.24825589e+02] [-1.49383311e-01 9.88775658e-01 -2.70635997e-03 2.31359257e+01] [-1.84469434e-02 -5.03309659e-05 9.99829839e-01 -9.09090071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.86, Y:23.13, Z:-0.91 [[ 9.88665728e-01 1.48835602e-01 1.96987614e-02 2.24857336e+02] [-1.48806875e-01 9.88861953e-01 -2.92435585e-03 2.31310967e+01] [-1.99146040e-02 -4.01007231e-05 9.99801684e-01 -9.09158486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.89, Y:23.13, Z:-0.91 [[ 9.88678869e-01 1.48513655e-01 2.13960014e-02 2.24889447e+02] [-1.48479626e-01 9.88910356e-01 -3.17925619e-03 2.31268487e+01] [-2.16308903e-02 -3.36068613e-05 9.99766024e-01 -9.09614747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.92, Y:23.13, Z:-0.91 [[ 9.89129182e-01 1.45437324e-01 2.17127955e-02 2.24922244e+02] [-1.45401442e-01 9.89367466e-01 -3.23068028e-03 2.31254130e+01] [-2.19517950e-02 3.84883624e-05 9.99759030e-01 -9.08885253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.96, Y:23.12, Z:-0.91 [[ 9.89267207e-01 1.44553285e-01 2.13246481e-02 2.24955485e+02] [-1.44518376e-01 9.89497016e-01 -3.17724110e-03 2.31212864e+01] [-2.15599563e-02 6.13369169e-05 9.99767555e-01 -9.09932901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.99, Y:23.12, Z:-0.91 [[ 9.89539409e-01 1.42744089e-01 2.08778068e-02 2.24988391e+02] [-1.42710136e-01 9.89759625e-01 -3.11487396e-03 2.31166199e+01] [-2.11086401e-02 1.02815881e-04 9.99777183e-01 -9.10990774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.02, Y:23.11, Z:-0.91 [[ 9.89666981e-01 1.41960657e-01 2.01603129e-02 2.25020537e+02] [-1.41928779e-01 9.89872294e-01 -3.01057946e-03 2.31115627e+01] [-2.03835190e-02 1.18142483e-04 9.99792228e-01 -9.11286443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.05, Y:23.11, Z:-0.91 [[ 9.89760544e-01 1.41249480e-01 2.05584263e-02 2.25052060e+02] [-1.41216121e-01 9.89974022e-01 -3.07276292e-03 2.31061376e+01] [-2.07863341e-02 1.38118276e-04 9.99783931e-01 -9.11978369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.08, Y:23.10, Z:-0.91 [[ 9.90105709e-01 1.38782166e-01 2.07411576e-02 2.25083114e+02] [-1.38747612e-01 9.90322913e-01 -3.10286190e-03 2.30991797e+01] [-2.09710655e-02 1.94375204e-04 9.99780064e-01 -9.11114668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:225.11, Y:23.09, Z:-0.91 [[ 9.90342954e-01 1.36897131e-01 2.19091049e-02 2.25114057e+02] [-1.36858049e-01 9.90585238e-01 -3.28047236e-03 2.30913935e+01] [-2.21519231e-02 2.50355341e-04 9.99754585e-01 -9.10791150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.15, Y:23.08, Z:-0.91 [[ 9.90468836e-01 1.36057218e-01 2.14457092e-02 2.25146918e+02] [-1.36019484e-01 9.90700945e-01 -3.21529448e-03 2.30845976e+01] [-2.16837484e-02 2.67614676e-04 9.99764844e-01 -9.10880481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.18, Y:23.08, Z:-0.91 [[ 9.90593998e-01 1.35153847e-01 2.13768050e-02 2.25178831e+02] [-1.35116083e-01 9.90824583e-01 -3.20783132e-03 2.30777249e+01] [-2.16142146e-02 2.89308296e-04 9.99766344e-01 -9.11339361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.21, Y:23.07, Z:-0.91 [[ 9.90827838e-01 1.33492891e-01 2.09724597e-02 2.25209865e+02] [-1.33456113e-01 9.91049718e-01 -3.14989201e-03 2.30688768e+01] [-2.12052385e-02 3.22097738e-04 9.99775092e-01 -9.11583265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.24, Y:23.06, Z:-0.91 [[ 9.90711950e-01 1.34220166e-01 2.17894373e-02 2.25242141e+02] [-1.34180547e-01 9.90951484e-01 -3.27684280e-03 2.30610428e+01] [-2.20320937e-02 3.22688687e-04 9.99757212e-01 -9.12708416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.27, Y:23.05, Z:-0.91 [[ 9.90569514e-01 1.34925961e-01 2.38122353e-02 2.25273402e+02] [-1.34878771e-01 9.90855625e-01 -3.58424252e-03 2.30508259e+01] [-2.40780946e-02 3.38676336e-04 9.99710023e-01 -9.13397097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.30, Y:23.04, Z:-0.91 [[ 9.90483624e-01 1.35787135e-01 2.24509510e-02 2.25304506e+02] [-1.35745325e-01 9.90737989e-01 -3.38298390e-03 2.30434477e+01] [-2.27023758e-02 3.03178494e-04 9.99742222e-01 -9.12763144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.34, Y:23.03, Z:-0.91 [[ 9.90041011e-01 1.38926594e-01 2.27639600e-02 2.25335952e+02] [-1.38884201e-01 9.90302652e-01 -3.44049473e-03 2.30341224e+01] [-2.30211861e-02 2.44676487e-04 9.99734947e-01 -9.13526636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.37, Y:23.03, Z:-0.91 [[ 9.89834737e-01 1.40763757e-01 2.03164665e-02 2.25367227e+02] [-1.40730304e-01 9.90043197e-01 -3.07416886e-03 2.30266509e+01] [-2.05469110e-02 1.83776621e-04 9.99788873e-01 -9.12855924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.40, Y:23.02, Z:-0.91 [[ 9.89686437e-01 1.41698228e-01 2.10325630e-02 2.25399535e+02] [-1.41662495e-01 9.89909886e-01 -3.18679392e-03 2.30190395e+01] [-2.12719050e-02 1.74401373e-04 9.99773712e-01 -9.13659071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.43, Y:23.01, Z:-0.91 [[ 9.89047798e-01 1.45784315e-01 2.30518150e-02 2.25430891e+02] [-1.45742426e-01 9.89316392e-01 -3.49592146e-03 2.30098163e+01] [-2.33151889e-02 9.80059938e-05 9.99728159e-01 -9.14195931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.46, Y:23.00, Z:-0.92 [[ 9.88140535e-01 1.51699929e-01 2.37784595e-02 2.25463386e+02] [-1.51656769e-01 9.88426593e-01 -3.61856073e-03 2.30025987e+01] [-2.40521971e-02 -3.05177926e-05 9.99710704e-01 -9.15009236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.50, Y:23.00, Z:-0.91 [[ 9.87605960e-01 1.55287136e-01 2.28116762e-02 2.25495694e+02] [-1.55248088e-01 9.87869371e-01 -3.48370574e-03 2.29970562e+01] [-2.30759309e-02 -1.00940552e-04 9.99733710e-01 -9.14883233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.53, Y:22.99, Z:-0.91 [[ 9.87159791e-01 1.58231541e-01 2.18706619e-02 2.25528212e+02] [-1.58196107e-01 9.87402024e-01 -3.35184781e-03 2.29919407e+01] [-2.21255038e-02 -1.51044190e-04 9.99755190e-01 -9.14827432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.56, Y:22.99, Z:-0.91 [[ 9.87075233e-01 1.58758421e-01 2.18688704e-02 2.25560410e+02] [-1.58722858e-01 9.87317447e-01 -3.36351533e-03 2.29873192e+01] [-2.21255037e-02 -1.51046949e-04 9.99755190e-01 -9.14855516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.59, Y:22.98, Z:-0.91 [[ 9.86193053e-01 1.64248044e-01 2.11149540e-02 2.25591812e+02] [-1.64215934e-01 9.86419036e-01 -3.25762218e-03 2.29821990e+01] [-2.13632507e-02 -2.54767529e-04 9.99771747e-01 -9.14875464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.62, Y:22.98, Z:-0.92 [[ 9.85891918e-01 1.66010738e-01 2.13906624e-02 2.25624594e+02] [-1.65977947e-01 9.86123904e-01 -3.31174572e-03 2.29767131e+01] [-2.16436289e-02 -2.85354906e-04 9.99765709e-01 -9.15446344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.66, Y:22.97, Z:-0.92 [[ 9.85513856e-01 1.67952967e-01 2.35423226e-02 2.25656979e+02] [-1.67913532e-01 9.85794947e-01 -3.65616183e-03 2.29732321e+01] [-2.38219659e-02 -3.49876390e-04 9.99716155e-01 -9.15567568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.69, Y:22.97, Z:-0.92 [[ 9.85294762e-01 1.69231115e-01 2.35597362e-02 2.25690156e+02] [-1.69191683e-01 9.85576326e-01 -3.67156249e-03 2.29704636e+01] [-2.38412609e-02 -3.68540124e-04 9.99715689e-01 -9.15387587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.72, Y:22.97, Z:-0.92 [[ 9.84812103e-01 1.71612377e-01 2.63498350e-02 2.25722825e+02] [-1.71563567e-01 9.85164441e-01 -4.11895695e-03 2.29698734e+01] [-2.66657845e-02 -4.64273033e-04 9.99644297e-01 -9.16380602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.76, Y:22.97, Z:-0.92 [[ 9.84563760e-01 1.72981805e-01 2.66739157e-02 2.25756102e+02] [-1.72931899e-01 9.84924896e-01 -4.18408401e-03 2.29660658e+01] [-2.69955740e-02 -4.93273405e-04 9.99635431e-01 -9.16731448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.79, Y:22.96, Z:-0.92 [[ 9.84427553e-01 1.73825643e-01 2.62114221e-02 2.25788977e+02] [-1.73777377e-01 9.84776321e-01 -4.12565073e-03 2.29626447e+01] [-2.65295317e-02 -4.93547910e-04 9.99647908e-01 -9.17143128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.82, Y:22.96, Z:-0.92 [[ 9.84517510e-01 1.73293248e-01 2.63575997e-02 2.25822122e+02] [-1.73243872e-01 9.84870160e-01 -4.16286552e-03 2.29610869e+01] [-2.66802099e-02 -4.67878636e-04 9.99643910e-01 -9.16654696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.85, Y:22.96, Z:-0.92 [[ 9.84820718e-01 1.71542201e-01 2.64844754e-02 2.25854674e+02] [-1.71491379e-01 9.85176687e-01 -4.19542895e-03 2.29595364e+01] [-2.68115809e-02 -4.10113873e-04 9.99640421e-01 -9.16668654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.89, Y:22.96, Z:-0.92 [[ 9.84993152e-01 1.70304335e-01 2.80164994e-02 2.25887208e+02] [-1.70246531e-01 9.85391438e-01 -4.45329724e-03 2.29560276e+01] [-2.83656345e-02 -3.83244562e-04 9.99597541e-01 -9.17120392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.92, Y:22.95, Z:-0.92 [[ 9.85221183e-01 1.68978548e-01 2.80262552e-02 2.25919408e+02] [-1.68919791e-01 9.85619673e-01 -4.46814689e-03 2.29528597e+01] [-2.83782494e-02 -3.32076196e-04 9.99597201e-01 -9.17756507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.95, Y:22.95, Z:-0.92 [[ 9.85818243e-01 1.65786915e-01 2.60209448e-02 2.25952101e+02] [-1.65735032e-01 9.86161575e-01 -4.15309596e-03 2.29509171e+01] [-2.63493849e-02 -2.18384344e-04 9.99652771e-01 -9.17457751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.98, Y:22.95, Z:-0.92 [[ 9.86099146e-01 1.63828750e-01 2.77239178e-02 2.25984089e+02] [-1.63768714e-01 9.86488780e-01 -4.43785216e-03 2.29470146e+01] [-2.80763816e-02 -1.64148161e-04 9.99605767e-01 -9.18897103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.02, Y:22.94, Z:-0.92 [[ 9.86540233e-01 1.60970518e-01 2.87552038e-02 2.26017286e+02] [-1.60904261e-01 9.86959213e-01 -4.61861271e-03 2.29429851e+01] [-2.91236738e-02 -7.03875637e-05 9.99575813e-01 -9.18354964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.05, Y:22.94, Z:-0.92 [[ 9.86659339e-01 1.60604206e-01 2.66390119e-02 2.26048893e+02] [-1.60546870e-01 9.87018889e-01 -4.29131168e-03 2.29387126e+01] [-2.69824106e-02 -4.27472358e-05 9.99635908e-01 -9.17092201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.08, Y:22.94, Z:-0.92 [[ 9.87099340e-01 1.57988464e-01 2.59718739e-02 2.26082052e+02] [-1.57932688e-01 9.87440957e-01 -4.19791115e-03 2.29364677e+01] [-2.63089135e-02 4.19474659e-05 9.99653860e-01 -9.16647532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.11, Y:22.93, Z:-0.92 [[ 9.87282734e-01 1.56934127e-01 2.53866612e-02 2.26114471e+02] [-1.56880370e-01 9.87609070e-01 -4.10794319e-03 2.29322740e+01] [-2.57167733e-02 7.30325870e-05 9.99669266e-01 -9.17301768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.15, Y:22.93, Z:-0.92 [[ 9.87662255e-01 1.54626497e-01 2.47773180e-02 2.26146984e+02] [-1.54574236e-01 9.87972988e-01 -4.02239478e-03 2.29274665e+01] [-2.51012898e-02 1.42832496e-04 9.99684903e-01 -9.18030469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.18, Y:22.92, Z:-0.92 [[ 9.87817587e-01 1.53786745e-01 2.37918428e-02 2.26179600e+02] [-1.53738008e-01 9.88104047e-01 -3.87512465e-03 2.29208759e+01] [-2.41047589e-02 1.70205762e-04 9.99709424e-01 -9.17348665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.21, Y:22.92, Z:-0.92 [[ 9.88277938e-01 1.51400412e-01 1.96120694e-02 2.26211655e+02] [-1.51366644e-01 9.88472497e-01 -3.20354282e-03 2.29153865e+01] [-1.98710089e-02 1.97377563e-04 9.99802533e-01 -9.15719945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.24, Y:22.91, Z:-0.92 [[ 9.88422688e-01 1.50151638e-01 2.17962233e-02 2.26243272e+02] [-1.50109554e-01 9.88662947e-01 -3.56356625e-03 2.29109186e+01] [-2.20841936e-02 2.50488375e-04 9.99756083e-01 -9.17135146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.28, Y:22.91, Z:-0.92 [[ 9.88464637e-01 1.49848422e-01 2.19798029e-02 2.26276287e+02] [-1.49805454e-01 9.88708946e-01 -3.59793041e-03 2.29054040e+01] [-2.22707719e-02 2.63732621e-04 9.99751941e-01 -9.16118361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.31, Y:22.90, Z:-0.92 [[ 9.88747056e-01 1.47901643e-01 2.24580523e-02 2.26307225e+02] [-1.47856213e-01 9.89002024e-01 -3.67925952e-03 2.28972374e+01] [-2.27552277e-02 3.17294450e-04 9.99741016e-01 -9.16270867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96592 meters Centerline goodness [0,1] 0.999950258654994 Centerline is valid? [True, True] Translation: X:226.34, Y:22.89, Z:-0.92 [[ 9.89088121e-01 1.45630616e-01 2.22803305e-02 2.26338487e+02] [-1.45585260e-01 9.89338965e-01 -3.65307128e-03 2.28882716e+01] [-2.25747982e-02 3.69521679e-04 9.99745088e-01 -9.16141115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.37, Y:22.88, Z:-0.92 [[ 9.89148830e-01 1.45095962e-01 2.30597803e-02 2.26370200e+02] [-1.45047160e-01 9.89417507e-01 -3.78392412e-03 2.28815318e+01] [-2.33647825e-02 3.98108465e-04 9.99726927e-01 -9.17245864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.40, Y:22.87, Z:-0.92 [[ 9.89302447e-01 1.44163368e-01 2.23067692e-02 2.26402982e+02] [-1.44117208e-01 9.89553813e-01 -3.67168038e-03 2.28747230e+01] [-2.26030704e-02 4.17613077e-04 9.99744431e-01 -9.17590267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.43, Y:22.86, Z:-0.92 [[ 9.89344731e-01 1.43836018e-01 2.25433759e-02 2.26434624e+02] [-1.43788520e-01 9.89601438e-01 -3.72239387e-03 2.28637293e+01] [-2.28443715e-02 4.41252100e-04 9.99738936e-01 -9.17003787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.47, Y:22.86, Z:-0.92 [[ 9.89426494e-01 1.43127126e-01 2.34486573e-02 2.26466020e+02] [-1.43075280e-01 9.89704193e-01 -3.88269370e-03 2.28567170e+01] [-2.37629532e-02 4.86716807e-04 9.99717503e-01 -9.17926502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11592000000002 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:226.50, Y:22.85, Z:-0.92 [[ 9.89293595e-01 1.44085202e-01 2.31870321e-02 2.26498115e+02] [-1.44034485e-01 9.89565174e-01 -3.85148155e-03 2.28479997e+01] [-2.35000209e-02 4.70513805e-04 9.99723726e-01 -9.18107442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.53, Y:22.84, Z:-0.92 [[ 9.89109826e-01 1.45449616e-01 2.24980282e-02 2.26529346e+02] [-1.45401988e-01 9.89365564e-01 -3.74728844e-03 2.28413873e+01] [-2.28038161e-02 4.35221790e-04 9.99739864e-01 -9.19072321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.56, Y:22.83, Z:-0.92 [[ 9.88674871e-01 1.48645847e-01 2.06497191e-02 2.26560719e+02] [-1.48606224e-01 9.88890437e-01 -3.44884296e-03 2.28319805e+01] [-2.09329659e-02 3.41107590e-04 9.99780823e-01 -9.17262548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.59, Y:22.83, Z:-0.92 [[ 9.88318629e-01 1.50601361e-01 2.33563304e-02 2.26592189e+02] [-1.50550955e-01 9.88594511e-01 -3.91178819e-03 2.28255870e+01] [-2.36790607e-02 3.49775282e-04 9.99719551e-01 -9.18928590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.62, Y:22.82, Z:-0.92 [[ 9.87860148e-01 1.53574142e-01 2.33946682e-02 2.26623984e+02] [-1.53524147e-01 9.88137085e-01 -3.92902516e-03 2.28193205e+01] [-2.37205359e-02 2.89680896e-04 9.99718587e-01 -9.18593059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.66, Y:22.81, Z:-0.92 [[ 9.87763798e-01 1.54355768e-01 2.22929726e-02 2.26655933e+02] [-1.54310337e-01 9.88015296e-01 -3.75431607e-03 2.28138464e+01] [-2.26052983e-02 2.68341378e-04 9.99744432e-01 -9.18589819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.69, Y:22.81, Z:-0.92 [[ 9.87703037e-01 1.54848590e-01 2.15551398e-02 2.26688065e+02] [-1.54805983e-01 9.87938180e-01 -3.64153336e-03 2.28076926e+01] [-2.18590319e-02 2.59888946e-04 9.99761029e-01 -9.18000494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.72, Y:22.80, Z:-0.92 [[ 9.87506649e-01 1.56118344e-01 2.13934797e-02 2.26720413e+02] [-1.56076423e-01 9.87738328e-01 -3.62569816e-03 2.28000183e+01] [-2.16971979e-02 2.41383244e-04 9.99764559e-01 -9.18522290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.75, Y:22.79, Z:-0.92 [[ 9.87480198e-01 1.56261443e-01 2.15689760e-02 2.26753352e+02] [-1.56218613e-01 9.87715697e-01 -3.66696531e-03 2.27939725e+01] [-2.18770215e-02 2.51580105e-04 9.99760638e-01 -9.18082140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.79, Y:22.79, Z:-0.92 [[ 9.87480560e-01 1.56174352e-01 2.21746427e-02 2.26786099e+02] [-1.56128795e-01 9.87729466e-01 -3.78175385e-03 2.27869814e+01] [-2.24931609e-02 2.72308161e-04 9.99746960e-01 -9.19031552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.82, Y:22.78, Z:-0.92 [[ 9.87464424e-01 1.56271830e-01 2.22064353e-02 2.26818137e+02] [-1.56225901e-01 9.87714045e-01 -3.79898194e-03 2.27803354e+01] [-2.25272819e-02 2.82139144e-04 9.99746189e-01 -9.18675078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.85, Y:22.77, Z:-0.92 [[ 9.87612816e-01 1.55196916e-01 2.31266513e-02 2.26849511e+02] [-1.55146553e-01 9.87883499e-01 -3.96723041e-03 2.27716131e+01] [-2.34621391e-02 3.30067377e-04 9.99724672e-01 -9.18551677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.88, Y:22.76, Z:-0.92 [[ 9.87566969e-01 1.55451845e-01 2.33710438e-02 2.26881490e+02] [-1.55400186e-01 9.87843413e-01 -4.02163229e-03 2.27610549e+01] [-2.37121018e-02 3.39766658e-04 9.99718771e-01 -9.18974875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.91, Y:22.75, Z:-0.92 [[ 9.87634437e-01 1.55090646e-01 2.29152703e-02 2.26913194e+02] [-1.55040603e-01 9.87900180e-01 -3.95535774e-03 2.27527334e+01] [-2.32514387e-02 3.53650176e-04 9.99729586e-01 -9.18722655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.94, Y:22.74, Z:-0.92 [[ 9.87631540e-01 1.55002036e-01 2.36285895e-02 2.26944618e+02] [-1.54948538e-01 9.87914078e-01 -4.08956771e-03 2.27444302e+01] [-2.39769075e-02 3.77770656e-04 9.99712441e-01 -9.19280046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.98, Y:22.73, Z:-0.92 [[ 9.87544130e-01 1.55673149e-01 2.28574363e-02 2.26975222e+02] [-1.55623020e-01 9.87808555e-01 -3.96672340e-03 2.27330039e+01] [-2.31962834e-02 3.60171146e-04 9.99730865e-01 -9.18736904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.01, Y:22.72, Z:-0.92 [[ 9.87388408e-01 1.56808821e-01 2.17973475e-02 2.27006442e+02] [-1.56763287e-01 9.87628921e-01 -3.79287229e-03 2.27246115e+01] [-2.21224466e-02 3.28014296e-04 9.99755215e-01 -9.17745729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.04, Y:22.71, Z:-0.92 [[ 9.86881761e-01 1.59820792e-01 2.28408575e-02 2.27038025e+02] [-1.59771315e-01 9.87146004e-01 -3.98668936e-03 2.27131726e+01] [-2.31844171e-02 2.85077171e-04 9.99731165e-01 -9.17247903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.07, Y:22.71, Z:-0.92 [[ 9.86653657e-01 1.61227929e-01 2.28060392e-02 2.27069704e+02] [-1.61178691e-01 9.86917162e-01 -3.99302666e-03 2.27053283e+01] [-2.31514589e-02 2.63886809e-04 9.99731934e-01 -9.17473262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.10, Y:22.69, Z:-0.92 [[ 9.85946789e-01 1.65727903e-01 2.10521233e-02 2.27100211e+02] [-1.65686758e-01 9.86171505e-01 -3.69601263e-03 2.26943461e+01] [-2.13735365e-02 1.56013734e-04 9.99771548e-01 -9.17053898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.13, Y:22.69, Z:-0.92 [[ 9.85539085e-01 1.68168116e-01 2.07893635e-02 2.27131455e+02] [-1.68128323e-01 9.85758323e-01 -3.65987627e-03 2.26859679e+01] [-2.11087626e-02 1.11670289e-04 9.99777179e-01 -9.17324372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.16, Y:22.68, Z:-0.92 [[ 9.85003955e-01 1.71187581e-01 2.14946687e-02 2.27163880e+02] [-1.71145503e-01 9.85238453e-01 -3.79582416e-03 2.26776168e+01] [-2.18271721e-02 6.01859162e-05 9.99761757e-01 -9.16712831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.20, Y:22.67, Z:-0.92 [[ 9.84105082e-01 1.76418141e-01 2.03427388e-02 2.27195037e+02] [-1.76381365e-01 9.84315314e-01 -3.60227787e-03 2.26689958e+01] [-2.06591765e-02 -4.30600735e-05 9.99786576e-01 -9.16161059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.23, Y:22.66, Z:-0.92 [[ 9.83571977e-01 1.79400632e-01 2.00394273e-02 2.27227524e+02] [-1.79365339e-01 9.83776095e-01 -3.55961150e-03 2.26622359e+01] [-2.03529061e-02 -9.32445389e-05 9.99792854e-01 -9.15772935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.26, Y:22.65, Z:-0.92 [[ 9.82640301e-01 1.84155147e-01 2.24704253e-02 2.27258891e+02] [-1.84111763e-01 9.82897167e-01 -4.00230817e-03 2.26539908e+01] [-2.28231630e-02 -2.04240328e-04 9.99739497e-01 -9.16366806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.29, Y:22.65, Z:-0.92 [[ 9.82106280e-01 1.86949101e-01 2.27439583e-02 2.27290284e+02] [-1.86905155e-01 9.82369566e-01 -4.06179086e-03 2.26479031e+01] [-2.31023206e-02 -2.61852728e-04 9.99733071e-01 -9.15894882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.32, Y:22.64, Z:-0.92 [[ 9.81297222e-01 1.91197532e-01 2.23442643e-02 2.27322113e+02] [-1.91155978e-01 9.81551519e-01 -4.00091803e-03 2.26416652e+01] [-2.26970122e-02 -3.45149944e-04 9.99742330e-01 -9.17070664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.35, Y:22.64, Z:-0.92 [[ 9.80956150e-01 1.92970311e-01 2.20792143e-02 2.27354354e+02] [-1.92929922e-01 9.81204526e-01 -3.96521256e-03 2.26360674e+01] [-2.24293933e-02 -3.70041445e-04 9.99748361e-01 -9.17181559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.39, Y:22.63, Z:-0.92 [[ 9.80476155e-01 1.95387049e-01 2.21452137e-02 2.27386311e+02] [-1.95346800e-01 9.80726123e-01 -3.98750277e-03 2.26301666e+01] [-2.24974960e-02 -4.16345245e-04 9.99746813e-01 -9.17991229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.42, Y:22.62, Z:-0.92 [[ 9.80205561e-01 1.96787642e-01 2.17182574e-02 2.27418659e+02] [-1.96749020e-01 9.80446042e-01 -3.92209483e-03 2.26244895e+01] [-2.20653993e-02 -4.28586702e-04 9.99756438e-01 -9.16496331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.45, Y:22.62, Z:-0.92 [[ 9.79619084e-01 1.99582407e-01 2.26564285e-02 2.27450474e+02] [-1.99540880e-01 9.79880916e-01 -4.10208487e-03 2.26200065e+01] [-2.30193059e-02 -5.02403055e-04 9.99734894e-01 -9.16656501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.48, Y:22.61, Z:-0.92 [[ 9.79297805e-01 2.01118382e-01 2.29609666e-02 2.27481772e+02] [-2.01076010e-01 9.79566795e-01 -4.16328591e-03 2.26149598e+01] [-2.33291138e-02 -5.39802820e-04 9.99727693e-01 -9.17249610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.51, Y:22.61, Z:-0.92 [[ 9.78929107e-01 2.02843366e-01 2.35025951e-02 2.27514142e+02] [-2.02799215e-01 9.79211023e-01 -4.27210912e-03 2.26128417e+01] [-2.38805692e-02 -5.84215868e-04 9.99714648e-01 -9.17147562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.55, Y:22.61, Z:-0.92 [[ 9.78825506e-01 2.03342957e-01 2.35004224e-02 2.27546177e+02] [-2.03298664e-01 9.79107400e-01 -4.28404402e-03 2.26073294e+01] [-2.38805677e-02 -5.84272924e-04 9.99714648e-01 -9.17175651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.58, Y:22.60, Z:-0.92 [[ 9.78560451e-01 2.04468700e-01 2.47385316e-02 2.27577743e+02] [-2.04419707e-01 9.78872897e-01 -4.52042062e-03 2.26037441e+01] [-2.51401627e-02 -6.33538536e-04 9.99683735e-01 -9.18447342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.61, Y:22.60, Z:-0.92 [[ 9.78584161e-01 2.04457154e-01 2.38812196e-02 2.27610457e+02] [-2.04411228e-01 9.78875330e-01 -4.37472593e-03 2.26020640e+01] [-2.42711807e-02 -6.00551917e-04 9.99705231e-01 -9.18358613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.64, Y:22.60, Z:-0.92 [[ 9.78665118e-01 2.04122387e-01 2.34230117e-02 2.27642919e+02] [-2.04077853e-01 9.78945211e-01 -4.30164909e-03 2.25987263e+01] [-2.38079080e-02 -5.70244007e-04 9.99716389e-01 -9.17969176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.68, Y:22.60, Z:-0.92 [[ 9.78887977e-01 2.02984771e-01 2.39898070e-02 2.27675796e+02] [-2.02937442e-01 9.79181743e-01 -4.41687815e-03 2.25980923e+01] [-2.43869401e-02 -5.44801156e-04 9.99702446e-01 -9.19096114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.71, Y:22.60, Z:-0.92 [[ 9.78844791e-01 2.03234902e-01 2.36315615e-02 2.27708986e+02] [-2.03188747e-01 9.79129865e-01 -4.36345102e-03 2.25952119e+01] [-2.40251732e-02 -5.30526082e-04 9.99711213e-01 -9.19655436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.74, Y:22.60, Z:-0.92 [[ 9.79383234e-01 2.00592572e-01 2.38977313e-02 2.27741961e+02] [-2.00544313e-01 9.79674644e-01 -4.42378938e-03 2.25964999e+01] [-2.42993807e-02 -4.59968976e-04 9.99704621e-01 -9.18521357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.77, Y:22.59, Z:-0.92 [[ 9.79371612e-01 2.00751658e-01 2.30221180e-02 2.27773744e+02] [-2.00706820e-01 9.79642065e-01 -4.26578570e-03 2.25938133e+01] [-2.34097987e-02 -4.42906675e-04 9.99725855e-01 -9.17873361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.81, Y:22.59, Z:-0.92 [[ 9.79275171e-01 2.01021224e-01 2.47104671e-02 2.27806029e+02] [-2.00969365e-01 9.79586773e-01 -4.59005925e-03 2.25900934e+01] [-2.51287460e-02 -4.71115826e-04 9.99684112e-01 -9.19359236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.84, Y:22.59, Z:-0.92 [[ 9.79444190e-01 2.00117995e-01 2.53350834e-02 2.27839191e+02] [-2.00062829e-01 9.79771703e-01 -4.71969335e-03 2.25883169e+01] [-2.57670934e-02 -4.45932216e-04 9.99667874e-01 -9.18920973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.87, Y:22.59, Z:-0.92 [[ 9.79898396e-01 1.97898991e-01 2.52016570e-02 2.27872041e+02] [-1.97843362e-01 9.80222347e-01 -4.70683399e-03 2.25881624e+01] [-2.56347051e-02 -3.73761480e-04 9.99671307e-01 -9.18618637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.90, Y:22.58, Z:-0.92 [[ 9.79892631e-01 1.97800030e-01 2.61835924e-02 2.27904793e+02] [-1.97739564e-01 9.80242322e-01 -4.90457283e-03 2.25846904e+01] [-2.66363901e-02 -3.71577375e-04 9.99645119e-01 -9.18347624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.94, Y:22.58, Z:-0.92 [[ 9.79978184e-01 1.97603408e-01 2.44060008e-02 2.27936637e+02] [-1.97550522e-01 9.80281992e-01 -4.58333433e-03 2.25804417e+01] [-2.48304455e-02 -3.29850536e-04 9.99691623e-01 -9.18810331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.97, Y:22.58, Z:-0.92 [[ 9.79955689e-01 1.97827304e-01 2.34777739e-02 2.27968449e+02] [-1.97778161e-01 9.80236839e-01 -4.42024800e-03 2.25774349e+01] [-2.38882246e-02 -3.11743766e-04 9.99714587e-01 -9.18472210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.00, Y:22.57, Z:-0.92 [[ 9.79799450e-01 1.98431188e-01 2.48616364e-02 2.28000954e+02] [-1.98375972e-01 9.80114765e-01 -4.69270782e-03 2.25737524e+01] [-2.52984365e-02 -3.34038754e-04 9.99679888e-01 -9.18041353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.03, Y:22.57, Z:-0.92 [[ 9.79787056e-01 1.98405443e-01 2.55461311e-02 2.28034683e+02] [-1.98346775e-01 9.80119978e-01 -4.83580383e-03 2.25748370e+01] [-2.59977233e-02 -3.28934718e-04 9.99661948e-01 -9.16603125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.07, Y:22.57, Z:-0.92 [[ 9.79746427e-01 1.98564015e-01 2.58702835e-02 2.28068487e+02] [-1.98503530e-01 9.80087867e-01 -4.91136113e-03 2.25733993e+01] [-2.63303706e-02 -3.23454071e-04 9.99653243e-01 -9.17441933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.10, Y:22.57, Z:-0.92 [[ 9.79544989e-01 1.99466124e-01 2.65495643e-02 2.28101612e+02] [-1.99402356e-01 9.79904663e-01 -5.05495050e-03 2.25692125e+01] [-2.70243332e-02 -3.42494230e-04 9.99634717e-01 -9.18002731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.13, Y:22.57, Z:-0.92 [[ 9.79376436e-01 2.00360342e-01 2.60293899e-02 2.28134234e+02] [-2.00298983e-01 9.79722213e-01 -4.97027550e-03 2.25650611e+01] [-2.64974175e-02 -3.45889611e-04 9.99648822e-01 -9.16955487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.17, Y:22.56, Z:-0.92 [[ 9.79129332e-01 2.01569723e-01 2.59884268e-02 2.28167317e+02] [-2.01508604e-01 9.79474101e-01 -4.97675061e-03 2.25646312e+01] [-2.64581533e-02 -3.64009115e-04 9.99649856e-01 -9.16369482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.20, Y:22.56, Z:-0.91 [[ 9.78532297e-01 2.04683545e-01 2.40663868e-02 2.28200789e+02] [-2.04631753e-01 9.78828118e-01 -4.62179264e-03 2.25644943e+01] [-2.45028610e-02 -4.02173553e-04 9.99699679e-01 -9.14829180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:228.23, Y:22.56, Z:-0.92 [[ 9.78141143e-01 2.06489468e-01 2.45357687e-02 2.28233027e+02] [-2.06435910e-01 9.78448722e-01 -4.72370352e-03 2.25622811e+01] [-2.49823866e-02 -4.44614981e-04 9.99687793e-01 -9.15920219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.27, Y:22.56, Z:-0.92 [[ 9.77865084e-01 2.07978104e-01 2.29125805e-02 2.28265090e+02] [-2.07931551e-01 9.78133383e-01 -4.42212238e-03 2.25603420e+01] [-2.33312645e-02 -4.40009346e-04 9.99727692e-01 -9.15449070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79592 meters Centerline goodness [0,1] 0.9999007591921798 Centerline is valid? [True, True] Translation: X:228.30, Y:22.56, Z:-0.92 [[ 9.77649810e-01 2.08924646e-01 2.34806510e-02 2.28299406e+02] [-2.08875724e-01 9.77931633e-01 -4.54455180e-03 2.25614180e+01] [-2.39119403e-02 -4.61557765e-04 9.99713962e-01 -9.15614251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.33, Y:22.56, Z:-0.92 [[ 9.77552151e-01 2.09253477e-01 2.45921519e-02 2.28331180e+02] [-2.09199639e-01 9.77861315e-01 -4.77075607e-03 2.25587263e+01] [-2.50460113e-02 -4.81006432e-04 9.99686184e-01 -9.15490409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.36, Y:22.56, Z:-0.92 [[ 9.78256808e-01 2.05994527e-01 2.40805533e-02 2.28364266e+02] [-2.05941636e-01 9.78553071e-01 -4.68302291e-03 2.25587692e+01] [-2.45287765e-02 -3.77989501e-04 9.99699053e-01 -9.15254939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:228.40, Y:22.56, Z:-0.92 [[ 9.78851964e-01 2.03386589e-01 2.19710687e-02 2.28396871e+02] [-2.03341665e-01 9.79098473e-01 -4.28336697e-03 2.25563779e+01] [-2.23830192e-02 -2.74851518e-04 9.99749431e-01 -9.15233321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.43, Y:22.56, Z:-0.92 [[ 9.79793706e-01 1.98793376e-01 2.20337576e-02 2.28429949e+02] [-1.98746958e-01 9.80041410e-01 -4.29893446e-03 2.25568895e+01] [-2.24485946e-02 -1.67073379e-04 9.99747985e-01 -9.16729172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:228.46, Y:22.55, Z:-0.92 [[ 9.80228473e-01 1.96633617e-01 2.20762536e-02 2.28462602e+02] [-1.96586388e-01 9.80477031e-01 -4.31096441e-03 2.25535483e+01] [-2.24929401e-02 -1.14160898e-04 9.99746995e-01 -9.17312972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97592 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:228.50, Y:22.55, Z:-0.92 [[ 9.80444758e-01 1.95487692e-01 2.26415074e-02 2.28495259e+02] [-1.95437601e-01 9.80706151e-01 -4.42600801e-03 2.25490191e+01] [-2.30698957e-02 -8.55455318e-05 9.99733851e-01 -9.16192625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00592 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:228.53, Y:22.55, Z:-0.92 [[ 9.81287983e-01 1.91258633e-01 2.22267900e-02 2.28527656e+02] [-1.91209204e-01 9.81539676e-01 -4.34803123e-03 2.25463093e+01] [-2.26480747e-02 1.67039904e-05 9.99743499e-01 -9.16511959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03592 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:228.56, Y:22.54, Z:-0.92 [[ 9.81915647e-01 1.88206305e-01 2.04951023e-02 2.28559437e+02] [-1.88163555e-01 9.82129513e-01 -4.01207216e-03 2.25424352e+01] [-2.08839421e-02 8.30851116e-05 9.99781903e-01 -9.16257262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06592 meters Centerline goodness [0,1] 0.9995535935717474 Centerline is valid? [True, True] Translation: X:228.59, Y:22.54, Z:-0.92 [[ 9.82306391e-01 1.86134793e-01 2.06880007e-02 2.28591313e+02] [-1.86090716e-01 9.82524209e-01 -4.05262107e-03 2.25375764e+01] [-2.10807953e-02 1.31070709e-04 9.99777767e-01 -9.16185425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09592 meters Centerline goodness [0,1] 0.9996028396961724 Centerline is valid? [True, True] Translation: X:228.62, Y:22.53, Z:-0.92 [[ 9.82614259e-01 1.84642415e-01 1.94009558e-02 2.28622635e+02] [-1.84603310e-01 9.82805756e-01 -3.80309277e-03 2.25319168e+01] [-1.97695833e-02 1.55492524e-04 9.99804551e-01 -9.15607433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12592 meters Centerline goodness [0,1] 0.9993047278506159 Centerline is valid? [True, True] Translation: X:228.65, Y:22.52, Z:-0.92 [[ 9.83130040e-01 1.81893592e-01 1.92365751e-02 2.28653929e+02] [-1.81854571e-01 9.83318197e-01 -3.77343731e-03 2.25245202e+01] [-1.96020384e-02 2.11520459e-04 9.99807839e-01 -9.16315109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15592 meters Centerline goodness [0,1] 0.9994035488841394 Centerline is valid? [True, True] Translation: X:228.69, Y:22.52, Z:-0.92 [[ 9.83469862e-01 1.80152275e-01 1.82260251e-02 2.28686117e+02] [-1.80116880e-01 9.83638705e-01 -3.57881971e-03 2.25183436e+01] [-1.85725563e-02 2.36846555e-04 9.99827487e-01 -9.16374705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18592 meters Centerline goodness [0,1] 0.999354293945264 Centerline is valid? [True, True] Translation: X:228.72, Y:22.51, Z:-0.92 [[ 9.83929158e-01 1.77657018e-01 1.79274963e-02 2.28717390e+02] [-1.77622314e-01 9.84092427e-01 -3.52263517e-03 2.25120259e+01] [-1.82681342e-02 2.81700081e-04 9.99833084e-01 -9.15551498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21592 meters Centerline goodness [0,1] 0.9994029850746269 Centerline is valid? [True, True] Translation: X:228.75, Y:22.50, Z:-0.91 [[ 9.84190679e-01 1.76015246e-01 1.96809570e-02 2.28748251e+02] [-1.75973052e-01 9.84387380e-01 -3.86918037e-03 2.25048784e+01] [-2.00547205e-02 3.44693182e-04 9.99798824e-01 -9.14963650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24592 meters Centerline goodness [0,1] 0.9991561600317681 Centerline is valid? [True, True] Translation: X:228.78, Y:22.49, Z:-0.91 [[ 9.84668868e-01 1.73463792e-01 1.83720964e-02 2.28778638e+02] [-1.73426535e-01 9.84840177e-01 -3.61425736e-03 2.24942517e+01] [-1.87205214e-02 3.72637688e-04 9.99824686e-01 -9.14643940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27592 meters Centerline goodness [0,1] 0.9991559924535796 Centerline is valid? [True, True] Translation: X:228.81, Y:22.49, Z:-0.91 [[ 9.84702350e-01 1.73284430e-01 1.82698606e-02 2.28810876e+02] [-1.73247489e-01 9.84871750e-01 -3.59774679e-03 2.24859894e+01] [-1.86169030e-02 3.77502257e-04 9.99826619e-01 -9.14121026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30592000000001 meters Centerline goodness [0,1] 0.9991059454626732 Centerline is valid? [True, True] Translation: X:228.84, Y:22.48, Z:-0.91 [[ 9.84946870e-01 1.71842120e-01 1.87069359e-02 2.28841928e+02] [-1.71803082e-01 9.85124414e-01 -3.68634086e-03 2.24755967e+01] [-1.90621279e-02 4.16940656e-04 9.99818214e-01 -9.14766243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33592000000002 meters Centerline goodness [0,1] 0.999254880532512 Centerline is valid? [True, True] Translation: X:228.87, Y:22.47, Z:-0.91 [[ 9.85199944e-01 1.70440541e-01 1.81959441e-02 2.28872927e+02] [-1.70403324e-01 9.85367867e-01 -3.58803058e-03 2.24666481e+01] [-1.85412445e-02 4.34278171e-04 9.99828002e-01 -9.13997188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36592000000002 meters Centerline goodness [0,1] 0.9989561067753642 Centerline is valid? [True, True] Translation: X:228.90, Y:22.45, Z:-0.91 [[ 9.85199521e-01 1.70423336e-01 1.83790976e-02 2.28903447e+02] [-1.70385296e-01 9.85370839e-01 -3.62771233e-03 2.24527174e+01] [-1.87284737e-02 4.42492463e-04 9.99824509e-01 -9.12099207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39592000000002 meters Centerline goodness [0,1] 0.9987599821437428 Centerline is valid? [True, True] Translation: X:228.93, Y:22.44, Z:-0.91 [[ 9.85131539e-01 1.70857694e-01 1.79861088e-02 2.28934314e+02] [-1.70821291e-01 9.85295624e-01 -3.55255361e-03 2.24426641e+01] [-1.83286154e-02 4.27322286e-04 9.99831926e-01 -9.11989341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42592 meters Centerline goodness [0,1] 0.998907158114351 Centerline is valid? [True, True] Translation: X:228.96, Y:22.43, Z:-0.91 [[ 9.85093850e-01 1.71122108e-01 1.75308387e-02 2.28964875e+02] [-1.71087526e-01 9.85249741e-01 -3.46493294e-03 2.24297193e+01] [-1.78651809e-02 4.13976307e-04 9.99840319e-01 -9.10202571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45592 meters Centerline goodness [0,1] 0.9985083532219571 Centerline is valid? [True, True] Translation: X:229.00, Y:22.42, Z:-0.91 [[ 9.85027026e-01 1.71435524e-01 1.82104246e-02 2.28996658e+02] [-1.71398196e-01 9.85195249e-01 -3.60280838e-03 2.24200442e+01] [-1.85584731e-02 4.27629703e-04 9.99827685e-01 -9.10246033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48592 meters Centerline goodness [0,1] 0.9986045352604037 Centerline is valid? [True, True] Translation: X:229.03, Y:22.41, Z:-0.91 [[ 9.84815749e-01 1.72720804e-01 1.74775583e-02 2.29026727e+02] [-1.72686571e-01 9.84970747e-01 -3.46070688e-03 2.24054662e+01] [-1.78126198e-02 3.90019025e-04 9.99841267e-01 -9.09952676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51592 meters Centerline goodness [0,1] 0.9988075719183187 Centerline is valid? [True, True] Translation: X:229.06, Y:22.40, Z:-0.91 [[ 9.84560112e-01 1.74190967e-01 1.72885120e-02 2.29057451e+02] [-1.74157656e-01 9.84711824e-01 -3.42560853e-03 2.23951498e+01] [-1.76209122e-02 3.61790804e-04 9.99844674e-01 -9.09888092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54592 meters Centerline goodness [0,1] 0.9986095938027609 Centerline is valid? [True, True] Translation: X:229.09, Y:22.38, Z:-0.91 [[ 9.83959217e-01 1.77618289e-01 1.66133169e-02 2.29087800e+02] [-1.77587980e-01 9.84099415e-01 -3.29403489e-03 2.23834447e+01] [-1.69342363e-02 2.90870612e-04 9.99856563e-01 -9.09280180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57592 meters Centerline goodness [0,1] 0.998757825698102 Centerline is valid? [True, True] Translation: X:229.12, Y:22.37, Z:-0.91 [[ 9.83514661e-01 1.80018368e-01 1.70967791e-02 2.29118910e+02] [-1.79986591e-01 9.83663215e-01 -3.39217465e-03 2.23744738e+01] [-1.74281265e-02 2.59062506e-04 9.99848085e-01 -9.08860095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60592 meters Centerline goodness [0,1] 0.9990061124086865 Centerline is valid? [True, True] Translation: X:229.15, Y:22.36, Z:-0.91 [[ 9.82538165e-01 1.85158912e-01 1.83011232e-02 2.29149824e+02] [-1.85123345e-01 9.82708575e-01 -3.63361058e-03 2.23629945e+01] [-1.86574661e-02 1.82195935e-04 9.99825918e-01 -9.09393898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63592 meters Centerline goodness [0,1] 0.9989056904098687 Centerline is valid? [True, True] Translation: X:229.18, Y:22.35, Z:-0.91 [[ 9.81981762e-01 1.88045761e-01 1.87246072e-02 2.29181945e+02] [-1.88008865e-01 9.82160258e-01 -3.72757217e-03 2.23545176e+01] [-1.90915192e-02 1.40015740e-04 9.99817731e-01 -9.09363574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66592 meters Centerline goodness [0,1] 0.9992552135054618 Centerline is valid? [True, True] Translation: X:229.21, Y:22.35, Z:-0.91 [[ 9.81554027e-01 1.90359272e-01 1.77493608e-02 2.29213671e+02] [-1.90326343e-01 9.81714489e-01 -3.54196435e-03 2.23471480e+01] [-1.80990504e-02 9.84584403e-05 9.99836194e-01 -9.09496831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69592 meters Centerline goodness [0,1] 0.9994013768332835 Centerline is valid? [True, True] Translation: X:229.25, Y:22.34, Z:-0.91 [[ 9.80890212e-01 1.93980876e-01 1.50270523e-02 2.29245632e+02] [-1.93957589e-01 9.81005310e-01 -3.00588965e-03 2.23410782e+01] [-1.53247032e-02 3.38369125e-05 9.99882569e-01 -9.08094099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72592 meters Centerline goodness [0,1] 0.999204494605479 Centerline is valid? [True, True] Translation: X:229.28, Y:22.33, Z:-0.91 [[ 9.80439393e-01 1.96161312e-01 1.61039124e-02 2.29277448e+02] [-1.96134819e-01 9.80571639e-01 -3.22386770e-03 2.23341744e+01] [-1.64234379e-02 2.26895098e-06 9.99865126e-01 -9.09485011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75592 meters Centerline goodness [0,1] 0.9994531987870955 Centerline is valid? [True, True] Translation: X:229.31, Y:22.33, Z:-0.91 [[ 9.79796347e-01 1.99177216e-01 1.80985016e-02 2.29308652e+02] [-1.99144109e-01 9.79963486e-01 -3.63170147e-03 2.23263786e+01] [-1.84592230e-02 -4.58821544e-05 9.99829613e-01 -9.08766577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78592 meters Centerline goodness [0,1] 0.9993049694683016 Centerline is valid? [True, True] Translation: X:229.34, Y:22.32, Z:-0.91 [[ 9.79545671e-01 2.00458229e-01 1.75150374e-02 2.29341011e+02] [-2.00427255e-01 9.79702248e-01 -3.52430262e-03 2.23205741e+01] [-1.78659969e-02 -5.82754752e-05 9.99840389e-01 -9.08086409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81592 meters Centerline goodness [0,1] 0.9995032783628055 Centerline is valid? [True, True] Translation: X:229.37, Y:22.32, Z:-0.91 [[ 9.78966822e-01 2.03231815e-01 1.79106156e-02 2.29374423e+02] [-2.03199707e-01 9.79130645e-01 -3.61386136e-03 2.23168416e+01] [-1.82712842e-02 -1.01581476e-04 9.99833061e-01 -9.07956400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84592 meters Centerline goodness [0,1] 0.9994043482577186 Centerline is valid? [True, True] Translation: X:229.41, Y:22.31, Z:-0.91 [[ 9.78686642e-01 2.04608617e-01 1.75434043e-02 2.29407011e+02] [-2.04577858e-01 9.78843859e-01 -3.54956111e-03 2.23115148e+01] [-1.78985244e-02 -1.15084030e-04 9.99839802e-01 -9.08226517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87592 meters Centerline goodness [0,1] 0.9998510870644297 Centerline is valid? [True, True] Translation: X:229.44, Y:22.31, Z:-0.91 [[ 9.78344415e-01 2.06269532e-01 1.71780619e-02 2.29439348e+02] [-2.06240130e-01 9.78495203e-01 -3.48515013e-03 2.23060319e+01] [-1.75275315e-02 -1.33128560e-04 9.99846372e-01 -9.07643908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90592 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:229.47, Y:22.30, Z:-0.91 [[ 9.77552811e-01 2.09771774e-01 1.96546262e-02 2.29471381e+02] [-2.09733795e-01 9.77750355e-01 -3.99729775e-03 2.23018716e+01] [-2.00558380e-02 -2.14669708e-04 9.99798838e-01 -9.06237307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.50, Y:22.30, Z:-0.90 [[ 9.77074822e-01 2.12067059e-01 1.87710912e-02 2.29504039e+02] [-2.12032774e-01 9.77255085e-01 -3.82111771e-03 2.22993443e+01] [-1.91544776e-02 -2.46568643e-04 9.99816506e-01 -9.04519474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.54, Y:22.29, Z:-0.91 [[ 9.76977456e-01 2.12362392e-01 2.04270809e-02 2.29536219e+02] [-2.12321650e-01 9.77190946e-01 -4.16804438e-03 2.22940158e+01] [-2.08462944e-02 -2.65026133e-04 9.99782657e-01 -9.05868192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.57, Y:22.29, Z:-0.91 [[ 9.76941072e-01 2.12488908e-01 2.08471986e-02 2.29569184e+02] [-2.12446257e-01 9.77163444e-01 -4.26527387e-03 2.22886802e+01] [-2.12774437e-02 -2.61988068e-04 9.99773575e-01 -9.05131879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.60, Y:22.29, Z:-0.90 [[ 9.77259613e-01 2.10776184e-01 2.31743174e-02 2.29601097e+02] [-2.10722728e-01 9.77534318e-01 -4.75276158e-03 2.22860230e+01] [-2.36554595e-02 -2.38673433e-04 9.99720142e-01 -9.04810779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.63, Y:22.28, Z:-0.90 [[ 9.77146608e-01 2.11299729e-01 2.31717804e-02 2.29633025e+02] [-2.11246127e-01 9.77421285e-01 -4.76511449e-03 2.22797886e+01] [-2.36554588e-02 -2.38733396e-04 9.99720142e-01 -9.04838865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.67, Y:22.28, Z:-0.90 [[ 9.77279561e-01 2.10678207e-01 2.32239731e-02 2.29666151e+02] [-2.10623881e-01 9.77555445e-01 -4.78881506e-03 2.22752174e+01] [-2.37116203e-02 -2.11512255e-04 9.99718818e-01 -9.04616960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.70, Y:22.27, Z:-0.90 [[ 9.77280291e-01 2.10726289e-01 2.27522089e-02 2.29699263e+02] [-2.10673867e-01 9.77545085e-01 -4.70413973e-03 2.22726379e+01] [-2.32325959e-02 -1.96032786e-04 9.99730068e-01 -9.03091294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.73, Y:22.27, Z:-0.90 [[ 9.77197841e-01 2.10895755e-01 2.46446749e-02 2.29731104e+02] [-2.10834001e-01 9.77508536e-01 -5.10741616e-03 2.22683727e+01] [-2.51675125e-02 -2.04979364e-04 9.99683227e-01 -9.04663673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.76, Y:22.27, Z:-0.90 [[ 9.77368453e-01 2.10166989e-01 2.40986140e-02 2.29763450e+02] [-2.10107433e-01 9.77665489e-01 -5.00586910e-03 2.22653838e+01] [-2.46124516e-02 -1.70719386e-04 9.99697053e-01 -9.04791925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.80, Y:22.26, Z:-0.90 [[ 9.77314632e-01 2.10313315e-01 2.49883832e-02 2.29795747e+02] [-2.10248975e-01 9.77634022e-01 -5.20449155e-03 2.22598959e+01] [-2.55240674e-02 -1.67356215e-04 9.99674194e-01 -9.04477288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.83, Y:22.25, Z:-0.91 [[ 9.77403467e-01 2.09997479e-01 2.41562052e-02 2.29827125e+02] [-2.09936969e-01 9.77701917e-01 -5.04288362e-03 2.22545354e+01] [-2.46765610e-02 -1.42348558e-04 9.99695477e-01 -9.05358814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.86, Y:22.25, Z:-0.90 [[ 9.77669898e-01 2.08755901e-01 2.41359669e-02 2.29860608e+02] [-2.08694786e-01 9.77967773e-01 -5.05193410e-03 2.22517909e+01] [-2.46588189e-02 -9.79265439e-05 9.99695920e-01 -9.04894055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.89, Y:22.25, Z:-0.90 [[ 9.77699614e-01 2.08528128e-01 2.48894545e-02 2.29893380e+02] [-2.08462713e-01 9.78016367e-01 -5.22340974e-03 2.22473905e+01] [-2.54315218e-02 -8.15975376e-05 9.99676563e-01 -9.04487307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.93, Y:22.25, Z:-0.90 [[ 9.78194870e-01 2.05788730e-01 2.80320255e-02 2.29925221e+02] [-2.05704260e-01 9.78596443e-01 -5.89567023e-03 2.22450216e+01] [-2.86453029e-02 8.07332584e-07 9.99589639e-01 -9.04658859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.96, Y:22.24, Z:-0.90 [[ 9.78389572e-01 2.04975261e-01 2.71843322e-02 2.29957056e+02] [-2.04895146e-01 9.78767154e-01 -5.73044595e-03 2.22399601e+01] [-2.77817311e-02 3.66708296e-05 9.99614013e-01 -9.04167977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.99, Y:22.24, Z:-0.90 [[ 9.78567893e-01 2.04077232e-01 2.75202077e-02 2.29989363e+02] [-2.03994344e-01 9.78954788e-01 -5.81638631e-03 2.22350091e+01] [-2.81280311e-02 7.77621821e-05 9.99604326e-01 -9.04228636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.02, Y:22.23, Z:-0.90 [[ 9.79110631e-01 2.01502305e-01 2.71880982e-02 2.30022418e+02] [-2.01420000e-01 9.79488027e-01 -5.76103646e-03 2.22301858e+01] [-2.77912788e-02 1.64465307e-04 9.99613734e-01 -9.04369158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.05, Y:22.22, Z:-0.90 [[ 9.79622381e-01 1.98869379e-01 2.81240311e-02 2.30053916e+02] [-1.98779837e-01 9.80025970e-01 -5.97280311e-03 2.22248565e+01] [-2.87500885e-02 2.60601281e-04 9.99586597e-01 -9.04018866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.09, Y:22.22, Z:-0.90 [[ 9.80071834e-01 1.96700774e-01 2.77129218e-02 2.30086059e+02] [-1.96612544e-01 9.80463510e-01 -5.90028907e-03 2.22193520e+01] [-2.83321000e-02 3.33999061e-04 9.99598510e-01 -9.03947790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.12, Y:22.21, Z:-0.90 [[ 9.80518569e-01 1.94294490e-01 2.88615037e-02 2.30117559e+02] [-1.94197352e-01 9.80943150e-01 -6.15835790e-03 2.22120188e+01] [-2.95080293e-02 4.33556683e-04 9.99564449e-01 -9.03873577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.15, Y:22.20, Z:-0.90 [[ 9.80575819e-01 1.93890071e-01 2.96260478e-02 2.30148696e+02] [-1.93787117e-01 9.81023149e-01 -6.33518802e-03 2.22048416e+01] [-3.02921688e-02 4.70985792e-04 9.99540976e-01 -9.04702352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.18, Y:22.20, Z:-0.90 [[ 9.80592371e-01 1.93966419e-01 2.85592514e-02 2.30180304e+02] [-1.93870634e-01 9.81008063e-01 -6.11205785e-03 2.21964022e+01] [-2.92023899e-02 4.56637120e-04 9.99573415e-01 -9.04588464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.21, Y:22.18, Z:-0.91 [[ 9.80067384e-01 1.96433120e-01 2.96976747e-02 2.30211150e+02] [-1.96330206e-01 9.80517138e-01 -6.37115814e-03 2.21849725e+01] [-3.03705855e-02 4.13613697e-04 9.99538622e-01 -9.05421037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.24, Y:22.18, Z:-0.91 [[ 9.79708890e-01 1.98287044e-01 2.92017079e-02 2.30241755e+02] [-1.98187954e-01 9.80143926e-01 -6.27845258e-03 2.21757321e+01] [-2.98668124e-02 3.63629077e-04 9.99553821e-01 -9.05630747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.27, Y:22.17, Z:-0.91 [[ 9.79244500e-01 2.00401664e-01 3.03213058e-02 2.30273536e+02] [-2.00295337e-01 9.79713768e-01 -6.53539329e-03 2.21684629e+01] [-3.10159044e-02 3.26531771e-04 9.99518838e-01 -9.05682892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.31, Y:22.16, Z:-0.91 [[ 9.78976327e-01 2.01860319e-01 2.92875741e-02 2.30305196e+02] [-2.01761361e-01 9.79414279e-01 -6.32633955e-03 2.21608755e+01] [-2.99617052e-02 2.84235855e-04 9.99551007e-01 -9.05111444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:230.34, Y:22.15, Z:-0.91 [[ 9.78272014e-01 2.05151558e-01 2.99450326e-02 2.30337000e+02] [-2.05049149e-01 9.78730196e-01 -6.48458981e-03 2.21510657e+01] [-3.06384313e-02 2.03489296e-04 9.99530512e-01 -9.06268044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.37, Y:22.14, Z:-0.91 [[ 9.77690008e-01 2.07727096e-01 3.11721299e-02 2.30368697e+02] [-2.07616953e-01 9.78186809e-01 -6.76516481e-03 2.21437862e+01] [-3.18974743e-02 1.42371426e-04 9.99491136e-01 -9.06803890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.40, Y:22.14, Z:-0.91 [[ 9.77582720e-01 2.08582069e-01 2.87323041e-02 2.30400254e+02] [-2.08488464e-01 9.78004860e-01 -6.24932020e-03 2.21375275e+01] [-2.94038292e-02 1.18873506e-04 9.99567607e-01 -9.05354908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.43, Y:22.13, Z:-0.91 [[ 9.77427580e-01 2.09309721e-01 2.87187621e-02 2.30433030e+02] [-2.09216058e-01 9.77849389e-01 -6.26203205e-03 2.21309048e+01] [-2.93933282e-02 1.12256642e-04 9.99567916e-01 -9.05172233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.46, Y:22.12, Z:-0.91 [[ 9.77330681e-01 2.09464692e-01 3.08104232e-02 2.30464816e+02] [-2.09356494e-01 9.77816203e-01 -6.73295608e-03 2.21247248e+01] [-3.15372476e-02 1.29962377e-04 9.99502569e-01 -9.06087093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.50, Y:22.12, Z:-0.91 [[ 9.77325922e-01 2.09618995e-01 2.98984874e-02 2.30496105e+02] [-2.09516743e-01 9.77783135e-01 -6.54793872e-03 2.21190096e+01] [-3.06068091e-02 1.35236537e-04 9.99531493e-01 -9.05129369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.53, Y:22.11, Z:-0.91 [[ 9.77233813e-01 2.10079977e-01 2.96728496e-02 2.30529169e+02] [-2.09978981e-01 9.77684195e-01 -6.51480370e-03 2.21145044e+01] [-3.03793058e-02 1.35811732e-04 9.99538433e-01 -9.05367066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92592 meters Centerline goodness [0,1] 0.9999502932697087 Centerline is valid? [True, True] Translation: X:230.56, Y:22.11, Z:-0.91 [[ 9.76902610e-01 2.11635833e-01 2.95222883e-02 2.30561814e+02] [-2.11536082e-01 9.77348589e-01 -6.49786151e-03 2.21086812e+01] [-3.02287471e-02 1.02748669e-04 9.99543002e-01 -9.05428526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.59, Y:22.10, Z:-0.91 [[ 9.76583534e-01 2.13057466e-01 2.98515713e-02 2.30594240e+02] [-2.12955637e-01 9.77039667e-01 -6.58684772e-03 2.21044670e+01] [-3.05695464e-02 7.55466550e-05 9.99532639e-01 -9.05794841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.63, Y:22.10, Z:-0.91 [[ 9.76470730e-01 2.13634843e-01 2.94120169e-02 2.30627120e+02] [-2.13535764e-01 9.76913583e-01 -6.50605945e-03 2.20993210e+01] [-3.01229198e-02 7.24591258e-05 9.99546199e-01 -9.05849651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.66, Y:22.09, Z:-0.91 [[ 9.76208360e-01 2.14787474e-01 2.97250584e-02 2.30660135e+02] [-2.14686312e-01 9.76660810e-01 -6.59160592e-03 2.20947084e+01] [-3.04470940e-02 5.32176421e-05 9.99536378e-01 -9.06336869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.69, Y:22.09, Z:-0.91 [[ 9.76078012e-01 2.15139544e-01 3.14116377e-02 2.30692917e+02] [-2.15026268e-01 9.76583316e-01 -6.98075113e-03 2.20921699e+01] [-3.21779169e-02 5.94304623e-05 9.99482155e-01 -9.07443273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.73, Y:22.09, Z:-0.91 [[ 9.76245428e-01 2.14773319e-01 2.85882015e-02 2.30725190e+02] [-2.14679188e-01 9.76663922e-01 -6.35843060e-03 2.20870062e+01] [-2.92866862e-02 7.00969258e-05 9.99571051e-01 -9.07050526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.76, Y:22.08, Z:-0.91 [[ 9.76662475e-01 2.13071400e-01 2.70368072e-02 2.30757634e+02] [-2.12986207e-01 9.77036623e-01 -6.02605972e-03 2.20849309e+01] [-2.76999317e-02 1.26959401e-04 9.99616275e-01 -9.06965039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.79, Y:22.08, Z:-0.91 [[ 9.76726012e-01 2.12939129e-01 2.57531535e-02 2.30789309e+02] [-2.12861465e-01 9.77065458e-01 -5.75223157e-03 2.20809950e+01] [-2.63873919e-02 1.36500215e-04 9.99651783e-01 -9.07120222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.82, Y:22.08, Z:-0.91 [[ 9.76876433e-01 2.12035958e-01 2.74442582e-02 2.30822115e+02] [-2.11947033e-01 9.77261848e-01 -6.14299471e-03 2.20786434e+01] [-2.81227622e-02 1.84217663e-04 9.99604460e-01 -9.07099897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.85, Y:22.07, Z:-0.91 [[ 9.76648581e-01 2.13224128e-01 2.63252643e-02 2.30854421e+02] [-2.13142401e-01 9.77003299e-01 -5.90509330e-03 2.20735438e+01] [-2.69789784e-02 1.56170963e-04 9.99635989e-01 -9.07426093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.89, Y:22.07, Z:-0.91 [[ 9.76470435e-01 2.14022611e-01 2.64539609e-02 2.30887840e+02] [-2.13940198e-01 9.76828696e-01 -5.94047653e-03 2.20718640e+01] [-2.71123844e-02 1.41134063e-04 9.99632382e-01 -9.07308676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:230.92, Y:22.07, Z:-0.91 [[ 9.76333338e-01 2.14814838e-01 2.50558953e-02 2.30920084e+02] [-2.14741078e-01 9.76654786e-01 -5.63006214e-03 2.20670805e+01] [-2.56803810e-02 1.16287383e-04 9.99670198e-01 -9.07639506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.95, Y:22.06, Z:-0.91 [[ 9.76580334e-01 2.13770877e-01 2.43487960e-02 2.30952135e+02] [-2.13700815e-01 9.76883817e-01 -5.47449092e-03 2.20644098e+01] [-2.49562315e-02 1.42922615e-04 9.99688535e-01 -9.07716631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.98, Y:22.06, Z:-0.91 [[ 9.76653586e-01 2.13397426e-01 2.46842304e-02 2.30984558e+02] [-2.13325216e-01 9.76965462e-01 -5.55327682e-03 2.20597251e+01] [-2.53006955e-02 1.57858944e-04 9.99679874e-01 -9.08265640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.02, Y:22.06, Z:-0.91 [[ 9.76756555e-01 2.13044537e-01 2.36359478e-02 2.31016623e+02] [-2.12978149e-01 9.77042475e-01 -5.32062809e-03 2.20555507e+01] [-2.42268557e-02 1.63017942e-04 9.99706473e-01 -9.07364420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37592 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:231.05, Y:22.05, Z:-0.91 [[ 9.77078472e-01 2.11344709e-01 2.55161373e-02 2.31049117e+02] [-2.11266667e-01 9.77411563e-01 -5.74736116e-03 2.20539382e+01] [-2.61544420e-02 2.24913583e-04 9.99657889e-01 -9.08496945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.08, Y:22.05, Z:-0.91 [[ 9.77610233e-01 2.08956935e-01 2.48038761e-02 2.31082388e+02] [-2.08882295e-01 9.77924802e-01 -5.59188096e-03 2.20514809e+01] [-2.54247879e-02 2.85589482e-04 9.99676697e-01 -9.08477695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.11, Y:22.05, Z:-0.91 [[ 9.77608038e-01 2.08896668e-01 2.53910639e-02 2.31114442e+02] [-2.08818341e-01 9.77937674e-01 -5.72773055e-03 2.20470785e+01] [-2.60273818e-02 2.97355589e-04 9.99661186e-01 -9.08498536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:231.15, Y:22.04, Z:-0.91 [[ 9.77756652e-01 2.08201461e-01 2.53787666e-02 2.31146467e+02] [-2.08122887e-01 9.78085911e-01 -5.72834657e-03 2.20423851e+01] [-2.60152642e-02 3.19026778e-04 9.99661495e-01 -9.09210622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.18, Y:22.04, Z:-0.91 [[ 9.78075105e-01 2.06742231e-01 2.50347666e-02 2.31178762e+02] [-2.06665209e-01 9.78395382e-01 -5.65402273e-03 2.20389086e+01] [-2.56628253e-02 3.56243600e-04 9.99670592e-01 -9.09678807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:231.21, Y:22.03, Z:-0.91 [[ 9.78529885e-01 2.04624009e-01 2.46633352e-02 2.31210974e+02] [-2.04548501e-01 9.78840563e-01 -5.57342100e-03 2.20338156e+01] [-2.52819287e-02 4.08910763e-04 9.99680277e-01 -9.09642570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.24, Y:22.03, Z:-0.91 [[ 9.79502150e-01 1.99876898e-01 2.49952767e-02 2.31243035e+02] [-1.99797714e-01 9.79820867e-01 -5.65169966e-03 2.20303073e+01] [-2.56205379e-02 5.41852839e-04 9.99671593e-01 -9.09748201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.27, Y:22.02, Z:-0.91 [[ 9.80312829e-01 1.95947077e-01 2.43207804e-02 2.31274547e+02] [-1.95870820e-01 9.80614270e-01 -5.50236516e-03 2.20247505e+01] [-2.49274767e-02 6.30307941e-04 9.99689063e-01 -9.09560615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61592000000002 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:231.31, Y:22.02, Z:-0.91 [[ 9.81274756e-01 1.91140384e-01 2.37740730e-02 2.31305901e+02] [-1.91066032e-01 9.81562432e-01 -5.38174629e-03 2.20175532e+01] [-2.43644060e-02 7.38553989e-04 9.99702871e-01 -9.09822103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64592000000002 meters Centerline goodness [0,1] 0.9998010840917002 Centerline is valid? [True, True] Translation: X:231.34, Y:22.01, Z:-0.91 [[ 9.81760761e-01 1.88634177e-01 2.37266651e-02 2.31337861e+02] [-1.88559316e-01 9.82047099e-01 -5.37405778e-03 2.20110697e+01] [-2.43144336e-02 8.02155330e-04 9.99704039e-01 -9.10535611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67592 meters Centerline goodness [0,1] 0.999751787132645 Centerline is valid? [True, True] Translation: X:231.37, Y:22.00, Z:-0.91 [[ 9.82046676e-01 1.87072163e-01 2.42555584e-02 2.31369556e+02] [-1.86993374e-01 9.82345795e-01 -5.49693622e-03 2.20047476e+01] [-2.48556696e-02 8.62619242e-04 9.99690678e-01 -9.10887765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70592 meters Centerline goodness [0,1] 0.9996525192355423 Centerline is valid? [True, True] Translation: X:231.40, Y:22.00, Z:-0.91 [[ 9.82621341e-01 1.84029229e-01 2.42599187e-02 2.31400521e+02] [-1.83949409e-01 9.82920319e-01 -5.50098810e-03 2.19966931e+01] [-2.48579096e-02 9.42790605e-04 9.99690550e-01 -9.10428860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73592 meters Centerline goodness [0,1] 0.9993533946779408 Centerline is valid? [True, True] Translation: X:231.43, Y:21.99, Z:-0.91 [[ 9.82958113e-01 1.82184935e-01 2.45356231e-02 2.31430843e+02] [-1.82102638e-01 9.83263770e-01 -5.56660659e-03 2.19860768e+01] [-2.51391412e-02 1.00373940e-03 9.99683458e-01 -9.09834329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76592 meters Centerline goodness [0,1] 0.9994034599323921 Centerline is valid? [True, True] Translation: X:231.46, Y:21.98, Z:-0.91 [[ 9.83236761e-01 1.80915920e-01 2.26914487e-02 2.31462132e+02] [-1.80845129e-01 9.83498097e-01 -5.15105217e-03 2.19771789e+01] [-2.32489040e-02 9.61065880e-04 9.99729246e-01 -9.09500924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79592 meters Centerline goodness [0,1] 0.9987082029115119 Centerline is valid? [True, True] Translation: X:231.49, Y:21.97, Z:-0.91 [[ 9.83483395e-01 1.79745799e-01 2.12569720e-02 2.31493483e+02] [-1.79683345e-01 9.83712654e-01 -4.82810924e-03 2.19689544e+01] [-2.17785847e-02 9.28841453e-04 9.99762387e-01 -9.08726640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82592 meters Centerline goodness [0,1] 0.9988061483360693 Centerline is valid? [True, True] Translation: X:231.52, Y:21.96, Z:-0.91 [[ 9.83876082e-01 1.77367180e-01 2.29943366e-02 2.31523482e+02] [-1.77293397e-01 9.84144172e-01 -5.22493040e-03 2.19577843e+01] [-2.35564735e-02 1.06393999e-03 9.99721942e-01 -9.10224238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85592 meters Centerline goodness [0,1] 0.9987588740505386 Centerline is valid? [True, True] Translation: X:231.56, Y:21.95, Z:-0.91 [[ 9.84081247e-01 1.76469842e-01 2.10355642e-02 2.31555136e+02] [-1.76407808e-01 9.84305543e-01 -4.78369476e-03 2.19477036e+01] [-2.15496003e-02 9.96706533e-04 9.99767284e-01 -9.08604771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88592 meters Centerline goodness [0,1] 0.9985571421463755 Centerline is valid? [True, True] Translation: X:231.59, Y:21.94, Z:-0.91 [[ 9.84589198e-01 1.73742819e-01 1.99385100e-02 2.31585866e+02] [-1.73686478e-01 9.84790549e-01 -4.53673900e-03 2.19380172e+01] [-2.04234820e-02 1.00377462e-03 9.99790915e-01 -9.07973475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91592 meters Centerline goodness [0,1] 0.9985571421463755 Centerline is valid? [True, True] Translation: X:231.62, Y:21.93, Z:-0.91 [[ 9.84558515e-01 1.73916700e-01 1.99377198e-02 2.31617632e+02] [-1.73860324e-01 9.84759856e-01 -4.54021040e-03 2.19308439e+01] [-2.04234845e-02 1.00372437e-03 9.99790915e-01 -9.08001584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94592 meters Centerline goodness [0,1] 0.9985585048215528 Centerline is valid? [True, True] Translation: X:231.65, Y:21.92, Z:-0.91 [[ 9.84481286e-01 1.74285069e-01 2.05258873e-02 2.31649446e+02] [-1.74225318e-01 9.84694702e-01 -4.67796961e-03 2.19210014e+01] [-2.10270327e-02 1.02924431e-03 9.99778378e-01 -9.07922226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97592 meters Centerline goodness [0,1] 0.9986078655595884 Centerline is valid? [True, True] Translation: X:231.68, Y:21.91, Z:-0.91 [[ 9.84535419e-01 1.73828844e-01 2.17609950e-02 2.31679103e+02] [-1.73761512e-01 9.84775260e-01 -4.96220604e-03 2.19071924e+01] [-2.22922641e-02 1.10424422e-03 9.99750887e-01 -9.09035045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00592 meters Centerline goodness [0,1] 0.9983108947289979 Centerline is valid? [True, True] Translation: X:231.71, Y:21.90, Z:-0.91 [[ 9.84410383e-01 1.74428559e-01 2.26025674e-02 2.31710631e+02] [-1.74355978e-01 9.84669175e-01 -5.15828280e-03 2.18963125e+01] [-2.31558032e-02 1.13697441e-03 9.99731222e-01 -9.08553538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03592 meters Centerline goodness [0,1] 0.9988088147706968 Centerline is valid? [True, True] Translation: X:231.74, Y:21.88, Z:-0.91 [[ 9.84311521e-01 1.75132729e-01 2.14326179e-02 2.31740730e+02] [-1.75067576e-01 9.84544256e-01 -4.89397932e-03 2.18839300e+01] [-2.19584568e-02 1.06504376e-03 9.99758317e-01 -9.08096163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06592 meters Centerline goodness [0,1] 0.9989073209496374 Centerline is valid? [True, True] Translation: X:231.77, Y:21.87, Z:-0.91 [[ 9.84132274e-01 1.76119389e-01 2.15784064e-02 2.31771241e+02] [-1.76053523e-01 9.84368251e-01 -4.92994918e-03 2.18732433e+01] [-2.21093578e-02 1.05276762e-03 9.99755004e-01 -9.08496798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09592 meters Centerline goodness [0,1] 0.9986085573721613 Centerline is valid? [True, True] Translation: X:231.80, Y:21.86, Z:-0.91 [[ 9.84003923e-01 1.76871461e-01 2.12782951e-02 2.31801111e+02] [-1.76807533e-01 9.84233426e-01 -4.86404035e-03 2.18586957e+01] [-2.18031192e-02 1.02407194e-03 9.99761759e-01 -9.08275973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12592 meters Centerline goodness [0,1] 0.9984085935945892 Centerline is valid? [True, True] Translation: X:231.83, Y:21.85, Z:-0.91 [[ 9.84063295e-01 1.76492701e-01 2.16738920e-02 2.31831700e+02] [-1.76426221e-01 9.84301384e-01 -4.95718079e-03 2.18492648e+01] [-2.22085481e-02 1.05433680e-03 9.99752804e-01 -9.07904107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15592 meters Centerline goodness [0,1] 0.9978140990610562 Centerline is valid? [True, True] Translation: X:231.86, Y:21.84, Z:-0.91 [[ 9.83867801e-01 1.77569807e-01 2.17511782e-02 2.31861812e+02] [-1.77503054e-01 9.84107662e-01 -4.97757547e-03 2.18379356e+01] [-2.22893683e-02 1.03637567e-03 9.99751024e-01 -9.08592668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18592 meters Centerline goodness [0,1] 0.9982103797971764 Centerline is valid? [True, True] Translation: X:231.89, Y:21.83, Z:-0.91 [[ 9.83693241e-01 1.78474789e-01 2.22341435e-02 2.31892584e+02] [-1.78405205e-01 9.83943934e-01 -5.09088879e-03 2.18283823e+01] [-2.27857459e-02 1.04118596e-03 9.99739829e-01 -9.08917257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21592 meters Centerline goodness [0,1] 0.998111801242236 Centerline is valid? [True, True] Translation: X:231.92, Y:21.82, Z:-0.91 [[ 9.83644698e-01 1.78737846e-01 2.22685995e-02 2.31924652e+02] [-1.78668018e-01 9.83896183e-01 -5.10293495e-03 2.18185928e+01] [-2.28220776e-02 1.04078836e-03 9.99739001e-01 -9.08491893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24592 meters Centerline goodness [0,1] 0.9979097198029164 Centerline is valid? [True, True] Translation: X:231.96, Y:21.81, Z:-0.91 [[ 9.83363447e-01 1.80344447e-01 2.17304098e-02 2.31955178e+02] [-1.80278270e-01 9.83603027e-01 -4.98303291e-03 2.18059478e+01] [-2.22727591e-02 9.82611744e-04 9.99751448e-01 -9.08348752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27592 meters Centerline goodness [0,1] 0.998160210829894 Centerline is valid? [True, True] Translation: X:231.99, Y:21.79, Z:-0.91 [[ 9.83142993e-01 1.81781119e-01 1.96336706e-02 2.31985378e+02] [-1.81727310e-01 9.83338640e-01 -4.50589371e-03 2.17919856e+01] [-2.01256333e-02 8.61963689e-04 9.99797087e-01 -9.07987144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30592000000001 meters Centerline goodness [0,1] 0.9984594742334642 Centerline is valid? [True, True] Translation: X:232.02, Y:21.78, Z:-0.91 [[ 9.82838703e-01 1.83260492e-01 2.10635998e-02 2.32016152e+02] [-1.83198837e-01 9.83063981e-01 -4.83682307e-03 2.17816123e+01] [-2.15932649e-02 8.94989917e-04 9.99766438e-01 -9.08222948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33592000000002 meters Centerline goodness [0,1] 0.9982106466524181 Centerline is valid? [True, True] Translation: X:232.05, Y:21.77, Z:-0.91 [[ 9.82680294e-01 1.84145002e-01 2.07378333e-02 2.32047060e+02] [-1.84085246e-01 9.82898703e-01 -4.77099683e-03 2.17722808e+01] [-2.12617447e-02 8.70835427e-04 9.99773564e-01 -9.08587699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36592000000002 meters Centerline goodness [0,1] 0.998409147402436 Centerline is valid? [True, True] Translation: X:232.08, Y:21.76, Z:-0.91 [[ 9.82350797e-01 1.85862743e-01 2.10226824e-02 2.32077868e+02] [-1.85801649e-01 9.82575351e-01 -4.84012965e-03 2.17606532e+01] [-2.15559693e-02 8.48656167e-04 9.99767283e-01 -9.08035105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39592000000002 meters Centerline goodness [0,1] 0.9988060295507686 Centerline is valid? [True, True] Translation: X:232.11, Y:21.75, Z:-0.91 [[ 9.82078243e-01 1.87509170e-01 1.90430185e-02 2.32108859e+02] [-1.87459190e-01 9.82262570e-01 -4.39258542e-03 2.17509516e+01] [-1.95288944e-02 7.44073748e-04 9.99809016e-01 -9.07135708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42592 meters Centerline goodness [0,1] 0.9990035870864886 Centerline is valid? [True, True] Translation: X:232.14, Y:21.74, Z:-0.91 [[ 9.81703232e-01 1.89559638e-01 1.80528990e-02 2.32138879e+02] [-1.89514916e-01 9.81868977e-01 -4.17230188e-03 2.17383602e+01] [-1.85164816e-02 6.74668591e-04 9.99828328e-01 -9.07835936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45592 meters Centerline goodness [0,1] 0.9989066149793748 Centerline is valid? [True, True] Translation: X:232.17, Y:21.73, Z:-0.91 [[ 9.81283937e-01 1.91607227e-01 1.91964810e-02 2.32169191e+02] [-1.91556879e-01 9.81471447e-01 -4.44530390e-03 2.17281877e+01] [-1.96925503e-02 6.84887329e-04 9.99805848e-01 -9.08108354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48592 meters Centerline goodness [0,1] 0.9991557409614621 Centerline is valid? [True, True] Translation: X:232.20, Y:21.71, Z:-0.91 [[ 9.80934536e-01 1.93297498e-01 2.00876456e-02 2.32199185e+02] [-1.93242613e-01 9.81139953e-01 -4.65682568e-03 2.17143444e+01] [-2.06089444e-02 6.86252003e-04 9.99787378e-01 -9.06695715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51592 meters Centerline goodness [0,1] 0.9994027473621342 Centerline is valid? [True, True] Translation: X:232.23, Y:21.70, Z:-0.91 [[ 9.80665294e-01 1.94629612e-01 2.03689682e-02 2.32230362e+02] [-1.94573274e-01 9.80876576e-01 -4.73123444e-03 2.17043526e+01] [-2.09002821e-02 6.76500601e-04 9.99781336e-01 -9.06079505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54592 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:232.26, Y:21.69, Z:-0.91 [[ 9.79872710e-01 1.98349536e-01 2.25151951e-02 2.32260318e+02] [-1.98281587e-01 9.80131124e-01 -5.23373218e-03 2.16890736e+01] [-2.31059518e-02 6.64042734e-04 9.99732801e-01 -9.06730182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.29, Y:21.68, Z:-0.91 [[ 9.79396107e-01 2.00705449e-01 2.23738371e-02 2.32290380e+02] [-2.00638731e-01 9.79651441e-01 -5.21099421e-03 2.16780942e+01] [-2.29644367e-02 6.14569145e-04 9.99736094e-01 -9.06886040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60592 meters Centerline goodness [0,1] 0.999751318014523 Centerline is valid? [True, True] Translation: X:232.32, Y:21.67, Z:-0.91 [[ 9.78749750e-01 2.03884222e-01 2.19123627e-02 2.32320841e+02] [-2.03820791e-01 9.78994859e-01 -5.11383530e-03 2.16681357e+01] [-2.24947208e-02 5.38969908e-04 9.99746816e-01 -9.07267235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63592 meters Centerline goodness [0,1] 0.9998011038735021 Centerline is valid? [True, True] Translation: X:232.35, Y:21.66, Z:-0.91 [[ 9.77692476e-01 2.09037698e-01 2.05100902e-02 2.32350754e+02] [-2.08983057e-01 9.77907500e-01 -4.79615368e-03 2.16557165e+01] [-2.10595479e-02 4.02902011e-04 9.99778142e-01 -9.07506905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.38, Y:21.64, Z:-0.91 [[ 9.76192572e-01 2.15698997e-01 2.28474076e-02 2.32381188e+02] [-2.15632757e-01 9.76459857e-01 -5.35359865e-03 2.16428346e+01] [-2.34643422e-02 2.99493739e-04 9.99724630e-01 -9.07868825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.41, Y:21.63, Z:-0.91 [[ 9.75425994e-01 2.19094955e-01 2.32708240e-02 2.32412093e+02] [-2.19026934e-01 9.75703514e-01 -5.46403538e-03 2.16340648e+01] [-2.39025674e-02 2.32824909e-04 9.99714266e-01 -9.07217828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.44, Y:21.63, Z:-0.91 [[ 9.74711118e-01 2.22168743e-01 2.40683500e-02 2.32444356e+02] [-2.22096586e-01 9.75008215e-01 -5.66460429e-03 2.16259312e+01] [-2.47253370e-02 1.75854415e-04 9.99694267e-01 -9.07667096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.48, Y:21.62, Z:-0.91 [[ 9.73204144e-01 2.28693911e-01 2.39330142e-02 2.32475764e+02] [-2.28624244e-01 9.73498379e-01 -5.64449704e-03 2.16178199e+01] [-2.45896126e-02 2.15806287e-05 9.99697630e-01 -9.08742712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.51, Y:21.61, Z:-0.91 [[ 9.72724594e-01 2.30777683e-01 2.34206333e-02 2.32508396e+02] [-2.30711255e-01 9.73006506e-01 -5.53679798e-03 2.16104505e+01] [-2.40661980e-02 -1.76241423e-05 9.99710367e-01 -9.09162225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.54, Y:21.60, Z:-0.91 [[ 9.71967608e-01 2.33810318e-01 2.47326628e-02 2.32539578e+02] [-2.33736907e-01 9.72282226e-01 -5.85923780e-03 2.16039755e+01] [-2.54170787e-02 -8.59467635e-05 9.99676930e-01 -9.10076947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:232.57, Y:21.60, Z:-0.91 [[ 9.72056592e-01 2.33600319e-01 2.31705201e-02 2.32571360e+02] [-2.33535558e-01 9.72332704e-01 -5.50053483e-03 2.15973200e+01] [-2.38143812e-02 -6.43092202e-05 9.99716395e-01 -9.08791142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.60, Y:21.59, Z:-0.91 [[ 9.72442757e-01 2.32006171e-01 2.29830513e-02 2.32603330e+02] [-2.31941701e-01 9.72714314e-01 -5.46905311e-03 2.15912534e+01] [-2.36247971e-02 -1.23869380e-05 9.99720895e-01 -9.08833032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.64, Y:21.58, Z:-0.91 [[ 9.72604705e-01 2.31371096e-01 2.25278520e-02 2.32635507e+02] [-2.31308689e-01 9.72865569e-01 -5.37352141e-03 2.15843755e+01] [-2.31598491e-02 1.54243111e-05 9.99731775e-01 -9.08627051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.67, Y:21.58, Z:-0.91 [[ 9.72988911e-01 2.29767599e-01 2.23479060e-02 2.32667781e+02] [-2.29705473e-01 9.73245522e-01 -5.34316803e-03 2.15774271e+01] [-2.29776864e-02 6.54069099e-05 9.99735976e-01 -9.08921392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.70, Y:21.57, Z:-0.91 [[ 9.73204494e-01 2.28934017e-01 2.14995143e-02 2.32699900e+02] [-2.28876047e-01 9.73441938e-01 -5.15244196e-03 2.15700830e+01] [-2.21080981e-02 9.36558244e-05 9.99755582e-01 -9.08953034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.73, Y:21.56, Z:-0.91 [[ 9.73058256e-01 2.29472238e-01 2.23634191e-02 2.32732322e+02] [-2.29409366e-01 9.73315202e-01 -5.37216526e-03 2.15618905e+01] [-2.29994185e-02 9.70519634e-05 9.99735474e-01 -9.08663102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.76, Y:21.55, Z:-0.91 [[ 9.73247727e-01 2.28627602e-01 2.27658008e-02 2.32764258e+02] [-2.28561915e-01 9.73513946e-01 -5.48165013e-03 2.15543005e+01] [-2.34160811e-02 1.31608499e-04 9.99725797e-01 -9.08290298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.80, Y:21.55, Z:-0.91 [[ 9.73067310e-01 2.29403756e-01 2.26699411e-02 2.32795837e+02] [-2.29338536e-01 9.73331342e-01 -5.47129168e-03 2.15460136e+01] [-2.33204991e-02 1.24843983e-04 9.99728032e-01 -9.08050945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.83, Y:21.54, Z:-0.91 [[ 9.72966382e-01 2.29789833e-01 2.30879316e-02 2.32827647e+02] [-2.29721984e-01 9.73240266e-01 -5.58518546e-03 2.15369766e+01] [-2.37535235e-02 1.30392232e-04 9.99717837e-01 -9.09123859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.86, Y:21.53, Z:-0.91 [[ 9.72740136e-01 2.30727708e-01 2.32669884e-02 2.32859800e+02] [-2.30658758e-01 9.73018350e-01 -5.64153409e-03 2.15283494e+01] [-2.39408649e-02 1.21011999e-04 9.99713369e-01 -9.09046205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14592000000002 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:232.89, Y:21.52, Z:-0.91 [[ 9.72599535e-01 2.31388103e-01 2.25763347e-02 2.32891327e+02] [-2.31323070e-01 9.72861518e-01 -5.48676253e-03 2.15194539e+01] [-2.32332188e-02 1.13995625e-04 9.99730066e-01 -9.08797234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.92, Y:21.51, Z:-0.91 [[ 9.72466092e-01 2.31922181e-01 2.28429895e-02 2.32923112e+02] [-2.31855445e-01 9.72734336e-01 -5.56448888e-03 2.15119450e+01] [-2.35106886e-02 1.15005251e-04 9.99723579e-01 -9.08644271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.95, Y:21.50, Z:-0.91 [[ 9.72481468e-01 2.31987780e-01 2.14817193e-02 2.32954716e+02] [-2.31928688e-01 9.72718694e-01 -5.23699452e-03 2.15037011e+01] [-2.21105886e-02 1.10653165e-04 9.99755525e-01 -9.08333618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23592 meters Centerline goodness [0,1] 0.9999501818362975 Centerline is valid? [True, True] Translation: X:232.99, Y:21.50, Z:-0.91 [[ 9.72436056e-01 2.32187518e-01 2.13792818e-02 2.32986123e+02] [-2.32128780e-01 9.72671035e-01 -5.22367943e-03 2.14952963e+01] [-2.20078813e-02 1.16947642e-04 9.99757790e-01 -9.08678767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.02, Y:21.49, Z:-0.91 [[ 9.72270225e-01 2.32794615e-01 2.22997087e-02 2.33017515e+02] [-2.32730580e-01 9.72525914e-01 -5.46115650e-03 2.14862754e+01] [-2.29583725e-02 1.19895700e-04 9.99736415e-01 -9.09165005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:233.05, Y:21.48, Z:-0.91 [[ 9.72290807e-01 2.32661319e-01 2.27880846e-02 2.33049696e+02] [-2.32594108e-01 9.72557809e-01 -5.59369644e-03 2.14784852e+01] [-2.34641664e-02 1.38325418e-04 9.99724669e-01 -9.10332961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.08, Y:21.47, Z:-0.91 [[ 9.72089758e-01 2.33586599e-01 2.18815648e-02 2.33080695e+02] [-2.33524621e-01 9.72335994e-01 -5.38195649e-03 2.14705281e+01] [-2.25333860e-02 1.21860661e-04 9.99746084e-01 -9.10055928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:233.11, Y:21.46, Z:-0.91 [[ 9.72105129e-01 2.33351867e-01 2.36331355e-02 2.33111389e+02] [-2.33279215e-01 9.72392351e-01 -5.82439905e-03 2.14619214e+01] [-2.43398145e-02 1.48808896e-04 9.99703732e-01 -9.10172906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.14, Y:21.45, Z:-0.91 [[ 9.71972670e-01 2.33869420e-01 2.39629403e-02 2.33142844e+02] [-2.33794552e-01 9.72268004e-01 -5.91908867e-03 2.14535392e+01] [-2.46826939e-02 1.50787534e-04 9.99695325e-01 -9.10380543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:233.18, Y:21.45, Z:-0.91 [[ 9.71941564e-01 2.33926673e-01 2.46557998e-02 2.33175146e+02] [-2.33847079e-01 9.72254228e-01 -6.10406754e-03 2.14452796e+01] [-2.53996098e-02 1.67110177e-04 9.99677364e-01 -9.11447077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.21, Y:21.44, Z:-0.91 [[ 9.71910991e-01 2.34114047e-01 2.40756762e-02 2.33206781e+02] [-2.34037879e-01 9.72209125e-01 -5.97391566e-03 2.14375584e+01] [-2.48051696e-02 1.71494099e-04 9.99692290e-01 -9.12408800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.24, Y:21.43, Z:-0.91 [[ 9.72027673e-01 2.33755254e-01 2.28185135e-02 2.33237518e+02] [-2.33686471e-01 9.72295453e-01 -5.67322478e-03 2.14282632e+01] [-2.35124830e-02 1.82153596e-04 9.99723527e-01 -9.12314579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.27, Y:21.42, Z:-0.91 [[ 9.72002296e-01 2.33749784e-01 2.39285468e-02 2.33268133e+02] [-2.33673854e-01 9.72296764e-01 -5.96090544e-03 2.14197197e+01] [-2.46590090e-02 2.02538008e-04 9.99695900e-01 -9.12629002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53592 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:233.30, Y:21.41, Z:-0.91 [[ 9.71777058e-01 2.34589295e-01 2.48437371e-02 2.33299961e+02] [-2.34507366e-01 9.72094554e-01 -6.20267189e-03 2.14102877e+01] [-2.56055419e-02 2.01574900e-04 9.99672104e-01 -9.12258907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:233.33, Y:21.40, Z:-0.91 [[ 9.71457664e-01 2.35883024e-01 2.50839889e-02 2.33332033e+02] [-2.35799569e-01 9.71781439e-01 -6.27672752e-03 2.14014841e+01] [-2.58567283e-02 1.82781271e-04 9.99665642e-01 -9.11881234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:233.36, Y:21.39, Z:-0.91 [[ 9.71050886e-01 2.37587861e-01 2.47423863e-02 2.33363603e+02] [-2.37506860e-01 9.71366041e-01 -6.20525664e-03 2.13920509e+01] [-2.55082075e-02 1.49133471e-04 9.99674602e-01 -9.13821895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.40, Y:21.38, Z:-0.91 [[ 9.70486520e-01 2.39825908e-01 2.52873266e-02 2.33395455e+02] [-2.39741686e-01 9.70815906e-01 -6.35620909e-03 2.13828750e+01] [-2.60737225e-02 1.06188908e-04 9.99660017e-01 -9.14552045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.43, Y:21.37, Z:-0.91 [[ 9.69627488e-01 2.43309254e-01 2.49628157e-02 2.33427035e+02] [-2.43227966e-01 9.69948765e-01 -6.28890803e-03 2.13744690e+01] [-2.57428018e-02 2.62432197e-05 9.99668599e-01 -9.13837535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.46, Y:21.37, Z:-0.91 [[ 9.69245260e-01 2.44960181e-01 2.36248838e-02 2.33458737e+02] [-2.44887577e-01 9.69533140e-01 -5.96366031e-03 2.13672019e+01] [-2.43659671e-02 -5.19104396e-06 9.99703106e-01 -9.12859000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.49, Y:21.36, Z:-0.91 [[ 9.68832617e-01 2.46633361e-01 2.31375455e-02 2.33491380e+02] [-2.46563883e-01 9.69108861e-01 -5.85382240e-03 2.13598993e+01] [-2.38665483e-02 -3.35089972e-05 9.99715153e-01 -9.12522658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.52, Y:21.35, Z:-0.91 [[ 9.68213890e-01 2.48996317e-01 2.37212506e-02 2.33523334e+02] [-2.48923665e-01 9.68504428e-01 -6.01512710e-03 2.13517198e+01] [-2.44718808e-02 -8.08510286e-05 9.99700515e-01 -9.12955770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.55, Y:21.34, Z:-0.91 [[ 9.67922722e-01 2.50008928e-01 2.49226837e-02 2.33554838e+02] [-2.49928743e-01 9.68243526e-01 -6.33225200e-03 2.13443960e+01] [-2.57143466e-02 -9.97644039e-05 9.99669327e-01 -9.12922129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.59, Y:21.34, Z:-0.91 [[ 9.67824533e-01 2.50407696e-01 2.47317560e-02 2.33587436e+02] [-2.50328507e-01 9.68140474e-01 -6.29775889e-03 2.13379363e+01] [-2.55208212e-02 -9.59379938e-05 9.99674286e-01 -9.12975120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83592000000002 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:233.62, Y:21.33, Z:-0.91 [[ 9.67718456e-01 2.50836018e-01 2.45414199e-02 2.33619498e+02] [-2.50757828e-01 9.68029588e-01 -6.26325116e-03 2.13316845e+01] [-2.53278696e-02 -9.28894104e-05 9.99679194e-01 -9.13511022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86592000000002 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:233.65, Y:21.32, Z:-0.91 [[ 9.67583602e-01 2.51356038e-01 2.45380521e-02 2.33651063e+02] [-2.51277681e-01 9.67894691e-01 -6.27643216e-03 2.13239521e+01] [-2.53278695e-02 -9.28919923e-05 9.99679194e-01 -9.13539107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.68, Y:21.32, Z:-0.91 [[ 9.67844509e-01 2.50608220e-01 2.17376492e-02 2.33682808e+02] [-2.50546297e-01 9.68088589e-01 -5.57102079e-03 2.13179221e+01] [-2.24401137e-02 -5.44056161e-05 9.99748187e-01 -9.13301132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.71, Y:21.31, Z:-0.91 [[ 9.68293379e-01 2.48712199e-01 2.34557796e-02 2.33714198e+02] [-2.48639256e-01 9.68577432e-01 -6.02315623e-03 2.13110023e+01] [-2.42167712e-02 1.54734265e-07 9.99706731e-01 -9.14198881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.75, Y:21.30, Z:-0.91 [[ 9.68541068e-01 2.47871435e-01 2.20896056e-02 2.33745963e+02] [-2.47806272e-01 9.68792935e-01 -5.68335982e-03 2.13041478e+01] [-2.28089964e-02 3.06245709e-05 9.99739841e-01 -9.12923175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.78, Y:21.30, Z:-0.91 [[ 9.68682989e-01 2.47219129e-01 2.31509972e-02 2.33777348e+02] [-2.47147088e-01 9.68959596e-01 -5.96808597e-03 2.12975792e+01] [-2.39078059e-02 5.94818190e-05 9.99714166e-01 -9.13722473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:233.81, Y:21.29, Z:-0.91 [[ 9.69312691e-01 2.44759732e-01 2.29255487e-02 2.33809947e+02] [-2.44688092e-01 9.69583754e-01 -5.92294454e-03 2.12906606e+01] [-2.36779379e-02 1.31576540e-04 9.99719630e-01 -9.14618065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.84, Y:21.28, Z:-0.91 [[ 9.69658672e-01 2.43455448e-01 2.21699093e-02 2.33841833e+02] [-2.43387827e-01 9.69912066e-01 -5.74016831e-03 2.12824862e+01] [-2.29003378e-02 1.70117912e-04 9.99737738e-01 -9.14661206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:233.87, Y:21.27, Z:-0.92 [[ 9.70213312e-01 2.41196175e-01 2.25950310e-02 2.33873145e+02] [-2.41125063e-01 9.70476351e-01 -5.86138444e-03 2.12744731e+01] [-2.33416867e-02 2.38564942e-04 9.99727517e-01 -9.15316638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.90, Y:21.27, Z:-0.92 [[ 9.70933649e-01 2.38271465e-01 2.26838644e-02 2.33903769e+02] [-2.38198735e-01 9.71198541e-01 -5.89547240e-03 2.12655899e+01] [-2.34352588e-02 3.20844736e-04 9.99725305e-01 -9.15782754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.93, Y:21.26, Z:-0.92 [[ 9.72012488e-01 2.33892704e-01 2.20437411e-02 2.33934225e+02] [-2.33822653e-01 9.72262322e-01 -5.73975240e-03 2.12550934e+01] [-2.27747851e-02 4.24785001e-04 9.99740531e-01 -9.15406299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.97, Y:21.25, Z:-0.92 [[ 9.72455745e-01 2.31915627e-01 2.33445210e-02 2.33965408e+02] [-2.31836221e-01 9.72735772e-01 -6.08971509e-03 2.12464386e+01] [-2.41203508e-02 5.09872892e-04 9.99708932e-01 -9.15895670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.00, Y:21.24, Z:-0.92 [[ 9.72642122e-01 2.31186992e-01 2.28008220e-02 2.33997565e+02] [-2.31110751e-01 9.72909192e-01 -5.96024886e-03 2.12376321e+01] [-2.35610613e-02 5.27674005e-04 9.99722260e-01 -9.15938188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22592 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:234.03, Y:21.23, Z:-0.92 [[ 9.72795188e-01 2.30579993e-01 2.24140205e-02 2.34028506e+02] [-2.30505872e-01 9.73053220e-01 -5.87138263e-03 2.12269741e+01] [-2.31638582e-02 5.45089426e-04 9.99731533e-01 -9.15546741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.06, Y:21.21, Z:-0.92 [[ 9.72183011e-01 2.32992608e-01 2.39716162e-02 2.34059363e+02] [-2.32908231e-01 9.72478359e-01 -6.29260057e-03 2.12144458e+01] [-2.47780074e-02 5.34372655e-04 9.99692835e-01 -9.16724768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28592 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:234.09, Y:21.20, Z:-0.92 [[ 9.71748430e-01 2.34825638e-01 2.37045880e-02 2.34090032e+02] [-2.34743397e-01 9.72037384e-01 -6.23388326e-03 2.12043896e+01] [-2.45056214e-02 4.93270757e-04 9.99699570e-01 -9.15684385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:234.12, Y:21.19, Z:-0.92 [[ 9.71104279e-01 2.37475884e-01 2.36998749e-02 2.34120597e+02] [-2.37394183e-01 9.71393336e-01 -6.24407486e-03 2.11948934e+01] [-2.45047177e-02 4.37435375e-04 9.99699619e-01 -9.15498644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34592 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:234.15, Y:21.18, Z:-0.91 [[ 9.70023567e-01 2.41943555e-01 2.27507442e-02 2.34151579e+02] [-2.41869235e-01 9.70290272e-01 -6.00506812e-03 2.11848931e+01] [-2.35277133e-02 3.22352520e-04 9.99723133e-01 -9.14173819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:234.18, Y:21.18, Z:-0.91 [[ 9.69672788e-01 2.43416251e-01 2.19821063e-02 2.34182765e+02] [-2.43347003e-01 9.69921876e-01 -5.81292277e-03 2.11766425e+01] [-2.27358857e-02 2.87353331e-04 9.99741465e-01 -9.14690529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.21, Y:21.17, Z:-0.91 [[ 9.68402531e-01 2.48327074e-01 2.30261264e-02 2.34213936e+02] [-2.48252206e-01 9.68676224e-01 -6.10039244e-03 2.11684697e+01] [-2.38197538e-02 1.91348807e-04 9.99716251e-01 -9.14744303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.25, Y:21.16, Z:-0.92 [[ 9.67514959e-01 2.51592195e-01 2.48227945e-02 2.34245559e+02] [-2.51505940e-01 9.67833328e-01 -6.58878782e-03 2.11604907e+01] [-2.56820154e-02 1.31670514e-04 9.99670154e-01 -9.15309595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.28, Y:21.15, Z:-0.92 [[ 9.66220774e-01 2.56609702e-01 2.38511576e-02 2.34276643e+02] [-2.56531299e-01 9.66515112e-01 -6.34286784e-03 2.11525234e+01] [-2.46801456e-02 1.00422470e-05 9.99695399e-01 -9.15527427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.31, Y:21.14, Z:-0.92 [[ 9.65614407e-01 2.58889629e-01 2.37692221e-02 2.34308419e+02] [-2.58812118e-01 9.65906910e-01 -6.33475342e-03 2.11449968e+01] [-2.45988578e-02 -3.48335381e-05 9.99697402e-01 -9.15555926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.34, Y:21.14, Z:-0.92 [[ 9.65023092e-01 2.61077035e-01 2.38581842e-02 2.34341017e+02] [-2.60999272e-01 9.65317966e-01 -6.37216893e-03 2.11393485e+01] [-2.46943608e-02 -7.76785457e-05 9.99695045e-01 -9.16062825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.37, Y:21.13, Z:-0.92 [[ 9.64753912e-01 2.62025661e-01 2.43401196e-02 2.34372916e+02] [-2.61944671e-01 9.65060902e-01 -6.51494777e-03 2.11325516e+01] [-2.51967813e-02 -9.04432639e-05 9.99682507e-01 -9.15870740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58592000000002 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:234.41, Y:21.13, Z:-0.92 [[ 9.64669680e-01 2.62341904e-01 2.42720844e-02 2.34405365e+02] [-2.62261117e-01 9.64974983e-01 -6.51063828e-03 2.11250590e+01] [-2.51299675e-02 -8.50086190e-05 9.99684189e-01 -9.16253902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61592000000002 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:234.44, Y:21.12, Z:-0.92 [[ 9.64969298e-01 2.61198226e-01 2.46929170e-02 2.34437434e+02] [-2.61113877e-01 9.65285183e-01 -6.63764366e-03 2.11159590e+01] [-2.55694477e-02 -4.25409532e-05 9.99673047e-01 -9.16919069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.47, Y:21.11, Z:-0.92 [[ 9.65347353e-01 2.59839052e-01 2.42519043e-02 2.34469070e+02] [-2.59756911e-01 9.65651939e-01 -6.53301554e-03 2.11080530e+01] [-2.51164310e-02 7.02951143e-06 9.99684533e-01 -9.17114975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.50, Y:21.10, Z:-0.92 [[ 9.65352205e-01 2.59841791e-01 2.40284010e-02 2.34500817e+02] [-2.59760812e-01 9.65651202e-01 -6.48669664e-03 2.10999643e+01] [-2.48885692e-02 2.03099357e-05 9.99690231e-01 -9.17097158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.53, Y:21.09, Z:-0.92 [[ 9.65329423e-01 2.59964405e-01 2.36138517e-02 2.34532876e+02] [-2.59885901e-01 9.65618200e-01 -6.38835754e-03 2.10909061e+01] [-2.44627105e-02 2.99623858e-05 9.99700743e-01 -9.17608969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.56, Y:21.08, Z:-0.92 [[ 9.65507099e-01 2.59303456e-01 2.36169145e-02 2.34564187e+02] [-2.59224400e-01 9.65795897e-01 -6.40283100e-03 2.10789166e+01] [-2.44693953e-02 5.98982933e-05 9.99700578e-01 -9.17173811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.59, Y:21.07, Z:-0.92 [[ 9.64890115e-01 2.61691997e-01 2.24580570e-02 2.34594030e+02] [-2.61620893e-01 9.65151438e-01 -6.09997747e-03 2.10678917e+01] [-2.32717413e-02 1.03110166e-05 9.99729176e-01 -9.16669428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.63, Y:21.06, Z:-0.92 [[ 9.64295646e-01 2.63907934e-01 2.20569573e-02 2.34625323e+02] [-2.63839636e-01 9.64547874e-01 -6.00374609e-03 2.10583554e+01] [-2.28594275e-02 -3.01133630e-05 9.99738689e-01 -9.16415781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.66, Y:21.05, Z:-0.92 [[ 9.63790019e-01 2.65791486e-01 2.15333670e-02 2.34656844e+02] [-2.65726586e-01 9.64030540e-01 -5.87359685e-03 2.10490530e+01] [-2.23199755e-02 -6.10740976e-05 9.99750876e-01 -9.16799094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.69, Y:21.04, Z:-0.92 [[ 9.62847247e-01 2.69184044e-01 2.15668345e-02 2.34688096e+02] [-2.69119515e-01 9.63088747e-01 -5.89513856e-03 2.10378514e+01] [-2.23576529e-02 -1.27938113e-04 9.99750028e-01 -9.17244146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.72, Y:21.03, Z:-0.92 [[ 9.62227804e-01 2.71319701e-01 2.24337330e-02 2.34718428e+02] [-2.71250199e-01 9.62489267e-01 -6.14327579e-03 2.10279131e+01] [-2.32590190e-02 -1.73923759e-04 9.99729457e-01 -9.17238268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.75, Y:21.02, Z:-0.92 [[ 9.60431902e-01 2.77613785e-01 2.23863191e-02 2.34748746e+02] [-2.77546026e-01 9.60692712e-01 -6.14138256e-03 2.10160847e+01] [-2.32113061e-02 -3.14854170e-04 9.99730532e-01 -9.16766804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.78, Y:21.01, Z:-0.92 [[ 9.59591524e-01 2.80500908e-01 2.24353849e-02 2.34779770e+02] [-2.80433384e-01 9.59853687e-01 -6.16580428e-03 2.10070812e+01] [-2.32642006e-02 -3.74977385e-04 9.99729282e-01 -9.16680245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.81, Y:21.00, Z:-0.92 [[ 9.57627421e-01 2.87248016e-01 2.09356233e-02 2.34811010e+02] [-2.87190610e-01 9.57856113e-01 -5.76366219e-03 2.10002977e+01] [-2.17089153e-02 -4.93073459e-04 9.99764212e-01 -9.16654214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.84, Y:20.99, Z:-0.92 [[ 9.56700820e-01 2.90477226e-01 1.86151047e-02 2.34841926e+02] [-2.90432290e-01 9.56881777e-01 -5.13311552e-03 2.09933883e+01] [-1.93035076e-02 -4.95571655e-04 9.99813547e-01 -9.16605008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.87, Y:20.99, Z:-0.92 [[ 9.54710428e-01 2.96946318e-01 1.87318458e-02 2.34873631e+02] [-2.96902004e-01 9.54893968e-01 -5.16811583e-03 2.09862372e+01] [-1.94215795e-02 -6.27468480e-04 9.99811186e-01 -9.16848118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.90, Y:20.98, Z:-0.92 [[ 9.53722420e-01 3.00121052e-01 1.84634778e-02 2.34904658e+02] [-3.00078432e-01 9.53900886e-01 -5.10246829e-03 2.09790650e+01] [-1.91436859e-02 -6.74153041e-04 9.99816516e-01 -9.16640786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.94, Y:20.98, Z:-0.92 [[ 9.52655203e-01 3.03421081e-01 1.95885580e-02 2.34937366e+02] [-3.03373744e-01 9.52856251e-01 -5.41629566e-03 2.09757438e+01] [-2.03084982e-02 -7.82791945e-04 9.99793455e-01 -9.15281968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.97, Y:20.97, Z:-0.92 [[ 9.52284942e-01 3.04594295e-01 1.93831049e-02 2.34969083e+02] [-3.04548015e-01 9.52481858e-01 -5.36817538e-03 2.09701092e+01] [-2.00971714e-02 -7.91053537e-04 9.99797719e-01 -9.15640487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.00, Y:20.97, Z:-0.92 [[ 9.52278184e-01 3.04694421e-01 1.80988912e-02 2.35001619e+02] [-3.04654000e-01 9.52449877e-01 -5.01721802e-03 2.09682292e+01] [-1.87670050e-02 -7.36112325e-04 9.99823613e-01 -9.15879352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.03, Y:20.96, Z:-0.92 [[ 9.52429376e-01 3.04163887e-01 1.90423917e-02 2.35033358e+02] [-3.04118863e-01 9.52619420e-01 -5.28750843e-03 2.09630361e+01] [-1.97484213e-02 -7.55172164e-04 9.99804696e-01 -9.16883280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.07, Y:20.96, Z:-0.92 [[ 9.52848785e-01 3.02844113e-01 1.90954662e-02 2.35066135e+02] [-3.02798397e-01 9.53039833e-01 -5.31112348e-03 2.09621708e+01] [-1.98071824e-02 -7.21379009e-04 9.99803558e-01 -9.15607814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:235.10, Y:20.96, Z:-0.92 [[ 9.53150824e-01 3.01955720e-01 1.80623921e-02 2.35098365e+02] [-3.01914500e-01 9.53321725e-01 -5.03221474e-03 2.09573477e+01] [-1.87387769e-02 -6.56838467e-04 9.99824198e-01 -9.15379093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:235.13, Y:20.95, Z:-0.92 [[ 9.53431387e-01 3.01027949e-01 1.87287274e-02 2.35130929e+02] [-3.00983280e-01 9.53615094e-01 -5.22670073e-03 2.09527301e+01] [-1.94333801e-02 -6.53733280e-04 9.99810940e-01 -9.16039893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.16, Y:20.95, Z:-0.92 [[ 9.54423457e-01 2.97840544e-01 1.91539771e-02 2.35164302e+02] [-2.97793002e-01 9.54615450e-01 -5.35442448e-03 2.09533709e+01] [-1.98794472e-02 -5.93532017e-04 9.99802208e-01 -9.16968636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.20, Y:20.95, Z:-0.92 [[ 9.55796148e-01 2.93317154e-01 2.04638876e-02 2.35197913e+02] [-2.93261769e-01 9.56015045e-01 -5.72439511e-03 2.09519578e+01] [-2.12428477e-02 -5.29921089e-04 9.99774205e-01 -9.18040916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.23, Y:20.95, Z:-0.92 [[ 9.56402157e-01 2.91372213e-01 1.99285684e-02 2.35229489e+02] [-2.91319072e-01 9.56609647e-01 -5.58399053e-03 2.09467170e+01] [-2.06908804e-02 -4.65031458e-04 9.99785813e-01 -9.17153715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.26, Y:20.94, Z:-0.92 [[ 9.57991219e-01 2.86064781e-01 2.04881772e-02 2.35262323e+02] [-2.86007186e-01 9.58210216e-01 -5.75076446e-03 2.09445708e+01] [-2.12770718e-02 -3.50584047e-04 9.99773556e-01 -9.17303496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.29, Y:20.94, Z:-0.92 [[ 9.58682600e-01 2.83657598e-01 2.15879690e-02 2.35294508e+02] [-2.83592803e-01 9.58925584e-01 -6.07014460e-03 2.09391022e+01] [-2.24230984e-02 -3.02850630e-04 9.99748525e-01 -9.17756627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.33, Y:20.93, Z:-0.92 [[ 9.59214283e-01 2.81901484e-01 2.09645531e-02 2.35326072e+02] [-2.81839731e-01 9.59443325e-01 -5.90530642e-03 2.09336708e+01] [-2.17790151e-02 -2.44189724e-04 9.99762779e-01 -9.18060828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.36, Y:20.93, Z:-0.92 [[ 9.60311549e-01 2.78058704e-01 2.20246549e-02 2.35359715e+02] [-2.77989245e-01 9.60564071e-01 -6.21658116e-03 2.09297582e+01] [-2.28846666e-02 -1.52762501e-04 9.99738100e-01 -9.17631004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.39, Y:20.92, Z:-0.92 [[ 9.61456714e-01 2.74226583e-01 2.00192015e-02 2.35391548e+02] [-2.74168156e-01 9.61665107e-01 -5.66068701e-03 2.09242234e+01] [-2.08040784e-02 -4.61220375e-05 9.99783571e-01 -9.16492312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.42, Y:20.92, Z:-0.92 [[ 9.61898858e-01 2.72648652e-01 2.03297970e-02 2.35423454e+02] [-2.72587796e-01 9.62113669e-01 -5.76027802e-03 2.09164333e+01] [-2.11301076e-02 -8.49703973e-07 9.99776734e-01 -9.17302521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.46, Y:20.91, Z:-0.92 [[ 9.61933739e-01 2.72525528e-01 2.03302425e-02 2.35455279e+02] [-2.72464394e-01 9.62148552e-01 -5.77215352e-03 2.09074142e+01] [-2.11337726e-02 1.31620248e-05 9.99776657e-01 -9.16514221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.49, Y:20.90, Z:-0.92 [[ 9.62514159e-01 2.70329434e-01 2.21018142e-02 2.35485982e+02] [-2.70256361e-01 9.62767880e-01 -6.28556970e-03 2.08996198e+01] [-2.29780913e-02 7.67939672e-05 9.99735966e-01 -9.17676145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.52, Y:20.89, Z:-0.92 [[ 9.62413693e-01 2.70672926e-01 2.22722078e-02 2.35517930e+02] [-2.70598519e-01 9.62671367e-01 -6.34673886e-03 2.08918360e+01] [-2.31587071e-02 8.13619449e-05 9.99731798e-01 -9.17738279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.55, Y:20.88, Z:-0.92 [[ 9.62092712e-01 2.71813731e-01 2.22465735e-02 2.35550626e+02] [-2.71739508e-01 9.62349880e-01 -6.35205239e-03 2.08847445e+01] [-2.31355624e-02 6.59903695e-05 9.99732335e-01 -9.15952707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:235.58, Y:20.88, Z:-0.92 [[ 9.61875500e-01 2.72515878e-01 2.30351820e-02 2.35582397e+02] [-2.72436184e-01 9.62151283e-01 -6.59043081e-03 2.08766144e+01] [-2.39593270e-02 6.35568584e-05 9.99712932e-01 -9.16498484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:235.61, Y:20.87, Z:-0.92 [[ 9.61731387e-01 2.73024323e-01 2.30316955e-02 2.35613754e+02] [-2.72944482e-01 9.62007128e-01 -6.60260452e-03 2.08679737e+01] [-2.39593268e-02 6.35578012e-05 9.99712932e-01 -9.16526568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.65, Y:20.86, Z:-0.92 [[ 9.61702664e-01 2.73360459e-01 2.00510677e-02 2.35645074e+02] [-2.73299813e-01 9.61911668e-01 -5.75813499e-03 2.08605930e+01] [-2.08614023e-02 5.76607172e-05 9.99782376e-01 -9.15316126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.68, Y:20.85, Z:-0.92 [[ 9.61282945e-01 2.74764335e-01 2.09680737e-02 2.35676434e+02] [-2.74698084e-01 9.61511601e-01 -6.03354759e-03 2.08515844e+01] [-2.18188498e-02 4.00567165e-05 9.99761940e-01 -9.16359253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:235.71, Y:20.84, Z:-0.92 [[ 9.61735699e-01 2.73057263e-01 2.24538991e-02 2.35707909e+02] [-2.72980558e-01 9.61997777e-01 -6.47245365e-03 2.08436812e+01] [-2.33679515e-02 9.53118373e-05 9.99726928e-01 -9.16131905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.74, Y:20.84, Z:-0.92 [[ 9.61655020e-01 2.73410752e-01 2.15912953e-02 2.35739166e+02] [-2.73339676e-01 9.61897371e-01 -6.23454713e-03 2.08355115e+01] [-2.24732024e-02 9.37258884e-05 9.99747441e-01 -9.16072911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.77, Y:20.83, Z:-0.92 [[ 9.61552796e-01 2.73843525e-01 2.06383987e-02 2.35770409e+02] [-2.73778463e-01 9.61774254e-01 -5.96972014e-03 2.08279285e+01] [-2.14842497e-02 8.98520229e-05 9.99769183e-01 -9.15860286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.80, Y:20.82, Z:-0.92 [[ 9.61311174e-01 2.74677903e-01 2.08056950e-02 2.35801824e+02] [-2.74611718e-01 9.61536293e-01 -6.03007324e-03 2.08187012e+01] [-2.16617588e-02 8.32891218e-05 9.99765353e-01 -9.16667915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.83, Y:20.81, Z:-0.92 [[ 9.60851786e-01 2.76314557e-01 2.03497119e-02 2.35831955e+02] [-2.76251485e-01 9.61067252e-01 -5.90372212e-03 2.08078921e+01] [-2.11887260e-02 5.09638069e-05 9.99775492e-01 -9.16284646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.86, Y:20.80, Z:-0.92 [[ 9.60357895e-01 2.77939214e-01 2.15059989e-02 2.35863414e+02] [-2.77868902e-01 9.60598664e-01 -6.25144648e-03 2.07981839e+01] [-2.23961559e-02 2.77776971e-05 9.99749174e-01 -9.17299409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.89, Y:20.79, Z:-0.92 [[ 9.59991046e-01 2.79251195e-01 2.08797113e-02 2.35894688e+02] [-2.79184969e-01 9.60218085e-01 -6.08138604e-03 2.07888111e+01] [-2.17473107e-02 8.77458123e-06 9.99763499e-01 -9.16558399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.93, Y:20.78, Z:-0.92 [[ 9.59906207e-01 2.79543756e-01 2.08653551e-02 2.35926059e+02] [-2.79477427e-01 9.60132953e-01 -6.08929508e-03 2.07798290e+01] [-2.17357394e-02 1.37563898e-05 9.99763751e-01 -9.17267771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.96, Y:20.77, Z:-0.92 [[ 9.59979903e-01 2.79353025e-01 2.00118192e-02 2.35957099e+02] [-2.79291889e-01 9.60188464e-01 -5.84414729e-03 2.07695864e+01] [-2.08476982e-02 2.11251762e-05 9.99782663e-01 -9.16526255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.99, Y:20.76, Z:-0.92 [[ 9.59739117e-01 2.80146755e-01 2.04602927e-02 2.35988487e+02] [-2.80082781e-01 9.59957184e-01 -5.98667670e-03 2.07595601e+01] [-2.13181531e-02 1.50721204e-05 9.99772742e-01 -9.16522467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.02, Y:20.75, Z:-0.92 [[ 9.60162441e-01 2.78628700e-01 2.13104336e-02 2.36019663e+02] [-2.78558650e-01 9.60398898e-01 -6.24778963e-03 2.07495914e+01] [-2.22073304e-02 6.26873426e-05 9.99753385e-01 -9.18223180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.05, Y:20.74, Z:-0.92 [[ 9.60091532e-01 2.78840711e-01 2.17280516e-02 2.36050910e+02] [-2.78767660e-01 9.60337364e-01 -6.38268234e-03 2.07403095e+01] [-2.26460115e-02 7.08811718e-05 9.99743544e-01 -9.19279488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.08, Y:20.73, Z:-0.92 [[ 9.60387531e-01 2.77825233e-01 2.16548047e-02 2.36082451e+02] [-2.77752135e-01 9.60631630e-01 -6.37358583e-03 2.07309570e+01] [-2.25730333e-02 1.06444102e-04 9.99745191e-01 -9.18395856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:236.11, Y:20.72, Z:-0.92 [[ 9.60971262e-01 2.75833381e-01 2.12174451e-02 2.36113476e+02] [-2.75762452e-01 9.61205451e-01 -6.25704363e-03 2.07201194e+01] [-2.21202254e-02 1.61864419e-04 9.99755305e-01 -9.17532500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23592 meters Centerline goodness [0,1] 0.9999006458022851 Centerline is valid? [True, True] Translation: X:236.15, Y:20.71, Z:-0.92 [[ 9.61049791e-01 2.75581190e-01 2.09357755e-02 2.36145282e+02] [-2.75511811e-01 9.61277783e-01 -6.18594339e-03 2.07097603e+01] [-2.18298255e-02 1.76946194e-04 9.99761685e-01 -9.16962541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26592 meters Centerline goodness [0,1] 0.9999006655408761 Centerline is valid? [True, True] Translation: X:236.18, Y:20.70, Z:-0.92 [[ 9.60847411e-01 2.76360726e-01 1.99248979e-02 2.36175439e+02] [-2.76297846e-01 9.61053965e-01 -5.89720686e-03 2.06977857e+01] [-2.07786585e-02 1.61109582e-04 9.99784087e-01 -9.17402677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29592 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:236.21, Y:20.69, Z:-0.92 [[ 9.60579809e-01 2.77302454e-01 1.97428270e-02 2.36206612e+02] [-2.77240686e-01 9.60782664e-01 -5.85454132e-03 2.06852920e+01] [-2.05920446e-02 1.50239296e-04 9.99787950e-01 -9.17779440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.24, Y:20.68, Z:-0.92 [[ 9.60231081e-01 2.78383958e-01 2.14159543e-02 2.36237161e+02] [-2.78311303e-01 9.60469859e-01 -6.36150275e-03 2.06752192e+01] [-2.23403189e-02 1.48210524e-04 9.99750413e-01 -9.18057864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:236.27, Y:20.67, Z:-0.92 [[ 9.59783358e-01 2.80072359e-01 1.93747063e-02 2.36267556e+02] [-2.80013043e-01 9.59978886e-01 -5.76486555e-03 2.06650642e+01] [-2.02138884e-02 1.07851547e-04 9.99795673e-01 -9.17303406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:236.30, Y:20.65, Z:-0.92 [[ 9.58614243e-01 2.84086302e-01 1.88070839e-02 2.36297122e+02] [-2.84030996e-01 9.58798713e-01 -5.60546581e-03 2.06530975e+01] [-1.96246439e-02 3.16845761e-05 9.99807418e-01 -9.16887505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:236.33, Y:20.64, Z:-0.92 [[ 9.57624463e-01 2.87352033e-01 1.96009330e-02 2.36327925e+02] [-2.87292412e-01 9.57825041e-01 -5.85336871e-03 2.06402328e+01] [-2.04562418e-02 -2.58702275e-05 9.99790749e-01 -9.16898700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44592 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:236.36, Y:20.63, Z:-0.92 [[ 9.57145377e-01 2.88927695e-01 1.98372061e-02 2.36359188e+02] [-2.88866725e-01 9.57350920e-01 -5.93551800e-03 2.06298940e+01] [-2.07061031e-02 -4.91551530e-05 9.99785604e-01 -9.16570223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.39, Y:20.62, Z:-0.92 [[ 9.56755938e-01 2.90230721e-01 1.96011312e-02 2.36390125e+02] [-2.90171231e-01 9.56956699e-01 -5.87640169e-03 2.06198286e+01] [-2.04629461e-02 -6.54021769e-05 9.99790610e-01 -9.15769123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:236.42, Y:20.61, Z:-0.92 [[ 9.55930284e-01 2.92904608e-01 2.01043024e-02 2.36420981e+02] [-2.92842367e-01 9.56141662e-01 -6.03910905e-03 2.06086039e+01] [-2.09914440e-02 -1.14424261e-04 9.99779649e-01 -9.16378500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:236.45, Y:20.60, Z:-0.92 [[ 9.55613209e-01 2.93984465e-01 1.94043494e-02 2.36452559e+02] [-2.93926476e-01 9.55810190e-01 -5.84015867e-03 2.05985942e+01] [-2.02637908e-02 -1.22519250e-04 9.99794661e-01 -9.15928961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.48, Y:20.59, Z:-0.92 [[ 9.54875843e-01 2.96338812e-01 1.98854836e-02 2.36484448e+02] [-2.96278181e-01 9.55082866e-01 -5.99653673e-03 2.05888100e+01] [-2.07692912e-02 -1.65686844e-04 9.99784281e-01 -9.15450983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.52, Y:20.58, Z:-0.92 [[ 9.54358216e-01 2.98050550e-01 1.91380591e-02 2.36516281e+02] [-2.97994514e-01 9.54550070e-01 -5.78223559e-03 2.05789244e+01] [-1.99916342e-02 -1.84712578e-04 9.99800130e-01 -9.15580699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.55, Y:20.57, Z:-0.92 [[ 9.54026399e-01 2.99168077e-01 1.82233719e-02 2.36547651e+02] [-2.99117271e-01 9.54200412e-01 -5.51649854e-03 2.05702353e+01] [-1.90391093e-02 -1.88040048e-04 9.99818722e-01 -9.16013174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.58, Y:20.56, Z:-0.92 [[ 9.53808471e-01 2.99849696e-01 1.84271744e-02 2.36579614e+02] [-2.99797669e-01 9.53986437e-01 -5.58888841e-03 2.05615670e+01] [-1.92551009e-02 -1.93694819e-04 9.99814585e-01 -9.17158618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68592 meters Centerline goodness [0,1] 0.9999501520362893 Centerline is valid? [True, True] Translation: X:236.61, Y:20.55, Z:-0.92 [[ 9.53530850e-01 3.00671606e-01 1.93779148e-02 2.36612108e+02] [-3.00614013e-01 9.53727708e-01 -5.88849496e-03 2.05539034e+01] [-2.02517575e-02 -2.10411125e-04 9.99794890e-01 -9.16807558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.64, Y:20.54, Z:-0.92 [[ 9.53078963e-01 3.02054930e-01 2.00825379e-02 2.36643123e+02] [-3.01993163e-01 9.53290492e-01 -6.11287483e-03 2.05448554e+01] [-2.09909164e-02 -2.38736744e-04 9.99779638e-01 -9.17573024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74592 meters Centerline goodness [0,1] 0.9999502413295517 Centerline is valid? [True, True] Translation: X:236.67, Y:20.54, Z:-0.92 [[ 9.52844925e-01 3.02772181e-01 2.03851889e-02 2.36674987e+02] [-3.02708453e-01 9.53062928e-01 -6.21668610e-03 2.05377152e+01] [-2.13106074e-02 -2.47231209e-04 9.99772873e-01 -9.18174025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.71, Y:20.53, Z:-0.92 [[ 9.52544216e-01 3.03712478e-01 2.04510962e-02 2.36706869e+02] [-3.03648299e-01 9.52763698e-01 -6.24870028e-03 2.05297679e+01] [-2.13828703e-02 -2.57777265e-04 9.99771327e-01 -9.17814835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.74, Y:20.52, Z:-0.92 [[ 9.52302951e-01 3.04489688e-01 2.01275898e-02 2.36739961e+02] [-3.04427450e-01 9.52515597e-01 -6.16155836e-03 2.05235712e+01] [-2.10479742e-02 -2.59720625e-04 9.99778433e-01 -9.16896844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83592000000002 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:236.77, Y:20.52, Z:-0.92 [[ 9.52096537e-01 3.04956779e-01 2.26615767e-02 2.36771141e+02] [-3.04877741e-01 9.52366147e-01 -6.94881978e-03 2.05153606e+01] [-2.37012082e-02 -2.93063055e-04 9.99719044e-01 -9.17067297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.80, Y:20.51, Z:-0.92 [[ 9.51687663e-01 3.06363801e-01 2.07801363e-02 2.36802646e+02] [-3.06297453e-01 9.51914459e-01 -6.38230340e-03 2.05084991e+01] [-2.17362189e-02 -2.90943409e-04 9.99763698e-01 -9.16915016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.83, Y:20.50, Z:-0.92 [[ 9.51229877e-01 3.07798565e-01 2.05369048e-02 2.36834726e+02] [-3.07733842e-01 9.51451495e-01 -6.31937605e-03 2.05010013e+01] [-2.14849637e-02 -3.08721303e-04 9.99769124e-01 -9.16299494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.87, Y:20.50, Z:-0.92 [[ 9.51019387e-01 3.08572492e-01 1.85779991e-02 2.36867130e+02] [-3.08519493e-01 9.51200786e-01 -5.72599291e-03 2.04964063e+01] [-1.94382912e-02 -2.86144584e-04 9.99811018e-01 -9.15449331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.90, Y:20.49, Z:-0.92 [[ 9.50511924e-01 3.10086546e-01 1.93239953e-02 2.36898350e+02] [-3.10029319e-01 9.50708279e-01 -5.96574838e-03 2.04896139e+01] [-2.02213806e-02 -3.20490133e-04 9.99795476e-01 -9.15721285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.93, Y:20.48, Z:-0.92 [[ 9.50286693e-01 3.10687186e-01 2.07044324e-02 2.36930054e+02] [-3.10621401e-01 9.50512153e-01 -6.40259000e-03 2.04841166e+01] [-2.16690172e-02 -3.46943700e-04 9.99765139e-01 -9.15060738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.96, Y:20.48, Z:-0.92 [[ 9.50051198e-01 3.11293443e-01 2.23408355e-02 2.36961682e+02] [-3.11216748e-01 9.50313764e-01 -6.91999701e-03 2.04772456e+01] [-2.33849532e-02 -3.78490738e-04 9.99726463e-01 -9.15086368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.99, Y:20.47, Z:-0.91 [[ 9.49932396e-01 3.11718518e-01 2.14477924e-02 2.36994261e+02] [-3.11647698e-01 9.50174423e-01 -6.65425234e-03 2.04722943e+01] [-2.24533975e-02 -3.63065257e-04 9.99747825e-01 -9.14069406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07592 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:237.03, Y:20.47, Z:-0.91 [[ 9.49871189e-01 3.11902735e-01 2.14804166e-02 2.37026931e+02] [-3.11831468e-01 9.50113970e-01 -6.67673252e-03 2.04651886e+01] [-2.24913351e-02 -3.56233995e-04 9.99746974e-01 -9.14506501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.06, Y:20.46, Z:-0.91 [[ 9.50978515e-01 3.08604646e-01 2.00757691e-02 2.37059664e+02] [-3.08541578e-01 9.51190363e-01 -6.24405076e-03 2.04606218e+01] [-2.10228212e-02 -2.56251368e-04 9.99778963e-01 -9.14302175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.09, Y:20.45, Z:-0.91 [[ 9.51632907e-01 3.06596614e-01 1.98324777e-02 2.37091178e+02] [-3.06534424e-01 9.51839522e-01 -6.17825175e-03 2.04527527e+01] [-2.07715672e-02 -1.99909455e-04 9.99784228e-01 -9.14036268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.12, Y:20.45, Z:-0.91 [[ 9.53279086e-01 3.01310333e-01 2.17040968e-02 2.37124059e+02] [-3.01234187e-01 9.53526128e-01 -6.77405751e-03 2.04459289e+01] [-2.27365169e-02 -8.04485872e-05 9.99741489e-01 -9.14751861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19592 meters Centerline goodness [0,1] 0.9998511092361904 Centerline is valid? [True, True] Translation: X:237.16, Y:20.44, Z:-0.91 [[ 9.53784622e-01 2.99668718e-01 2.22160869e-02 2.37155954e+02] [-2.99588189e-01 9.54043321e-01 -6.94684323e-03 2.04384560e+01] [-2.32768610e-02 -2.98850115e-05 9.99729057e-01 -9.14786407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.19, Y:20.43, Z:-0.91 [[ 9.55029526e-01 2.95864955e-01 1.95584404e-02 2.37187632e+02] [-2.95801540e-01 9.55229776e-01 -6.12572793e-03 2.04326953e+01] [-2.04951928e-02 6.48342572e-05 9.99789949e-01 -9.14215645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25592 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:237.22, Y:20.42, Z:-0.91 [[ 9.55096871e-01 2.95670725e-01 1.92039073e-02 2.37218897e+02] [-2.95609328e-01 9.55289912e-01 -6.02571238e-03 2.04234245e+01] [-2.01269256e-02 7.82849174e-05 9.99797430e-01 -9.14195569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28592 meters Centerline goodness [0,1] 0.9999006655408761 Centerline is valid? [True, True] Translation: X:237.25, Y:20.41, Z:-0.91 [[ 9.55360741e-01 2.94762627e-01 2.00211708e-02 2.37250086e+02] [-2.94695624e-01 9.55570501e-01 -6.28542679e-03 2.04141637e+01] [-2.09843491e-02 1.04698586e-04 9.99779799e-01 -9.14474933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31592 meters Centerline goodness [0,1] 0.999851072279587 Centerline is valid? [True, True] Translation: X:237.28, Y:20.41, Z:-0.92 [[ 9.55302453e-01 2.94871607e-01 2.11650240e-02 2.37281570e+02] [-2.94796527e-01 9.55536876e-01 -6.65481293e-03 2.04061765e+01] [-2.21862763e-02 1.17983554e-04 9.99753847e-01 -9.15092014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:237.31, Y:20.40, Z:-0.91 [[ 9.55273996e-01 2.95005423e-01 2.05765065e-02 2.37313752e+02] [-2.94934239e-01 9.55495570e-01 -6.48147035e-03 2.03992219e+01] [-2.15728297e-02 1.22863789e-04 9.99767272e-01 -9.14812407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:237.34, Y:20.39, Z:-0.91 [[ 9.55102000e-01 2.95576931e-01 2.03580006e-02 2.37344340e+02] [-2.95507311e-01 9.55318934e-01 -6.41591237e-03 2.03900832e+01] [-2.13447791e-02 1.11912737e-04 9.99772168e-01 -9.14689241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.38, Y:20.38, Z:-0.91 [[ 9.55136808e-01 2.95491177e-01 1.99660216e-02 2.37375874e+02] [-2.95424104e-01 9.55345462e-01 -6.29664837e-03 2.03811012e+01] [-2.09350522e-02 1.15716588e-04 9.99780831e-01 -9.14471547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43592 meters Centerline goodness [0,1] 0.9998013212139274 Centerline is valid? [True, True] Translation: X:237.41, Y:20.37, Z:-0.91 [[ 9.55445995e-01 2.94584621e-01 1.85162789e-02 2.37407339e+02] [-2.94526712e-01 9.55625389e-01 -5.84218397e-03 2.03740250e+01] [-1.94156437e-02 1.28352534e-04 9.99811490e-01 -9.13749440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46592 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:237.44, Y:20.36, Z:-0.91 [[ 9.55561883e-01 2.94130565e-01 1.97154174e-02 2.37437861e+02] [-2.94064757e-01 9.55765237e-01 -6.22336315e-03 2.03648880e+01] [-2.06737919e-02 1.49199182e-04 9.99786263e-01 -9.14039983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:237.47, Y:20.36, Z:-0.91 [[ 9.56015632e-01 2.92659595e-01 1.96080021e-02 2.37468462e+02] [-2.92594135e-01 9.56216674e-01 -6.19225143e-03 2.03550080e+01] [-2.05617203e-02 1.82702743e-04 9.99788569e-01 -9.14796331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:237.50, Y:20.35, Z:-0.91 [[ 9.56452132e-01 2.91296970e-01 1.85847873e-02 2.37500164e+02] [-2.91237831e-01 9.56632653e-01 -5.87306552e-03 2.03459405e+01] [-1.94896205e-02 2.04712914e-04 9.99810038e-01 -9.13365161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55592000000001 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:237.53, Y:20.34, Z:-0.92 [[ 9.56869955e-01 2.89679214e-01 2.20418376e-02 2.37530296e+02] [-2.89595461e-01 9.57123749e-01 -6.97126049e-03 2.03362339e+01] [-2.31161955e-02 2.87373570e-04 9.99732744e-01 -9.15381267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58592000000002 meters Centerline goodness [0,1] 0.9994037267080745 Centerline is valid? [True, True] Translation: X:237.56, Y:20.33, Z:-0.91 [[ 9.57126519e-01 2.88820265e-01 2.21738854e-02 2.37560144e+02] [-2.88735200e-01 9.57383286e-01 -7.01625050e-03 2.03253727e+01] [-2.32553426e-02 3.13058204e-04 9.99729509e-01 -9.14727074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61592000000002 meters Centerline goodness [0,1] 0.9998015676158349 Centerline is valid? [True, True] Translation: X:237.59, Y:20.31, Z:-0.91 [[ 9.57086765e-01 2.89100992e-01 2.01380438e-02 2.37590001e+02] [-2.89030691e-01 9.57298560e-01 -6.38167574e-03 2.03122225e+01] [-2.11230692e-02 2.87304656e-04 9.99776842e-01 -9.13781762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64592000000002 meters Centerline goodness [0,1] 0.9996024252062419 Centerline is valid? [True, True] Translation: X:237.62, Y:20.30, Z:-0.91 [[ 9.57174129e-01 2.88918168e-01 1.85466752e-02 2.37619798e+02] [-2.88858449e-01 9.57353758e-01 -5.88026471e-03 2.03008292e+01] [-1.94546445e-02 2.71073426e-04 9.99810704e-01 -9.13049341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67592 meters Centerline goodness [0,1] 0.9996024252062419 Centerline is valid? [True, True] Translation: X:237.65, Y:20.29, Z:-0.91 [[ 9.57117649e-01 2.89105289e-01 1.85455428e-02 2.37650813e+02] [-2.89045537e-01 9.57297267e-01 -5.88383506e-03 2.02910536e+01] [-1.94546453e-02 2.71016017e-04 9.99810704e-01 -9.13077415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70592 meters Centerline goodness [0,1] 0.9992537313432835 Centerline is valid? [True, True] Translation: X:237.68, Y:20.28, Z:-0.91 [[ 9.56855446e-01 2.90019979e-01 1.77782789e-02 2.37680588e+02] [-2.89965178e-01 9.57020560e-01 -5.64300421e-03 2.02774267e+01] [-1.86507624e-02 2.44457496e-04 9.99826030e-01 -9.14153275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73592 meters Centerline goodness [0,1] 0.9996518798488164 Centerline is valid? [True, True] Translation: X:237.71, Y:20.27, Z:-0.91 [[ 9.56456322e-01 2.91376633e-01 1.70575990e-02 2.37710979e+02] [-2.91326357e-01 9.56608391e-01 -5.41668618e-03 2.02657209e+01] [-1.78957381e-02 2.11495562e-04 9.99839836e-01 -9.13246059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76592 meters Centerline goodness [0,1] 0.9997019522130048 Centerline is valid? [True, True] Translation: X:237.74, Y:20.25, Z:-0.91 [[ 9.55536004e-01 2.94266754e-01 1.89215068e-02 2.37741134e+02] [-2.94205375e-01 9.55723310e-01 -6.01262945e-03 2.02531658e+01] [-1.98530421e-02 1.78474911e-04 9.99802893e-01 -9.13380960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79592 meters Centerline goodness [0,1] 0.999751787132645 Centerline is valid? [True, True] Translation: X:237.77, Y:20.24, Z:-0.91 [[ 9.54663482e-01 2.97078733e-01 1.90226794e-02 2.37772249e+02] [-2.97017041e-01 9.54852978e-01 -6.05544373e-03 2.02410779e+01] [-1.99628057e-02 1.30851045e-04 9.99800715e-01 -9.12648704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.80, Y:20.23, Z:-0.91 [[ 9.54094326e-01 2.98766749e-01 2.10343929e-02 2.37802457e+02] [-2.98691488e-01 9.54326158e-01 -6.70663398e-03 2.02295154e+01] [-2.20773906e-02 1.15967315e-04 9.99756258e-01 -9.13932280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.83, Y:20.22, Z:-0.91 [[ 9.53076799e-01 3.02243000e-01 1.71401308e-02 2.37832172e+02] [-3.02193436e-01 9.53230910e-01 -5.47352687e-03 2.02159371e+01] [-1.79928377e-02 3.70564370e-05 9.99838115e-01 -9.12372163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:237.86, Y:20.20, Z:-0.91 [[ 9.51850042e-01 3.06119735e-01 1.64986799e-02 2.37863172e+02] [-3.06074228e-01 9.51993019e-01 -5.27820265e-03 2.02036130e+01] [-1.73223900e-02 -2.57632945e-05 9.99849956e-01 -9.12611019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91592 meters Centerline goodness [0,1] 0.9998506645427846 Centerline is valid? [True, True] Translation: X:237.89, Y:20.19, Z:-0.91 [[ 9.51089864e-01 3.08483184e-01 1.63154977e-02 2.37894688e+02] [-3.08438865e-01 9.51229795e-01 -5.22920717e-03 2.01929185e+01] [-1.71329100e-02 -5.88876522e-05 9.99853219e-01 -9.12040662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94592 meters Centerline goodness [0,1] 0.9999007493424644 Centerline is valid? [True, True] Translation: X:237.93, Y:20.18, Z:-0.91 [[ 9.49976480e-01 3.11879561e-01 1.66080222e-02 2.37926211e+02] [-3.11833986e-01 9.50121638e-01 -5.33276660e-03 2.01832665e+01] [-1.74428222e-02 -1.12942926e-04 9.99847856e-01 -9.11226295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97592 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:237.96, Y:20.17, Z:-0.91 [[ 9.48364806e-01 3.16685887e-01 1.77268995e-02 2.37957451e+02] [-3.16634631e-01 9.48530446e-01 -5.70124881e-03 2.01742974e+01] [-1.86200089e-02 -2.06086554e-04 9.99826611e-01 -9.10934114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.99, Y:20.16, Z:-0.91 [[ 9.46882611e-01 3.21090502e-01 1.77259698e-02 2.37988300e+02] [-3.21039851e-01 9.47048472e-01 -5.71011356e-03 2.01646591e+01] [-1.86208159e-02 -2.83935462e-04 9.99826577e-01 -9.10914642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.02, Y:20.16, Z:-0.91 [[ 9.46165944e-01 3.23176249e-01 1.80864427e-02 2.38019160e+02] [-3.23123720e-01 9.46338739e-01 -5.83552169e-03 2.01558022e+01] [-1.90018034e-02 -3.22786767e-04 9.99819397e-01 -9.10826319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.05, Y:20.15, Z:-0.91 [[ 9.45076898e-01 3.26401150e-01 1.70864615e-02 2.38050830e+02] [-3.26354638e-01 9.45231274e-01 -5.52164504e-03 2.01491048e+01] [-1.79529290e-02 -3.57866788e-04 9.99838769e-01 -9.10710369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09592 meters Centerline goodness [0,1] 0.9998509835088416 Centerline is valid? [True, True] Translation: X:238.08, Y:20.14, Z:-0.91 [[ 9.44962525e-01 3.26718566e-01 1.73437079e-02 2.38082930e+02] [-3.26670513e-01 9.45121605e-01 -5.61487531e-03 2.01409227e+01] [-1.82263971e-02 -3.59831202e-04 9.99833821e-01 -9.09996739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12592 meters Centerline goodness [0,1] 0.9999005766553987 Centerline is valid? [True, True] Translation: X:238.11, Y:20.13, Z:-0.91 [[ 9.44670041e-01 3.27496471e-01 1.85627215e-02 2.38114444e+02] [-3.27441389e-01 9.44852321e-01 -6.01904730e-03 2.01327549e+01] [-1.95102473e-02 -3.92189657e-04 9.99809580e-01 -9.10170892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.15, Y:20.13, Z:-0.91 [[ 9.44620138e-01 3.27730570e-01 1.68958314e-02 2.38146308e+02] [-3.27684822e-01 9.44771162e-01 -5.48714299e-03 2.01272187e+01] [-1.77609988e-02 -3.53241744e-04 9.99842199e-01 -9.09853157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:238.18, Y:20.12, Z:-0.91 [[ 9.44862578e-01 3.27030492e-01 1.69046066e-02 2.38177985e+02] [-3.26984431e-01 9.45013728e-01 -5.49864620e-03 2.01195223e+01] [-1.77733103e-02 -3.32078138e-04 9.99841987e-01 -9.10326868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.21, Y:20.11, Z:-0.91 [[ 9.45628911e-01 3.24727345e-01 1.83879018e-02 2.38209461e+02] [-3.24672226e-01 9.45807622e-01 -5.99058554e-03 2.01120902e+01] [-1.93367246e-02 -3.05170137e-04 9.99812981e-01 -9.11820316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24592 meters Centerline goodness [0,1] 0.9997516268441706 Centerline is valid? [True, True] Translation: X:238.24, Y:20.10, Z:-0.91 [[ 9.45972292e-01 3.23727072e-01 1.83631511e-02 2.38240320e+02] [-3.23671732e-01 9.46150467e-01 -5.99192423e-03 2.01036796e+01] [-1.93140521e-02 -2.75438619e-04 9.99813428e-01 -9.12042495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.27, Y:20.10, Z:-0.91 [[ 9.47274022e-01 3.19952908e-01 1.73800027e-02 2.38272005e+02] [-3.19902647e-01 9.47433429e-01 -5.67397721e-03 2.00972343e+01] [-1.82818010e-02 -1.85097655e-04 9.99832857e-01 -9.11235737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.30, Y:20.09, Z:-0.91 [[ 9.47730153e-01 3.18569047e-01 1.79254009e-02 2.38303352e+02] [-3.18515260e-01 9.47899645e-01 -5.85596082e-03 2.00878005e+01] [-1.88570090e-02 -1.59643095e-04 9.99822178e-01 -9.11142144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33592000000002 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:238.33, Y:20.08, Z:-0.91 [[ 9.48841821e-01 3.15204721e-01 1.85790951e-02 2.38334278e+02] [-3.15146239e-01 9.49023696e-01 -6.07234817e-03 2.00781340e+01] [-1.95460343e-02 -9.34340487e-05 9.99808954e-01 -9.13119217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36592000000002 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:238.37, Y:20.07, Z:-0.91 [[ 9.49360598e-01 3.13694586e-01 1.76114309e-02 2.38365329e+02] [-3.13641729e-01 9.49523935e-01 -5.75867736e-03 2.00687280e+01] [-1.85289411e-02 -5.66182472e-05 9.99828323e-01 -9.12167966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39592000000002 meters Centerline goodness [0,1] 0.9999501743896363 Centerline is valid? [True, True] Translation: X:238.40, Y:20.06, Z:-0.91 [[ 9.50590756e-01 3.09714205e-01 2.13149152e-02 2.38396790e+02] [-3.09635704e-01 9.50829696e-01 -6.97284977e-03 2.00602588e+01] [-2.24264450e-02 2.84677655e-05 9.99748495e-01 -9.13529939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42592 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:238.43, Y:20.05, Z:-0.91 [[ 9.50931660e-01 3.08689335e-01 2.09731578e-02 2.38427921e+02] [-3.08612817e-01 9.51162915e-01 -6.87303455e-03 2.00505036e+01] [-2.20705223e-02 6.32008544e-05 9.99756414e-01 -9.13163212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45592 meters Centerline goodness [0,1] 0.9998014099890775 Centerline is valid? [True, True] Translation: X:238.46, Y:20.04, Z:-0.91 [[ 9.51256389e-01 3.07752402e-01 1.99935541e-02 2.38459683e+02] [-3.07682416e-01 9.51466474e-01 -6.56356850e-03 2.00399729e+01] [-2.10431504e-02 9.19714573e-05 9.99778564e-01 -9.12585947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48592 meters Centerline goodness [0,1] 0.9998012521116963 Centerline is valid? [True, True] Translation: X:238.49, Y:20.03, Z:-0.91 [[ 9.51652905e-01 3.06655386e-01 1.78668183e-02 2.38490151e+02] [-3.06599251e-01 9.51820604e-01 -5.86830380e-03 2.00290729e+01] [-1.88055528e-02 1.06635251e-04 9.99823154e-01 -9.13327825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51592 meters Centerline goodness [0,1] 0.9995027596837551 Centerline is valid? [True, True] Translation: X:238.52, Y:20.02, Z:-0.91 [[ 9.51472860e-01 3.07173620e-01 1.85408677e-02 2.38520647e+02] [-3.07113126e-01 9.51653485e-01 -6.09692823e-03 2.00176648e+01] [-1.95172968e-02 1.06917914e-04 9.99809514e-01 -9.11996562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54592 meters Centerline goodness [0,1] 0.9998510500968174 Centerline is valid? [True, True] Translation: X:238.55, Y:20.01, Z:-0.91 [[ 9.51215927e-01 3.07998947e-01 1.80252344e-02 2.38550923e+02] [-3.07941865e-01 9.51386693e-01 -5.93022502e-03 2.00068108e+01] [-1.89754713e-02 9.02001797e-05 9.99819945e-01 -9.12615254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57592 meters Centerline goodness [0,1] 0.9997516638521903 Centerline is valid? [True, True] Translation: X:238.58, Y:20.00, Z:-0.91 [[ 9.50829017e-01 3.09186182e-01 1.81131344e-02 2.38581994e+02] [-3.09128681e-01 9.51001525e-01 -5.96309053e-03 1.99959134e+01] [-1.90693236e-02 7.05901554e-05 9.99818161e-01 -9.12366995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60592 meters Centerline goodness [0,1] 0.9999003686360466 Centerline is valid? [True, True] Translation: X:238.61, Y:19.98, Z:-0.91 [[ 9.49752402e-01 3.12383594e-01 1.96688808e-02 2.38611661e+02] [-3.12316414e-01 9.49956047e-01 -6.47821643e-03 1.99840214e+01] [-2.07082607e-02 9.78731852e-06 9.99785561e-01 -9.12481179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.64, Y:19.97, Z:-0.91 [[ 9.49242790e-01 3.13867694e-01 2.06202818e-02 2.38643037e+02] [-3.13793949e-01 9.49466730e-01 -6.80343792e-03 1.99728461e+01] [-2.17136509e-02 -1.24052737e-05 9.99764231e-01 -9.12780771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.67, Y:19.96, Z:-0.91 [[ 9.48439000e-01 3.16283626e-01 2.06913333e-02 2.38673724e+02] [-3.16209682e-01 9.48664675e-01 -6.83902354e-03 1.99611668e+01] [-2.17922082e-02 -5.64032887e-05 9.99762520e-01 -9.12398789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.71, Y:19.95, Z:-0.91 [[ 9.48137709e-01 3.17160437e-01 2.10746682e-02 2.38705102e+02] [-3.17083668e-01 9.48371896e-01 -6.97815998e-03 1.99520271e+01] [-2.21998193e-02 -6.61764679e-05 9.99753551e-01 -9.12181792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:238.74, Y:19.94, Z:-0.91 [[ 9.47563937e-01 3.18938661e-01 2.00179072e-02 2.38737383e+02] [-3.18869548e-01 9.47775354e-01 -6.63996856e-03 1.99432365e+01] [-2.10902217e-02 -9.13062663e-05 9.99777572e-01 -9.11580504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.77, Y:19.93, Z:-0.91 [[ 9.47302530e-01 3.19657686e-01 2.09016877e-02 2.38769012e+02] [-3.19582237e-01 9.47533089e-01 -6.94547275e-03 1.99326981e+01] [-2.20252144e-02 -1.00344200e-04 9.99757411e-01 -9.12060337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.80, Y:19.92, Z:-0.91 [[ 9.47481805e-01 3.19167371e-01 2.02587867e-02 2.38799477e+02] [-3.19096157e-01 9.47698361e-01 -6.74233599e-03 1.99221417e+01] [-2.13511526e-02 -7.62603003e-05 9.99772035e-01 -9.11304024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.83, Y:19.91, Z:-0.91 [[ 9.47565895e-01 3.18889766e-01 2.06927903e-02 2.38830777e+02] [-3.18815136e-01 9.47791809e-01 -6.89894966e-03 1.99121174e+01] [-2.18124616e-02 -5.99653613e-05 9.99762078e-01 -9.12029758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.86, Y:19.90, Z:-0.91 [[ 9.47588583e-01 3.18845032e-01 2.03401650e-02 2.38862041e+02] [-3.18772656e-01 9.47806860e-01 -6.79340820e-03 1.99019556e+01] [-2.14445924e-02 -4.65323617e-05 9.99770037e-01 -9.11671935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.89, Y:19.89, Z:-0.91 [[ 9.48020317e-01 3.17566447e-01 2.02245051e-02 2.38893074e+02] [-3.17494346e-01 9.48236021e-01 -6.76670441e-03 1.98918148e+01] [-2.13264825e-02 -6.19275647e-06 9.99772565e-01 -9.12059383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.92, Y:19.88, Z:-0.91 [[ 9.48301439e-01 3.16749253e-01 1.98567562e-02 2.38924214e+02] [-3.16679325e-01 9.48509310e-01 -6.65542539e-03 1.98819160e+01] [-2.09424191e-02 2.31253328e-05 9.99780683e-01 -9.11603391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.95, Y:19.87, Z:-0.91 [[ 9.48854822e-01 3.14988176e-01 2.13769996e-02 2.38954236e+02] [-3.14906433e-01 9.49095592e-01 -7.17606277e-03 1.98710601e+01] [-2.25491910e-02 7.72870681e-05 9.99745732e-01 -9.11647840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.98, Y:19.86, Z:-0.91 [[ 9.49132362e-01 3.14079019e-01 2.24082373e-02 2.38984106e+02] [-3.13988674e-01 9.49396838e-01 -7.53366682e-03 1.98601027e+01] [-2.36404763e-02 1.14514274e-04 9.99720518e-01 -9.12799610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.01, Y:19.85, Z:-0.91 [[ 9.49471902e-01 3.13241229e-01 1.95714009e-02 2.39013626e+02] [-3.13171932e-01 9.49673584e-01 -6.58976604e-03 1.98472083e+01] [-2.06506288e-02 1.27584270e-04 9.99786745e-01 -9.11262661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.05, Y:19.84, Z:-0.91 [[ 9.49464849e-01 3.13299410e-01 1.89731531e-02 2.39045008e+02] [-3.13234077e-01 9.49654391e-01 -6.39931958e-03 1.98355695e+01] [-2.00228412e-02 1.32890906e-04 9.99799514e-01 -9.11932910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05592000000001 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:239.08, Y:19.82, Z:-0.91 [[ 9.49532687e-01 3.12960027e-01 2.10641426e-02 2.39075122e+02] [-3.12879173e-01 9.49766284e-01 -7.11539044e-03 1.98231436e+01] [-2.22328452e-02 1.65764289e-04 9.99752806e-01 -9.11127565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.11, Y:19.81, Z:-0.91 [[ 9.49528449e-01 3.12893693e-01 2.22094755e-02 2.39105509e+02] [-3.12803524e-01 9.49788135e-01 -7.51359408e-03 1.98117275e+01] [-2.34452525e-02 1.87169141e-04 9.99725105e-01 -9.11373528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.14, Y:19.80, Z:-0.91 [[ 9.49357098e-01 3.13361369e-01 2.29292883e-02 2.39136233e+02] [-3.13265071e-01 9.49633937e-01 -7.77047661e-03 1.97980853e+01] [-2.42093975e-02 1.94012014e-04 9.99706891e-01 -9.11694577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.17, Y:19.79, Z:-0.91 [[ 9.49388725e-01 3.13341194e-01 2.18710951e-02 2.39166346e+02] [-3.13253319e-01 9.49640594e-01 -7.42297277e-03 1.97859533e+01] [-2.30956029e-02 1.96093531e-04 9.99733242e-01 -9.12377370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.20, Y:19.77, Z:-0.91 [[ 9.49165972e-01 3.13981542e-01 2.23505907e-02 2.39197353e+02] [-3.13889642e-01 9.49429067e-01 -7.59866956e-03 1.97735291e+01] [-2.36061424e-02 1.96779671e-04 9.99721317e-01 -9.11013106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.23, Y:19.76, Z:-0.91 [[ 9.48838032e-01 3.14914029e-01 2.31417906e-02 2.39228148e+02] [-3.14815455e-01 9.49120181e-01 -7.88113992e-03 1.97611091e+01] [-2.44462220e-02 1.92531983e-04 9.99701128e-01 -9.11632333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23592 meters Centerline goodness [0,1] 0.9999004182433778 Centerline is valid? [True, True] Translation: X:239.26, Y:19.75, Z:-0.91 [[ 9.48610872e-01 3.15655094e-01 2.23444832e-02 2.39258242e+02] [-3.15563132e-01 9.48873980e-01 -7.62099189e-03 1.97503723e+01] [-2.36077036e-02 1.78260651e-04 9.99721283e-01 -9.10358231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26592 meters Centerline goodness [0,1] 0.9999006556725611 Centerline is valid? [True, True] Translation: X:239.29, Y:19.74, Z:-0.91 [[ 9.48340557e-01 3.16406602e-01 2.31743489e-02 2.39289485e+02] [-3.16307576e-01 9.48623651e-01 -7.91749955e-03 1.97395788e+01] [-2.44888846e-02 1.78263819e-04 9.99700086e-01 -9.10701844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:239.32, Y:19.73, Z:-0.91 [[ 9.48054324e-01 3.17311157e-01 2.25083980e-02 2.39319646e+02] [-3.17217723e-01 9.48321466e-01 -7.70145870e-03 1.97282184e+01] [-2.37889558e-02 1.61338445e-04 9.99716990e-01 -9.10376800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.35, Y:19.72, Z:-0.91 [[ 9.47545609e-01 3.18802284e-01 2.28565813e-02 2.39350137e+02] [-3.18706046e-01 9.47821230e-01 -7.83400412e-03 1.97168249e+01] [-2.41614514e-02 1.38545555e-04 9.99708060e-01 -9.10118814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.38, Y:19.71, Z:-0.91 [[ 9.46914079e-01 3.20713382e-01 2.22857394e-02 2.39380759e+02] [-3.20622148e-01 9.47176286e-01 -7.64993899e-03 1.97067387e+01] [-2.35619617e-02 9.85332918e-05 9.99722374e-01 -9.09750680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.41, Y:19.70, Z:-0.91 [[ 9.46316820e-01 3.22408934e-01 2.31723035e-02 2.39412226e+02] [-3.22310470e-01 9.46600483e-01 -7.96787022e-03 1.96974609e+01] [-2.45038262e-02 7.14535930e-05 9.99699734e-01 -9.10926477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.44, Y:19.69, Z:-0.91 [[ 9.45787932e-01 3.23953980e-01 2.32165132e-02 2.39443806e+02] [-3.23855268e-01 9.46072839e-01 -7.99676965e-03 1.96863954e+01] [-2.45550980e-02 4.44581086e-05 9.99698477e-01 -9.10805749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.48, Y:19.68, Z:-0.91 [[ 9.45161918e-01 3.25776799e-01 2.32040047e-02 2.39475286e+02] [-3.25678405e-01 9.45446708e-01 -8.00623533e-03 1.96759357e+01] [-2.45463956e-02 1.01454937e-05 9.99698692e-01 -9.11009046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.51, Y:19.67, Z:-0.91 [[ 9.44779802e-01 3.26964159e-01 2.20355155e-02 2.39505786e+02] [-3.26875481e-01 9.45036739e-01 -7.61452010e-03 1.96659614e+01] [-2.33140469e-02 -8.82495536e-06 9.99728191e-01 -9.10575395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.54, Y:19.66, Z:-0.91 [[ 9.44322239e-01 3.28133186e-01 2.41685781e-02 2.39536585e+02] [-3.28026566e-01 9.44631469e-01 -8.36425029e-03 1.96564724e+01] [-2.55749875e-02 -2.93881209e-05 9.99672906e-01 -9.09853802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.57, Y:19.65, Z:-0.91 [[ 9.44246485e-01 3.28345122e-01 2.42498822e-02 2.39568026e+02] [-3.28237483e-01 9.44557823e-01 -8.40679109e-03 1.96467781e+01] [-2.56657447e-02 -2.16373619e-05 9.99670580e-01 -9.09775076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.60, Y:19.64, Z:-0.91 [[ 9.44070828e-01 3.28850167e-01 2.42453838e-02 2.39598860e+02] [-3.28742362e-01 9.44382109e-01 -8.41975539e-03 1.96364238e+01] [-2.56657446e-02 -2.16392808e-05 9.99670580e-01 -9.09803161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.63, Y:19.63, Z:-0.91 [[ 9.43911209e-01 3.29362267e-01 2.34973567e-02 2.39629480e+02] [-3.29260865e-01 9.44203631e-01 -8.17229993e-03 1.96273650e+01] [-2.48779368e-02 -2.28344955e-05 9.99690496e-01 -9.09980655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.66, Y:19.62, Z:-0.91 [[ 9.43751976e-01 3.29948361e-01 2.15936781e-02 2.39659913e+02] [-3.29862623e-01 9.43998982e-01 -7.52139337e-03 1.96172326e+01] [-2.28660815e-02 -2.46174311e-05 9.99738537e-01 -9.10043199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.69, Y:19.61, Z:-0.91 [[ 9.43546365e-01 3.30511469e-01 2.19642152e-02 2.39690939e+02] [-3.30422611e-01 9.43801975e-01 -7.66351880e-03 1.96066375e+01] [-2.32627505e-02 -2.65880343e-05 9.99729385e-01 -9.10191693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.72, Y:19.60, Z:-0.91 [[ 9.43351357e-01 3.30954110e-01 2.36134534e-02 2.39721891e+02] [-3.30851232e-01 9.43646849e-01 -8.25140518e-03 1.95966099e+01] [-2.50135974e-02 -2.85658826e-05 9.99687111e-01 -9.10798914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.75, Y:19.59, Z:-0.91 [[ 9.43649042e-01 3.30112791e-01 2.34953125e-02 2.39753833e+02] [-3.30010334e-01 9.43941494e-01 -8.22403326e-03 1.95869776e+01] [-2.48930590e-02 6.90519938e-06 9.99690120e-01 -9.09871923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.79, Y:19.58, Z:-0.91 [[ 9.43724195e-01 3.29875295e-01 2.38103758e-02 2.39785335e+02] [-3.29769635e-01 9.44024517e-01 -8.34856358e-03 1.95769790e+01] [-2.52315634e-02 2.68024898e-05 9.99681633e-01 -9.10258587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.82, Y:19.57, Z:-0.91 [[ 9.44228411e-01 3.28469280e-01 2.32516677e-02 2.39816894e+02] [-3.28367754e-01 9.44514651e-01 -8.16650843e-03 1.95668849e+01] [-2.46439879e-02 7.59513907e-05 9.99696288e-01 -9.11936212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80592000000001 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:239.85, Y:19.56, Z:-0.91 [[ 9.44211865e-01 3.28594745e-01 2.21234704e-02 2.39847436e+02] [-3.28502597e-01 9.44471009e-01 -7.78181184e-03 1.95564630e+01] [-2.34520389e-02 8.00615826e-05 9.99724960e-01 -9.12271109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83592000000002 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:239.88, Y:19.55, Z:-0.91 [[ 9.44038063e-01 3.29055282e-01 2.26882732e-02 2.39878380e+02] [-3.28958179e-01 9.44310656e-01 -7.99389981e-03 1.95462635e+01] [-2.40552131e-02 8.30526488e-05 9.99710628e-01 -9.12203427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86592000000002 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:239.91, Y:19.54, Z:-0.91 [[ 9.44329705e-01 3.28211899e-01 2.27674733e-02 2.39909552e+02] [-3.28113542e-01 9.44604116e-01 -8.03544346e-03 1.95359211e+01] [-2.41435772e-02 1.17791635e-04 9.99708494e-01 -9.13032445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89592000000002 meters Centerline goodness [0,1] 0.9998508798091261 Centerline is valid? [True, True] Translation: X:239.94, Y:19.52, Z:-0.91 [[ 9.44317868e-01 3.28204651e-01 2.33553263e-02 2.39940381e+02] [-3.28100805e-01 9.44606632e-01 -8.25665913e-03 1.95246301e+01] [-2.47714701e-02 1.34009375e-04 9.99693131e-01 -9.12460783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92592 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:239.97, Y:19.51, Z:-0.91 [[ 9.44909314e-01 3.26604492e-01 2.18149896e-02 2.39970214e+02] [-3.26513206e-01 9.45161084e-01 -7.72338725e-03 1.95124748e+01] [-2.31411721e-02 1.75018363e-04 9.99732192e-01 -9.12827409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.00, Y:19.50, Z:-0.91 [[ 9.44807996e-01 3.26804643e-01 2.31640899e-02 2.39999705e+02] [-3.26701504e-01 9.45091894e-01 -8.21210216e-03 1.95008797e+01] [-2.45759467e-02 1.91116773e-04 9.99697948e-01 -9.13944775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.03, Y:19.49, Z:-0.91 [[ 9.45270541e-01 3.25303752e-01 2.53194409e-02 2.40029794e+02] [-3.25179635e-01 9.45609539e-01 -8.98919530e-03 1.94892164e+01] [-2.68665238e-02 2.63854947e-04 9.99638995e-01 -9.14644409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01592 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:240.06, Y:19.48, Z:-0.91 [[ 9.45075702e-01 3.25834703e-01 2.57616726e-02 2.40060953e+02] [-3.25705998e-01 9.45426716e-01 -9.16119765e-03 1.94772358e+01] [-2.73408097e-02 2.67293998e-04 9.99626134e-01 -9.14628753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04592 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:240.09, Y:19.47, Z:-0.91 [[ 9.44941893e-01 3.26227919e-01 2.56936354e-02 2.40091763e+02] [-3.26099631e-01 9.45291104e-01 -9.15197183e-03 1.94656092e+01] [-2.72735937e-02 2.69396566e-04 9.99627970e-01 -9.14408509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.12, Y:19.45, Z:-0.91 [[ 9.44443484e-01 3.27669590e-01 2.56738084e-02 2.40122718e+02] [-3.27541623e-01 9.44792348e-01 -9.15991456e-03 1.94544078e+01] [-2.72578431e-02 2.41780760e-04 9.99628407e-01 -9.14361118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.15, Y:19.44, Z:-0.92 [[ 9.44124586e-01 3.28596558e-01 2.55551953e-02 2.40153916e+02] [-3.28469704e-01 9.44470354e-01 -9.13258560e-03 1.94425392e+01] [-2.71370605e-02 2.28191185e-04 9.99631696e-01 -9.15481934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.18, Y:19.43, Z:-0.92 [[ 9.43759622e-01 3.29648419e-01 2.54891106e-02 2.40184939e+02] [-3.29522199e-01 9.44103742e-01 -9.12387937e-03 1.94312123e+01] [-2.70720371e-02 2.11521185e-04 9.99633463e-01 -9.16072230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:240.22, Y:19.42, Z:-0.91 [[ 9.43858303e-01 3.29410534e-01 2.49038944e-02 2.40216462e+02] [-3.29289576e-01 9.44186766e-01 -8.92899712e-03 1.94203980e+01] [-2.64552332e-02 2.27115234e-04 9.99649973e-01 -9.14948706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.25, Y:19.41, Z:-0.92 [[ 9.44084405e-01 3.28707689e-01 2.56103636e-02 2.40247222e+02] [-3.28579148e-01 9.44431672e-01 -9.19564056e-03 1.94104493e+01] [-2.72099163e-02 2.66429418e-04 9.99629706e-01 -9.15724634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:240.28, Y:19.40, Z:-0.92 [[ 9.43957947e-01 3.29064033e-01 2.56954725e-02 2.40278679e+02] [-3.28934358e-01 9.44307571e-01 -9.24117724e-03 1.93989691e+01] [-2.73053683e-02 2.71158932e-04 9.99627102e-01 -9.16185003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:240.31, Y:19.39, Z:-0.92 [[ 9.44018603e-01 3.28746379e-01 2.74717135e-02 2.40308818e+02] [-3.28597605e-01 9.44418191e-01 -9.89412352e-03 1.93882004e+01] [-2.91974433e-02 3.13097393e-04 9.99573615e-01 -9.17569742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28592 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:240.34, Y:19.38, Z:-0.92 [[ 9.43693463e-01 3.29752594e-01 2.65682950e-02 2.40339180e+02] [-3.29613463e-01 9.44067342e-01 -9.58226822e-03 1.93775994e+01] [-2.82420374e-02 2.85456171e-04 9.99601073e-01 -9.17312137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.37, Y:19.37, Z:-0.92 [[ 9.43238494e-01 3.31033397e-01 2.67961568e-02 2.40370279e+02] [-3.30891938e-01 9.43619002e-01 -9.68012961e-03 1.93673920e+01] [-2.84898089e-02 2.64038604e-04 9.99594048e-01 -9.17343336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.40, Y:19.36, Z:-0.92 [[ 9.42922651e-01 3.31915544e-01 2.69990092e-02 2.40401351e+02] [-3.31771842e-01 9.43309073e-01 -9.76921594e-03 1.93566176e+01] [-2.87109649e-02 2.54103975e-04 9.99587723e-01 -9.17033321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37592 meters Centerline goodness [0,1] 0.9999004281589167 Centerline is valid? [True, True] Translation: X:240.43, Y:19.35, Z:-0.92 [[ 9.42422091e-01 3.33419415e-01 2.59247959e-02 2.40431778e+02] [-3.33287123e-01 9.42778579e-01 -9.39388521e-03 1.93465058e+01] [-2.75734459e-02 2.12604305e-04 9.99619758e-01 -9.16979879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40592 meters Centerline goodness [0,1] 0.999900452939127 Centerline is valid? [True, True] Translation: X:240.46, Y:19.34, Z:-0.92 [[ 9.41973239e-01 3.34693689e-01 2.58176673e-02 2.40462889e+02] [-3.34562550e-01 9.42326960e-01 -9.37022939e-03 1.93356566e+01] [-2.74648406e-02 1.88880709e-04 9.99622752e-01 -9.16944128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.49, Y:19.32, Z:-0.92 [[ 9.41765325e-01 3.35341432e-01 2.49839182e-02 2.40493070e+02] [-3.35218512e-01 9.42096647e-01 -9.08056697e-03 1.93247066e+01] [-2.65823559e-02 1.76691237e-04 9.99646611e-01 -9.16283140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46592 meters Centerline goodness [0,1] 0.999950258654994 Centerline is valid? [True, True] Translation: X:240.52, Y:19.31, Z:-0.92 [[ 9.41807045e-01 3.35263715e-01 2.44485252e-02 2.40524568e+02] [-3.35145606e-01 9.42124305e-01 -8.90039776e-03 1.93138619e+01] [-2.60175303e-02 1.88641512e-04 9.99661469e-01 -9.16105291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.56, Y:19.30, Z:-0.92 [[ 9.41554365e-01 3.35920257e-01 2.51586939e-02 2.40556195e+02] [-3.35795020e-01 9.41890410e-01 -9.17384386e-03 1.93031867e+01] [-2.67784126e-02 1.89508597e-04 9.99641376e-01 -9.16896437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52592 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:240.59, Y:19.29, Z:-0.92 [[ 9.41738475e-01 3.35305663e-01 2.64340161e-02 2.40587372e+02] [-3.35166776e-01 9.42109367e-01 -9.65265114e-03 1.92936400e+01] [-2.81403228e-02 2.30469017e-04 9.99603956e-01 -9.16417136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55592000000001 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:240.62, Y:19.28, Z:-0.92 [[ 9.41584725e-01 3.35727773e-01 2.65531114e-02 2.40618274e+02] [-3.35587356e-01 9.41959027e-01 -9.71177055e-03 1.92813339e+01] [-2.82724541e-02 2.33566343e-04 9.99600227e-01 -9.17215334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58592000000002 meters Centerline goodness [0,1] 0.9998510796723753 Centerline is valid? [True, True] Translation: X:240.65, Y:19.27, Z:-0.92 [[ 9.41524324e-01 3.35878892e-01 2.67827862e-02 2.40649287e+02] [-3.35735646e-01 9.41905149e-01 -9.81155200e-03 1.92703469e+01] [-2.85223374e-02 2.45878855e-04 9.99593125e-01 -9.17269411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61592000000002 meters Centerline goodness [0,1] 0.9997514787017248 Centerline is valid? [True, True] Translation: X:240.68, Y:19.26, Z:-0.92 [[ 9.41810772e-01 3.35076293e-01 2.67646634e-02 2.40680264e+02] [-3.34932767e-01 9.42190959e-01 -9.81015998e-03 1.92599864e+01] [-2.85045759e-02 2.74951600e-04 9.99593624e-01 -9.16269361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64592000000002 meters Centerline goodness [0,1] 0.9999006211180124 Centerline is valid? [True, True] Translation: X:240.71, Y:19.25, Z:-0.92 [[ 9.41468144e-01 3.36119309e-01 2.57205119e-02 2.40710808e+02] [-3.35986794e-01 9.41819383e-01 -9.44057299e-03 1.92505958e+01] [-2.73972355e-02 2.46246385e-04 9.99624595e-01 -9.16463041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67592 meters Centerline goodness [0,1] 0.9998014198480862 Centerline is valid? [True, True] Translation: X:240.74, Y:19.24, Z:-0.92 [[ 9.41438961e-01 3.36188945e-01 2.58781095e-02 2.40741690e+02] [-3.36054408e-01 9.41794524e-01 -9.51360488e-03 1.92398850e+01] [-2.75702306e-02 2.60025510e-04 9.99619835e-01 -9.17161559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70592 meters Centerline goodness [0,1] 0.9995528616852146 Centerline is valid? [True, True] Translation: X:240.77, Y:19.23, Z:-0.92 [[ 9.41527666e-01 3.35931127e-01 2.59987034e-02 2.40772567e+02] [-3.35794815e-01 9.41886510e-01 -9.57311752e-03 1.92277364e+01] [-2.77037362e-02 2.83125191e-04 9.99616138e-01 -9.16588702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73592 meters Centerline goodness [0,1] 0.9992539540435691 Centerline is valid? [True, True] Translation: X:240.80, Y:19.22, Z:-0.92 [[ 9.41821079e-01 3.35158080e-01 2.53400190e-02 2.40803767e+02] [-3.35027908e-01 9.42161857e-01 -9.34542513e-03 1.92172620e+01] [-2.70065941e-02 3.12104851e-04 9.99635207e-01 -9.15821734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76592 meters Centerline goodness [0,1] 0.9995029326970872 Centerline is valid? [True, True] Translation: X:240.83, Y:19.21, Z:-0.92 [[ 9.42427018e-01 3.33415991e-01 2.57894122e-02 2.40833758e+02] [-3.33280142e-01 9.42779737e-01 -9.52443105e-03 1.92067298e+01] [-2.74893328e-02 3.80982195e-04 9.99622024e-01 -9.15993381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79592 meters Centerline goodness [0,1] 0.9993545504195422 Centerline is valid? [True, True] Translation: X:240.86, Y:19.19, Z:-0.92 [[ 9.42437806e-01 3.33364483e-01 2.60596090e-02 2.40864077e+02] [-3.33225356e-01 9.42797943e-01 -9.63847676e-03 1.91949283e+01] [-2.77820716e-02 3.99942378e-04 9.99613924e-01 -9.16385324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82592 meters Centerline goodness [0,1] 0.9994535790571755 Centerline is valid? [True, True] Translation: X:240.89, Y:19.18, Z:-0.92 [[ 9.42732786e-01 3.32481630e-01 2.66619706e-02 2.40894197e+02] [-3.32335254e-01 9.43109625e-01 -9.87493110e-03 1.91830226e+01] [-2.84283943e-02 4.48708528e-04 9.99595731e-01 -9.17327488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85592 meters Centerline goodness [0,1] 0.9995036235480989 Centerline is valid? [True, True] Translation: X:240.92, Y:19.17, Z:-0.92 [[ 9.42795688e-01 3.32392513e-01 2.55246529e-02 2.40924780e+02] [-3.32257977e-01 9.43141039e-01 -9.46664313e-03 1.91721757e+01] [-2.72199889e-02 4.44340810e-04 9.99629369e-01 -9.16966888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88592 meters Centerline goodness [0,1] 0.9997513303824539 Centerline is valid? [True, True] Translation: X:240.95, Y:19.16, Z:-0.92 [[ 9.42804893e-01 3.32463783e-01 2.42232776e-02 2.40954302e+02] [-3.32342327e-01 9.43115924e-01 -8.99617373e-03 1.91596836e+01] [-2.58362608e-02 4.31216176e-04 9.99666095e-01 -9.17079474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91592 meters Centerline goodness [0,1] 0.9996024252062419 Centerline is valid? [True, True] Translation: X:240.98, Y:19.15, Z:-0.92 [[ 9.42666514e-01 3.33007688e-01 2.20391447e-02 2.40984032e+02] [-3.32907036e-01 9.42924031e-01 -8.19616837e-03 1.91471788e+01] [-2.35106263e-02 3.89267122e-04 9.99723511e-01 -9.16117319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94592 meters Centerline goodness [0,1] 0.9994045551530789 Centerline is valid? [True, True] Translation: X:241.01, Y:19.13, Z:-0.92 [[ 9.42415078e-01 3.33578397e-01 2.40681185e-02 2.41012991e+02] [-3.33458228e-01 9.42722269e-01 -8.96294015e-03 1.91332879e+01] [-2.56793945e-02 4.21097789e-04 9.99670141e-01 -9.16559538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97592 meters Centerline goodness [0,1] 0.9996025832091406 Centerline is valid? [True, True] Translation: X:241.04, Y:19.12, Z:-0.92 [[ 9.42671622e-01 3.32894970e-01 2.34766355e-02 2.41043939e+02] [-3.32780084e-01 9.42963808e-01 -8.75624394e-03 1.91212381e+01] [-2.50525271e-02 4.41705950e-04 9.99686039e-01 -9.16772453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00592 meters Centerline goodness [0,1] 0.9989558472553699 Centerline is valid? [True, True] Translation: X:241.07, Y:19.11, Z:-0.92 [[ 9.42819915e-01 3.32468109e-01 2.35704274e-02 2.41074409e+02] [-3.32351824e-01 9.43114382e-01 -8.80494455e-03 1.91087175e+01] [-2.51569723e-02 4.67802531e-04 9.99683404e-01 -9.16860536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03592 meters Centerline goodness [0,1] 0.9985115355991069 Centerline is valid? [True, True] Translation: X:241.11, Y:19.10, Z:-0.92 [[ 9.42910295e-01 3.32247939e-01 2.30538868e-02 2.41105637e+02] [-3.32136303e-01 9.43191964e-01 -8.62530331e-03 1.90966771e+01] [-2.46099800e-02 4.75854562e-04 9.99697015e-01 -9.15788378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06592 meters Centerline goodness [0,1] 0.9985113878826973 Centerline is valid? [True, True] Translation: X:241.14, Y:19.08, Z:-0.91 [[ 9.42601341e-01 3.33197578e-01 2.19564635e-02 2.41135614e+02] [-3.33096314e-01 9.42856925e-01 -8.22588835e-03 1.90846059e+01] [-2.34426497e-02 4.40116334e-04 9.99725086e-01 -9.14760315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09592 meters Centerline goodness [0,1] 0.998958385000744 Centerline is valid? [True, True] Translation: X:241.17, Y:19.07, Z:-0.92 [[ 9.42221472e-01 3.34242300e-01 2.23781818e-02 2.41166661e+02] [-3.34137092e-01 9.42487080e-01 -8.39686772e-03 1.90730961e+01] [-2.38977356e-02 4.34328455e-04 9.99714314e-01 -9.15636742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12592 meters Centerline goodness [0,1] 0.9988075126701779 Centerline is valid? [True, True] Translation: X:241.20, Y:19.06, Z:-0.92 [[ 9.41286627e-01 3.36922340e-01 2.15133312e-02 2.41196543e+02] [-3.36825554e-01 9.41532371e-01 -8.08335378e-03 1.90614939e+01] [-2.29789602e-02 3.62513111e-04 9.99735883e-01 -9.15506740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15592 meters Centerline goodness [0,1] 0.9988044831880448 Centerline is valid? [True, True] Translation: X:241.23, Y:19.05, Z:-0.91 [[ 9.40655713e-01 3.38772183e-01 2.00059349e-02 2.41226298e+02] [-3.38688687e-01 9.40868383e-01 -7.52719507e-03 1.90496642e+01] [-2.13729559e-02 3.04715225e-04 9.99771526e-01 -9.14512729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18592 meters Centerline goodness [0,1] 0.9990062111801242 Centerline is valid? [True, True] Translation: X:241.26, Y:19.04, Z:-0.91 [[ 9.40253334e-01 3.39839408e-01 2.08049230e-02 2.41257343e+02] [-3.39749096e-01 9.40483431e-01 -7.84011425e-03 1.90383003e+01] [-2.22310652e-02 3.03239778e-04 9.99752813e-01 -9.14837546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21592 meters Centerline goodness [0,1] 0.9997022332506204 Centerline is valid? [True, True] Translation: X:241.29, Y:19.03, Z:-0.91 [[ 9.39089624e-01 3.43042654e-01 2.07945920e-02 2.41287519e+02] [-3.42952974e-01 9.39319797e-01 -7.84705275e-03 1.90283437e+01] [-2.22246458e-02 2.37518637e-04 9.99752974e-01 -9.14077922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24592 meters Centerline goodness [0,1] 0.999353169469599 Centerline is valid? [True, True] Translation: X:241.32, Y:19.02, Z:-0.91 [[ 9.38518361e-01 3.44588682e-01 2.10220424e-02 2.41318268e+02] [-3.44497138e-01 9.38753745e-01 -7.94529055e-03 1.90176474e+01] [-2.24723782e-02 2.14767634e-04 9.99747441e-01 -9.13758838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27592 meters Centerline goodness [0,1] 0.999602286850609 Centerline is valid? [True, True] Translation: X:241.35, Y:19.01, Z:-0.91 [[ 9.37990522e-01 3.45953080e-01 2.21415166e-02 2.41349289e+02] [-3.45851592e-01 9.38251792e-01 -8.38165409e-03 1.90070968e+01] [-2.36739767e-02 2.04233327e-04 9.99719711e-01 -9.14072793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30592000000001 meters Centerline goodness [0,1] 0.9998011829613798 Centerline is valid? [True, True] Translation: X:241.38, Y:19.00, Z:-0.92 [[ 9.37371742e-01 3.47645876e-01 2.18303271e-02 2.41379521e+02] [-3.47547411e-01 9.37625894e-01 -8.27532589e-03 1.89963361e+01] [-2.33455629e-02 1.69982976e-04 9.99727441e-01 -9.15033148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33592000000002 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:241.41, Y:18.99, Z:-0.91 [[ 9.37349024e-01 3.47785228e-01 2.05485286e-02 2.41410472e+02] [-3.47697785e-01 9.37574214e-01 -7.80019444e-03 1.89879249e+01] [-2.19785629e-02 1.66826782e-04 9.99758428e-01 -9.13925578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36592000000002 meters Centerline goodness [0,1] 0.9998011236513697 Centerline is valid? [True, True] Translation: X:241.44, Y:18.98, Z:-0.92 [[ 9.36902635e-01 3.48884545e-01 2.22042052e-02 2.41440668e+02] [-3.48782473e-01 9.37165699e-01 -8.44034054e-03 1.89777918e+01] [-2.37537238e-02 1.63339712e-04 9.99717827e-01 -9.15073661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39592000000002 meters Centerline goodness [0,1] 0.9997511075713077 Centerline is valid? [True, True] Translation: X:241.47, Y:18.97, Z:-0.92 [[ 9.36785435e-01 3.49253091e-01 2.13383825e-02 2.41470624e+02] [-3.49158665e-01 9.37028417e-01 -8.12239977e-03 1.89672442e+01] [-2.28314440e-02 1.58464654e-04 9.99739316e-01 -9.15355400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42592 meters Centerline goodness [0,1] 0.9998013212139274 Centerline is valid? [True, True] Translation: X:241.50, Y:18.96, Z:-0.92 [[ 9.36414399e-01 3.50063285e-01 2.41613385e-02 2.41501809e+02] [-3.49942156e-01 9.36726037e-01 -9.20975027e-03 1.89578242e+01] [-2.58565503e-02 1.69071843e-04 9.99665649e-01 -9.16490987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45592 meters Centerline goodness [0,1] 0.9998013212139274 Centerline is valid? [True, True] Translation: X:241.53, Y:18.95, Z:-0.92 [[ 9.36230971e-01 3.50553891e-01 2.41565305e-02 2.41532311e+02] [-3.50432600e-01 9.36542546e-01 -9.22235368e-03 1.89465348e+01] [-2.58565506e-02 1.69017353e-04 9.99665649e-01 -9.16519072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48592 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:241.56, Y:18.94, Z:-0.92 [[ 9.35929829e-01 3.51277705e-01 2.52849786e-02 2.41563414e+02] [-3.51144718e-01 9.36271299e-01 -9.66649937e-03 1.89387090e+01] [-2.70692255e-02 1.68478403e-04 9.99633547e-01 -9.16016581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51592 meters Centerline goodness [0,1] 0.9997515651396204 Centerline is valid? [True, True] Translation: X:241.59, Y:18.93, Z:-0.92 [[ 9.35996798e-01 3.51096388e-01 2.53242976e-02 2.41594364e+02] [-3.50962509e-01 9.36339303e-01 -9.69669028e-03 1.89285057e+01] [-2.71166081e-02 1.88192035e-04 9.99632259e-01 -9.16571431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54592 meters Centerline goodness [0,1] 0.9997518856689163 Centerline is valid? [True, True] Translation: X:241.63, Y:18.92, Z:-0.92 [[ 9.36053542e-01 3.50985272e-01 2.47609602e-02 2.41626135e+02] [-3.50856853e-01 9.36380958e-01 -9.49579991e-03 1.89180786e+01] [-2.65185776e-02 2.01024547e-04 9.99648300e-01 -9.16513151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57592 meters Centerline goodness [0,1] 0.9998510057114477 Centerline is valid? [True, True] Translation: X:241.66, Y:18.91, Z:-0.92 [[ 9.36981552e-01 3.48542112e-01 2.41654153e-02 2.41658584e+02] [-3.48418612e-01 9.37293081e-01 -9.28178529e-03 1.89111375e+01] [-2.58851696e-02 2.77181147e-04 9.99664884e-01 -9.19047868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60592 meters Centerline goodness [0,1] 0.9997020114228955 Centerline is valid? [True, True] Translation: X:241.69, Y:18.90, Z:-0.92 [[ 9.37975694e-01 3.45791976e-01 2.50899867e-02 2.41690616e+02] [-3.45657509e-01 9.38311124e-01 -9.64987462e-03 1.89041829e+01] [-2.68790628e-02 3.78805518e-04 9.99638621e-01 -9.20265860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63592 meters Centerline goodness [0,1] 0.9996521739130435 Centerline is valid? [True, True] Translation: X:241.72, Y:18.89, Z:-0.92 [[ 9.38453566e-01 3.44464464e-01 2.54781783e-02 2.41721330e+02] [-3.44324961e-01 9.38799256e-01 -9.81213258e-03 1.88939498e+01] [-2.72988259e-02 4.35458051e-04 9.99627223e-01 -9.20126202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66592 meters Centerline goodness [0,1] 0.9996524329692155 Centerline is valid? [True, True] Translation: X:241.75, Y:18.88, Z:-0.92 [[ 9.38831510e-01 3.43402832e-01 2.58822330e-02 2.41751842e+02] [-3.43258101e-01 9.39188085e-01 -9.98084623e-03 1.88834607e+01] [-2.77357357e-02 4.86046797e-04 9.99615172e-01 -9.19945337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69592 meters Centerline goodness [0,1] 0.9997017892644136 Centerline is valid? [True, True] Translation: X:241.78, Y:18.88, Z:-0.92 [[ 9.40118115e-01 3.39882228e-01 2.56515402e-02 2.41783178e+02] [-3.39738399e-01 9.40467817e-01 -9.90480531e-03 1.88761082e+01] [-2.74909153e-02 5.96873680e-04 9.99621875e-01 -9.19935544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72592 meters Centerline goodness [0,1] 0.9994538232373387 Centerline is valid? [True, True] Translation: X:241.81, Y:18.87, Z:-0.92 [[ 9.40341917e-01 3.39220120e-01 2.62066476e-02 2.41814000e+02] [-3.39069370e-01 9.40706808e-01 -1.01323375e-02 1.88664434e+01] [-2.80898646e-02 6.41990184e-04 9.99605196e-01 -9.20045375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75592 meters Centerline goodness [0,1] 0.9995529505265249 Centerline is valid? [True, True] Translation: X:241.84, Y:18.86, Z:-0.92 [[ 9.40645577e-01 3.38334365e-01 2.67536267e-02 2.41844589e+02] [-3.38176514e-01 9.41025703e-01 -1.03571665e-02 1.88559251e+01] [-2.86800357e-02 6.94974606e-04 9.99588402e-01 -9.20992173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78592 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:241.88, Y:18.84, Z:-0.92 [[ 9.40783137e-01 3.37956352e-01 2.66944472e-02 2.41875639e+02] [-3.37798611e-01 9.41161509e-01 -1.03494589e-02 1.88446679e+01] [-2.86214516e-02 7.19249190e-04 9.99590064e-01 -9.22303995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81592 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:241.91, Y:18.83, Z:-0.92 [[ 9.40436948e-01 3.38831635e-01 2.77753628e-02 2.41906829e+02] [-3.38660766e-01 9.40846737e-01 -1.07844040e-02 1.88326909e+01] [-2.97864567e-02 7.35626339e-04 9.99556014e-01 -9.23731024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84592 meters Centerline goodness [0,1] 0.9997516391814028 Centerline is valid? [True, True] Translation: X:241.94, Y:18.82, Z:-0.92 [[ 9.40285535e-01 3.39338859e-01 2.66880537e-02 2.41936655e+02] [-3.39180932e-01 9.40663937e-01 -1.03755554e-02 1.88215883e+01] [-2.86253189e-02 7.03905709e-04 9.99589964e-01 -9.22631585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87592 meters Centerline goodness [0,1] 0.9998012224817373 Centerline is valid? [True, True] Translation: X:241.97, Y:18.81, Z:-0.92 [[ 9.40113030e-01 3.39888752e-01 2.57512576e-02 2.41966761e+02] [-3.39741792e-01 9.40465412e-01 -1.00161896e-02 1.88087675e+01] [-2.76225572e-02 6.67571957e-04 9.99618201e-01 -9.20483068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.00, Y:18.80, Z:-0.92 [[ 9.39713861e-01 3.40975447e-01 2.59538842e-02 2.41997541e+02] [-3.40826173e-01 9.40071974e-01 -1.01095724e-02 1.87968985e+01] [-2.78456351e-02 6.54342288e-04 9.99612021e-01 -9.20791874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93592 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:242.03, Y:18.79, Z:-0.92 [[ 9.39322041e-01 3.41970547e-01 2.70230954e-02 2.42029045e+02] [-3.41808679e-01 9.39710435e-01 -1.05415634e-02 1.87855344e+01] [-2.89987890e-02 6.65194315e-04 9.99579225e-01 -9.22148290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96592 meters Centerline goodness [0,1] 0.9998511683286203 Centerline is valid? [True, True] Translation: X:242.06, Y:18.77, Z:-0.92 [[ 9.38953380e-01 3.42990020e-01 2.69146332e-02 2.42058774e+02] [-3.42829474e-01 9.39338827e-01 -1.05128524e-02 1.87741998e+01] [-2.88877635e-02 6.43948738e-04 9.99582454e-01 -9.22484363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99592 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:242.09, Y:18.76, Z:-0.92 [[ 9.38728375e-01 3.43470053e-01 2.85895261e-02 2.42088550e+02] [-3.43288679e-01 9.39163382e-01 -1.11814500e-02 1.87608447e+01] [-3.06907292e-02 6.81883708e-04 9.99528696e-01 -9.22966015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02592 meters Centerline goodness [0,1] 0.9997518240929171 Centerline is valid? [True, True] Translation: X:242.12, Y:18.75, Z:-0.92 [[ 9.38567351e-01 3.43916962e-01 2.85035259e-02 2.42119493e+02] [-3.43736381e-01 9.38999819e-01 -1.11642600e-02 1.87487095e+01] [-3.06043840e-02 6.80711057e-04 9.99531344e-01 -9.22473357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05592000000001 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:242.15, Y:18.74, Z:-0.92 [[ 9.38420639e-01 3.44402328e-01 2.74543204e-02 2.42149284e+02] [-3.44234598e-01 9.38821926e-01 -1.07671982e-02 1.87369072e+01] [-2.94829661e-02 6.53434095e-04 9.99565069e-01 -9.22682839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.18, Y:18.72, Z:-0.92 [[ 9.38087931e-01 3.45413681e-01 2.60849241e-02 2.42178758e+02] [-3.45262290e-01 9.38450332e-01 -1.02433429e-02 1.87245482e+01] [-2.80175964e-02 6.03015745e-04 9.99607248e-01 -9.22815685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11592000000002 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:242.21, Y:18.71, Z:-0.92 [[ 9.37463473e-01 3.47013409e-01 2.72750814e-02 2.42209066e+02] [-3.46848098e-01 9.37859978e-01 -1.07265022e-02 1.87100830e+01] [-2.93024473e-02 5.95393898e-04 9.99570414e-01 -9.24521005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14592000000002 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:242.24, Y:18.70, Z:-0.92 [[ 9.37355732e-01 3.47375013e-01 2.63596848e-02 2.42238872e+02] [-3.47220376e-01 9.37726115e-01 -1.03799205e-02 1.86982127e+01] [-2.83238899e-02 5.77058266e-04 9.99598632e-01 -9.23995750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.27, Y:18.69, Z:-0.92 [[ 9.37181392e-01 3.47933557e-01 2.51650218e-02 2.42268562e+02] [-3.47792478e-01 9.37519035e-01 -9.92224959e-03 1.86866825e+01] [-2.70449705e-02 5.46742382e-04 9.99634068e-01 -9.22798722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20592 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:242.30, Y:18.67, Z:-0.92 [[ 9.36962211e-01 3.48572710e-01 2.44720396e-02 2.42298620e+02] [-3.48439185e-01 9.37281596e-01 -9.66149223e-03 1.86747715e+01] [-2.63049249e-02 5.25435571e-04 9.99653828e-01 -9.22202161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.33, Y:18.66, Z:-0.92 [[ 9.36905500e-01 3.48612217e-01 2.60308686e-02 2.42327633e+02] [-3.48460803e-01 9.37266877e-01 -1.02893586e-02 1.86618283e+01] [-2.79848671e-02 5.69419331e-04 9.99608185e-01 -9.22308813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:242.36, Y:18.65, Z:-0.92 [[ 9.36983261e-01 3.48478648e-01 2.50000092e-02 2.42357677e+02] [-3.48338554e-01 9.37316549e-01 -9.89636484e-03 1.86485798e+01] [-2.68815941e-02 5.64261153e-04 9.99638465e-01 -9.21235186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.39, Y:18.63, Z:-0.92 [[ 9.36957040e-01 3.48516685e-01 2.54484655e-02 2.42387715e+02] [-3.48371124e-01 9.37302393e-01 -1.00888565e-02 1.86339290e+01] [-2.73690425e-02 5.87314600e-04 9.99625225e-01 -9.22511245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.42, Y:18.62, Z:-0.92 [[ 9.36883528e-01 3.48733509e-01 2.51832055e-02 2.42418431e+02] [-3.48590646e-01 9.37221742e-01 -9.99842203e-03 1.86216475e+01] [-2.70890325e-02 5.88727033e-04 9.99632851e-01 -9.22760447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.45, Y:18.61, Z:-0.92 [[ 9.36319885e-01 3.50207691e-01 2.56835883e-02 2.42448214e+02] [-3.50059233e-01 9.36671900e-01 -1.02120412e-02 1.86078642e+01] [-2.76334308e-02 5.70959996e-04 9.99617961e-01 -9.22747828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.48, Y:18.59, Z:-0.92 [[ 9.35855555e-01 3.51528486e-01 2.45377914e-02 2.42477524e+02] [-3.51393105e-01 9.36177041e-01 -9.76895694e-03 1.85949713e+01] [-2.64057836e-02 5.19921897e-04 9.99651171e-01 -9.22638187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:242.51, Y:18.58, Z:-0.92 [[ 9.34767185e-01 3.54438128e-01 2.41645032e-02 2.42506600e+02] [-3.54307483e-01 9.35079364e-01 -9.63272871e-03 1.85807602e+01] [-2.60099346e-02 4.42694393e-04 9.99661586e-01 -9.23217848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.54, Y:18.57, Z:-0.92 [[ 9.34458665e-01 3.55198403e-01 2.49218399e-02 2.42536523e+02] [-3.55059316e-01 9.34790829e-01 -9.94928813e-03 1.85673783e+01] [-2.68306787e-02 4.48467047e-04 9.99639892e-01 -9.22489591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.57, Y:18.55, Z:-0.92 [[ 9.34303004e-01 3.55592123e-01 2.51423638e-02 2.42567130e+02] [-3.55450302e-01 9.34641126e-01 -1.00522464e-02 1.85538710e+01] [-2.70735868e-02 4.54983164e-04 9.99633340e-01 -9.23369465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.60, Y:18.54, Z:-0.92 [[ 9.34113717e-01 3.56038747e-01 2.58451999e-02 2.42596966e+02] [-3.55888629e-01 9.34471075e-01 -1.03485785e-02 1.85393906e+01] [-2.78360867e-02 4.68736358e-04 9.99612391e-01 -9.24121295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:242.63, Y:18.53, Z:-0.92 [[ 9.33993965e-01 3.56435154e-01 2.46830573e-02 2.42626247e+02] [-3.56298035e-01 9.34319956e-01 -9.89598720e-03 1.85252283e+01] [-2.65891508e-02 4.48267511e-04 9.99646346e-01 -9.23405050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:242.66, Y:18.51, Z:-0.92 [[ 9.33726524e-01 3.57106643e-01 2.50923264e-02 2.42656613e+02] [-3.56964781e-01 9.34063511e-01 -1.00748108e-02 1.85116063e+01] [-2.70356083e-02 4.50041235e-04 9.99634370e-01 -9.22626357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.69, Y:18.50, Z:-0.92 [[ 9.33450522e-01 3.57749952e-01 2.61743187e-02 2.42685748e+02] [-3.57595457e-01 9.33817304e-01 -1.05228907e-02 1.84984205e+01] [-2.82065954e-02 4.62780339e-04 9.99602008e-01 -9.23614021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.71, Y:18.48, Z:-0.92 [[ 9.32700685e-01 3.59817536e-01 2.45106748e-02 2.42714824e+02] [-3.59682438e-01 9.33022610e-01 -9.86675690e-03 1.84839428e+01] [-2.64192460e-02 3.86671628e-04 9.99650876e-01 -9.22620228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.75, Y:18.47, Z:-0.92 [[ 9.32254509e-01 3.60989326e-01 2.42536093e-02 2.42745480e+02] [-3.60857063e-01 9.32569877e-01 -9.77781909e-03 1.84707892e+01] [-2.61478737e-02 3.63329732e-04 9.99658020e-01 -9.22894613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.78, Y:18.46, Z:-0.92 [[ 9.31726377e-01 3.62359928e-01 2.41089502e-02 2.42775171e+02] [-3.62229318e-01 9.32038180e-01 -9.73404157e-03 1.84567906e+01] [-2.59976886e-02 3.36494699e-04 9.99661946e-01 -9.22622299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71592 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:242.80, Y:18.44, Z:-0.92 [[ 9.31134496e-01 3.63904042e-01 2.37149421e-02 2.42804696e+02] [-3.63777846e-01 9.31436395e-01 -9.58751209e-03 1.84432911e+01] [-2.55778946e-02 3.00292673e-04 9.99672787e-01 -9.23181335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.83, Y:18.43, Z:-0.92 [[ 9.30772109e-01 3.64744718e-01 2.49914126e-02 2.42834142e+02] [-3.64604516e-01 9.31107511e-01 -1.01167753e-02 1.84314155e+01] [-2.69597323e-02 3.04430374e-04 9.99636474e-01 -9.23597587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.87, Y:18.42, Z:-0.92 [[ 9.30942022e-01 3.64294084e-01 2.52343435e-02 2.42865032e+02] [-3.64150565e-01 9.31283903e-01 -1.02302280e-02 1.84194708e+01] [-2.72271494e-02 3.34648742e-04 9.99629216e-01 -9.23005726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.90, Y:18.41, Z:-0.92 [[ 9.30489195e-01 3.65460219e-01 2.50736151e-02 2.42895640e+02] [-3.65318537e-01 9.30826907e-01 -1.01801402e-02 1.84071506e+01] [-2.70596319e-02 3.12654088e-04 9.99633772e-01 -9.22411414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.93, Y:18.39, Z:-0.92 [[ 9.30307420e-01 3.65872713e-01 2.57926644e-02 2.42926522e+02] [-3.65722511e-01 9.30664845e-01 -1.04877204e-02 1.83946869e+01] [-2.78414967e-02 3.23846124e-04 9.99612298e-01 -9.23170881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86592000000002 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:242.96, Y:18.38, Z:-0.92 [[ 9.30336956e-01 3.65806073e-01 2.56722627e-02 2.42957253e+02] [-3.65656815e-01 9.30691035e-01 -1.04542639e-02 1.83825797e+01] [-2.77171780e-02 3.38750185e-04 9.99615748e-01 -9.24405732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.99, Y:18.37, Z:-0.92 [[ 9.30236717e-01 3.65908860e-01 2.77553082e-02 2.42986977e+02] [-3.65733999e-01 9.30650613e-01 -1.13171402e-02 1.83706177e+01] [-2.99715365e-02 3.76559497e-04 9.99550682e-01 -9.24627355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.02, Y:18.36, Z:-0.92 [[ 9.29834029e-01 3.66844155e-01 2.88798332e-02 2.43016786e+02] [-3.66654808e-01 9.30282336e-01 -1.17909317e-02 1.83591461e+01] [-3.11918331e-02 3.74679838e-04 9.99513346e-01 -9.23137491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.05, Y:18.35, Z:-0.92 [[ 9.29782675e-01 3.67080253e-01 2.75002852e-02 2.43046293e+02] [-3.66908237e-01 9.30189205e-01 -1.12423090e-02 1.83474435e+01] [-2.97072981e-02 3.62822968e-04 9.99558575e-01 -9.22303504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:243.08, Y:18.33, Z:-0.92 [[ 9.29413251e-01 3.68071860e-01 2.67229103e-02 2.43075422e+02] [-3.67909432e-01 9.29797286e-01 -1.09387284e-02 1.83342986e+01] [-2.88731276e-02 3.34988425e-04 9.99583028e-01 -9.23731532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:243.11, Y:18.32, Z:-0.92 [[ 9.29313194e-01 3.68411461e-01 2.54947697e-02 2.43105388e+02] [-3.68263379e-01 9.29662784e-01 -1.04495186e-02 1.83213891e+01] [-2.75512609e-02 3.22085509e-04 9.99620340e-01 -9.23876559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:243.14, Y:18.31, Z:-0.92 [[ 9.28974403e-01 3.69195902e-01 2.64753550e-02 2.43135278e+02] [-3.69036123e-01 9.29351538e-01 -1.08655065e-02 1.83086533e+01] [-2.86164124e-02 3.23415074e-04 9.99590414e-01 -9.23762887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07592 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:243.17, Y:18.30, Z:-0.92 [[ 9.28728034e-01 3.69776405e-01 2.70120086e-02 2.43165958e+02] [-3.69609849e-01 9.29120715e-01 -1.11020701e-02 1.82960696e+01] [-2.92027004e-02 3.26899334e-04 9.99573457e-01 -9.22887120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10592 meters Centerline goodness [0,1] 0.9999006754072308 Centerline is valid? [True, True] Translation: X:243.20, Y:18.28, Z:-0.92 [[ 9.28353158e-01 3.70714897e-01 2.70347794e-02 2.43196301e+02] [-3.70547978e-01 9.28746665e-01 -1.11278291e-02 1.82827324e+01] [-2.92337132e-02 3.12872414e-04 9.99572555e-01 -9.22731707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:243.23, Y:18.27, Z:-0.92 [[ 9.27873684e-01 3.71893163e-01 2.73111947e-02 2.43226891e+02] [-3.71722833e-01 9.28275492e-01 -1.12581771e-02 1.82694053e+01] [-2.95391518e-02 2.93971619e-04 9.99563581e-01 -9.23267544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16592 meters Centerline goodness [0,1] 0.999851072279587 Centerline is valid? [True, True] Translation: X:243.26, Y:18.26, Z:-0.92 [[ 9.26791770e-01 3.74784607e-01 2.43621239e-02 2.43256343e+02] [-3.74649741e-01 9.27111892e-01 -1.00553643e-02 1.82560188e+01] [-2.63550105e-02 1.91965442e-04 9.99652628e-01 -9.22689452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:243.29, Y:18.24, Z:-0.92 [[ 9.26240489e-01 3.76178120e-01 2.38448637e-02 2.43285659e+02] [-3.76049053e-01 9.26547352e-01 -9.85461947e-03 1.82437892e+01] [-2.58004875e-02 1.60909144e-04 9.99667099e-01 -9.22639183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:243.31, Y:18.23, Z:-0.92 [[ 9.25689211e-01 3.77368209e-01 2.63195741e-02 2.43314602e+02] [-3.77211062e-01 9.26063287e-01 -1.08905321e-02 1.82308886e+01] [-2.84833319e-02 1.53213529e-04 9.99594256e-01 -9.23245974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25592 meters Centerline goodness [0,1] 0.9999502982107356 Centerline is valid? [True, True] Translation: X:243.35, Y:18.22, Z:-0.92 [[ 9.25359955e-01 3.78198353e-01 2.59799672e-02 2.43345001e+02] [-3.78045116e-01 9.25724573e-01 -1.07658920e-02 1.82184001e+01] [-2.81219367e-02 1.40725570e-04 9.99604490e-01 -9.22559305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28592 meters Centerline goodness [0,1] 0.999950295740345 Centerline is valid? [True, True] Translation: X:243.38, Y:18.21, Z:-0.92 [[ 9.25088747e-01 3.78889455e-01 2.55654456e-02 2.43375639e+02] [-3.78740894e-01 9.25441929e-01 -1.06099587e-02 1.82058641e+01] [-2.76793367e-02 1.32473631e-04 9.99616845e-01 -9.22119525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31592 meters Centerline goodness [0,1] 0.9997019374068554 Centerline is valid? [True, True] Translation: X:243.41, Y:18.19, Z:-0.92 [[ 9.24251582e-01 3.81061872e-01 2.34704917e-02 2.43405028e+02] [-3.80937039e-01 9.24549536e-01 -9.75334812e-03 1.81922030e+01] [-2.54162613e-02 7.37678006e-05 9.99676952e-01 -9.21705588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34592 meters Centerline goodness [0,1] 0.9999006211180124 Centerline is valid? [True, True] Translation: X:243.44, Y:18.18, Z:-0.92 [[ 9.24187090e-01 3.81181574e-01 2.40589091e-02 2.43435062e+02] [-3.81050054e-01 9.24500190e-01 -1.00127815e-02 1.81796371e+01] [-2.60591538e-02 8.60347903e-05 9.99660399e-01 -9.21974644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37592 meters Centerline goodness [0,1] 0.9999006211180124 Centerline is valid? [True, True] Translation: X:243.47, Y:18.17, Z:-0.92 [[ 9.23983005e-01 3.81676347e-01 2.40535480e-02 2.43465194e+02] [-3.81544660e-01 9.24296034e-01 -1.00256533e-02 1.81674358e+01] [-2.60591537e-02 8.60304262e-05 9.99660399e-01 -9.22002728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40592 meters Centerline goodness [0,1] 0.999801340948597 Centerline is valid? [True, True] Translation: X:243.50, Y:18.15, Z:-0.92 [[ 9.23936013e-01 3.81792618e-01 2.40133316e-02 2.43495730e+02] [-3.81661017e-01 9.24248012e-01 -1.00240029e-02 1.81541644e+01] [-2.60213643e-02 9.65847561e-05 9.99661382e-01 -9.21602150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43592 meters Centerline goodness [0,1] 0.9997518610421836 Centerline is valid? [True, True] Translation: X:243.53, Y:18.14, Z:-0.92 [[ 9.23802312e-01 3.82154884e-01 2.33866120e-02 2.43525828e+02] [-3.82029810e-01 9.24098282e-01 -9.77695038e-03 1.81411398e+01] [-2.53478373e-02 9.75864060e-05 9.99678687e-01 -9.21259620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46592 meters Centerline goodness [0,1] 0.999751688518077 Centerline is valid? [True, True] Translation: X:243.55, Y:18.13, Z:-0.92 [[ 9.23211731e-01 3.83668522e-01 2.18761237e-02 2.43554848e+02] [-3.83559227e-01 9.23470877e-01 -9.15741176e-03 1.81275565e+01] [-2.37153738e-02 6.34408463e-05 9.99718749e-01 -9.20451640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49592 meters Centerline goodness [0,1] 0.9997516761857462 Centerline is valid? [True, True] Translation: X:243.59, Y:18.12, Z:-0.92 [[ 9.22871461e-01 3.84510776e-01 2.14413163e-02 2.43585286e+02] [-3.84405701e-01 9.23120501e-01 -8.98870930e-03 1.81152954e+01] [-2.32491742e-02 5.32590593e-05 9.99729700e-01 -9.20138187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52592 meters Centerline goodness [0,1] 0.9996525364836693 Centerline is valid? [True, True] Translation: X:243.62, Y:18.10, Z:-0.92 [[ 9.22678350e-01 3.85056363e-01 1.99062689e-02 2.43615494e+02] [-3.84965688e-01 9.22893057e-01 -8.35610058e-03 1.81029915e+01] [-2.15889271e-02 4.67626002e-05 9.99766931e-01 -9.18821669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55592000000001 meters Centerline goodness [0,1] 0.999801429706116 Centerline is valid? [True, True] Translation: X:243.64, Y:18.09, Z:-0.92 [[ 9.22016569e-01 3.86543267e-01 2.16736938e-02 2.43643903e+02] [-3.86435902e-01 9.22271274e-01 -9.10995500e-03 1.80882064e+01] [-2.35104169e-02 2.40360352e-05 9.99723592e-01 -9.20656351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58592000000002 meters Centerline goodness [0,1] 0.9997513427491546 Centerline is valid? [True, True] Translation: X:243.67, Y:18.07, Z:-0.92 [[ 9.21764092e-01 3.87144291e-01 2.16854230e-02 2.43673815e+02] [-3.87036657e-01 9.22019142e-01 -9.12845728e-03 1.80742766e+01] [-2.35284053e-02 2.12305011e-05 9.99723169e-01 -9.20587648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61592000000002 meters Centerline goodness [0,1] 0.9998013310817523 Centerline is valid? [True, True] Translation: X:243.70, Y:18.06, Z:-0.92 [[ 9.21346184e-01 3.88213099e-01 2.02928574e-02 2.43704074e+02] [-3.88118857e-01 9.21569634e-01 -8.55351471e-03 1.80622051e+01] [-2.20218676e-02 4.70752057e-06 9.99757489e-01 -9.19571393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64592000000002 meters Centerline goodness [0,1] 0.9999006063015605 Centerline is valid? [True, True] Translation: X:243.73, Y:18.05, Z:-0.92 [[ 9.21257564e-01 3.88365090e-01 2.13788861e-02 2.43734288e+02] [-3.88260256e-01 9.21505592e-01 -9.02313268e-03 1.80501456e+01] [-2.32050328e-02 1.20574474e-05 9.99730727e-01 -9.20142296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67592 meters Centerline goodness [0,1] 0.9998013705432516 Centerline is valid? [True, True] Translation: X:243.76, Y:18.04, Z:-0.92 [[ 9.20515455e-01 3.90124040e-01 2.13197402e-02 2.43763924e+02] [-3.90019946e-01 9.20762311e-01 -9.01160229e-03 1.80358655e+01] [-2.31460559e-02 -1.98047330e-05 9.99732094e-01 -9.19675604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70592 meters Centerline goodness [0,1] 0.9998510057114477 Centerline is valid? [True, True] Translation: X:243.79, Y:18.02, Z:-0.92 [[ 9.19588803e-01 3.92309657e-01 2.12029605e-02 2.43794254e+02] [-3.92206971e-01 9.19833207e-01 -8.97567344e-03 1.80220887e+01] [-2.30244305e-02 -6.20201217e-05 9.99734901e-01 -9.19718008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:243.83, Y:18.01, Z:-0.92 [[ 9.19379480e-01 3.92819622e-01 2.08354580e-02 2.43825226e+02] [-3.92720298e-01 9.19615540e-01 -8.83326904e-03 1.80099832e+01] [-2.26304923e-02 -6.13809661e-05 9.99743896e-01 -9.18786743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76592 meters Centerline goodness [0,1] 0.9996521566289008 Centerline is valid? [True, True] Translation: X:243.86, Y:18.00, Z:-0.92 [[ 9.18961207e-01 3.93812123e-01 2.05502121e-02 2.43855929e+02] [-3.93715458e-01 9.19190952e-01 -8.72534322e-03 1.79966633e+01] [-2.23257150e-02 -7.26842459e-05 9.99750748e-01 -9.19344936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:243.89, Y:17.98, Z:-0.92 [[ 9.17976980e-01 3.96122243e-01 2.01353562e-02 2.43885916e+02] [-3.96029719e-01 9.18197776e-01 -8.56191517e-03 1.79817925e+01] [-2.18798044e-02 -1.14558440e-04 9.99760602e-01 -9.18709764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82592 meters Centerline goodness [0,1] 0.9998014099890775 Centerline is valid? [True, True] Translation: X:243.92, Y:17.97, Z:-0.92 [[ 9.17167988e-01 3.97934712e-01 2.12331420e-02 2.43915527e+02] [-3.97832034e-01 9.17413724e-01 -9.04053852e-03 1.79688348e+01] [-2.30771199e-02 -1.55531531e-04 9.99733676e-01 -9.19042048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85592 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:243.95, Y:17.96, Z:-0.92 [[ 9.15884350e-01 4.00952411e-01 1.98247517e-02 2.43945513e+02] [-4.00863345e-01 9.16098860e-01 -8.45318275e-03 1.79555260e+01] [-2.15507564e-02 -2.04878487e-04 9.99767734e-01 -9.17702362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:243.98, Y:17.94, Z:-0.92 [[ 9.15102814e-01 4.02682943e-01 2.08155543e-02 2.43975112e+02] [-4.02584939e-01 9.15339492e-01 -8.88711691e-03 1.79423884e+01] [-2.26319893e-02 -2.47402939e-04 9.99743833e-01 -9.17611444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.00, Y:17.93, Z:-0.92 [[ 9.13673633e-01 4.05965489e-01 1.98119754e-02 2.44004865e+02] [-4.05877230e-01 9.13888358e-01 -8.47015061e-03 1.79293562e+01] [-2.15445225e-02 -3.02276426e-04 9.99767844e-01 -9.16920151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:244.04, Y:17.92, Z:-0.92 [[ 9.12991879e-01 4.07537146e-01 1.89552867e-02 2.44035247e+02] [-4.07456453e-01 9.13188577e-01 -8.11556778e-03 1.79174143e+01] [-2.06171466e-02 -3.14006407e-04 9.99787395e-01 -9.16822604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.07, Y:17.91, Z:-0.92 [[ 9.12088323e-01 4.09459135e-01 2.09310219e-02 2.44065408e+02] [-4.09360988e-01 9.12328378e-01 -8.97284992e-03 1.79060091e+01] [-2.27699806e-02 -3.84312156e-04 9.99740657e-01 -9.18372623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.10, Y:17.89, Z:-0.92 [[ 9.11963826e-01 4.09676442e-01 2.20724597e-02 2.44095274e+02] [-4.09567076e-01 9.12230811e-01 -9.47405870e-03 1.78937370e+01] [-2.40164765e-02 -4.00153969e-04 9.99711483e-01 -9.18430879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.13, Y:17.88, Z:-0.92 [[ 9.12081171e-01 4.09468921e-01 2.10508997e-02 2.44125609e+02] [-4.09369290e-01 9.12323991e-01 -9.03990844e-03 1.78816029e+01] [-2.29068023e-02 -3.72461579e-04 9.99737535e-01 -9.16921302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.16, Y:17.87, Z:-0.92 [[ 9.12480000e-01 4.08545311e-01 2.17020488e-02 2.44156964e+02] [-4.08438849e-01 9.12737973e-01 -9.33269760e-03 1.78712184e+01] [-2.36211139e-02 -3.48059920e-04 9.99720922e-01 -9.16570183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09592 meters Centerline goodness [0,1] 0.9999007936507937 Centerline is valid? [True, True] Translation: X:244.19, Y:17.86, Z:-0.92 [[ 9.12606718e-01 4.08183505e-01 2.31344784e-02 2.44188415e+02] [-4.08062042e-01 9.12899833e-01 -9.96318852e-03 1.78603226e+01] [-2.51862707e-02 -3.47829706e-04 9.99682715e-01 -9.18397976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.22, Y:17.85, Z:-0.92 [[ 9.12922131e-01 4.07502657e-01 2.26885020e-02 2.44218210e+02] [-4.07385315e-01 9.13203968e-01 -9.78351407e-03 1.78492805e+01] [-2.47060381e-02 -3.11376046e-04 9.99694711e-01 -9.18568594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.25, Y:17.84, Z:-0.92 [[ 9.12661554e-01 4.08040910e-01 2.34840971e-02 2.44249361e+02] [-4.07914999e-01 9.12963587e-01 -1.01411394e-02 1.78375200e+01] [-2.55781253e-02 -3.24087430e-04 9.99672774e-01 -9.18854200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.28, Y:17.83, Z:-0.92 [[ 9.12562427e-01 4.08219623e-01 2.42189350e-02 2.44280259e+02] [-4.08085372e-01 9.12883691e-01 -1.04735552e-02 1.78253670e+01] [-2.63845815e-02 -3.25620162e-04 9.99651813e-01 -9.18875255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.31, Y:17.81, Z:-0.92 [[ 9.12450670e-01 4.08532388e-01 2.31314333e-02 2.44309880e+02] [-4.08409704e-01 9.12743772e-01 -1.00160027e-02 1.78128936e+01] [-2.52049332e-02 -3.07993466e-04 9.99682258e-01 -9.17602709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.34, Y:17.80, Z:-0.92 [[ 9.13002586e-01 4.07346298e-01 2.22547028e-02 2.44339947e+02] [-4.07232090e-01 9.13273743e-01 -9.64862157e-03 1.78025561e+01] [-2.42549660e-02 -2.53612705e-04 9.99705773e-01 -9.17773419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.37, Y:17.79, Z:-0.92 [[ 9.12877804e-01 4.07645977e-01 2.18831414e-02 2.44370993e+02] [-4.07535311e-01 9.13140021e-01 -9.50118525e-03 1.77911895e+01] [-2.38554921e-02 -2.44731691e-04 9.99715387e-01 -9.18327203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.40, Y:17.78, Z:-0.92 [[ 9.13216134e-01 4.06812207e-01 2.32404819e-02 2.44402106e+02] [-4.06686743e-01 9.13511783e-01 -1.01051896e-02 1.77797679e+01] [-2.53413685e-02 -2.23373697e-04 9.99678831e-01 -9.19694533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33592000000002 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:244.43, Y:17.77, Z:-0.92 [[ 9.13161542e-01 4.06923451e-01 2.34372361e-02 2.44432964e+02] [-4.06795508e-01 9.13462237e-01 -1.02056829e-02 1.77674480e+01] [-2.55619618e-02 -2.14725210e-04 9.99673217e-01 -9.19309854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.46, Y:17.76, Z:-0.92 [[ 9.13756433e-01 4.05607320e-01 2.30625858e-02 2.44463401e+02] [-4.05482868e-01 9.14047413e-01 -1.00484099e-02 1.77555724e+01] [-2.51560054e-02 -1.69684279e-04 9.99683523e-01 -9.18626337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.50, Y:17.74, Z:-0.92 [[ 9.13950136e-01 4.05165402e-01 2.31548012e-02 2.44495020e+02] [-4.05039436e-01 9.14243390e-01 -1.01034305e-02 1.77445443e+01] [-2.52626844e-02 -1.44575893e-04 9.99680837e-01 -9.19818496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.52, Y:17.73, Z:-0.92 [[ 9.13921103e-01 4.05275627e-01 2.23580887e-02 2.44524785e+02] [-4.05157908e-01 9.14194536e-01 -9.76833810e-03 1.77323318e+01] [-2.43985118e-02 -1.31066114e-04 9.99702303e-01 -9.19850307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.55, Y:17.72, Z:-0.92 [[ 9.14207073e-01 4.04548571e-01 2.37882565e-02 2.44554700e+02] [-4.04414716e-01 9.14516507e-01 -1.04064944e-02 1.77197932e+01] [-2.59646857e-02 -1.06630221e-04 9.99662855e-01 -9.19034668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:244.59, Y:17.71, Z:-0.92 [[ 9.14352084e-01 4.04172410e-01 2.45953169e-02 2.44585039e+02] [-4.04028759e-01 9.14682817e-01 -1.07752645e-02 1.77074290e+01] [-2.68519783e-02 -8.48297862e-05 9.99639417e-01 -9.19724832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.62, Y:17.70, Z:-0.92 [[ 9.14591721e-01 4.03550014e-01 2.58721979e-02 2.44615020e+02] [-4.03390399e-01 9.14957585e-01 -1.13491527e-02 1.76958254e+01] [-2.82519144e-02 -5.67550757e-05 9.99600833e-01 -9.20768746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54592 meters Centerline goodness [0,1] 0.9999502932697087 Centerline is valid? [True, True] Translation: X:244.65, Y:17.68, Z:-0.92 [[ 9.15384103e-01 4.01774334e-01 2.54819470e-02 2.44645051e+02] [-4.01618361e-01 9.15738710e-01 -1.11940910e-02 1.76832895e+01] [-2.78323037e-02 1.28751437e-05 9.99612606e-01 -9.21054850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57592 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:244.67, Y:17.67, Z:-0.92 [[ 9.15659645e-01 4.01185190e-01 2.48567535e-02 2.44674446e+02] [-4.01036131e-01 9.15996966e-01 -1.09352471e-02 1.76692091e+01] [-2.71557700e-02 4.45082002e-05 9.99631213e-01 -9.21646704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60592 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:244.70, Y:17.66, Z:-0.92 [[ 9.15869346e-01 4.00771054e-01 2.37887162e-02 2.44704092e+02] [-4.00634050e-01 9.16178235e-01 -1.04785567e-02 1.76557025e+01] [-2.59942063e-02 6.64191341e-05 9.99662091e-01 -9.21366320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.73, Y:17.64, Z:-0.92 [[ 9.15556114e-01 4.01467695e-01 2.40975590e-02 2.44733726e+02] [-4.01326948e-01 9.15873182e-01 -1.06298932e-02 1.76422054e+01] [-2.63378668e-02 6.12638957e-05 9.99653096e-01 -9.22427094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:244.76, Y:17.63, Z:-0.92 [[ 9.14981155e-01 4.02815786e-01 2.34292236e-02 2.44762330e+02] [-4.02682846e-01 9.15281073e-01 -1.03481236e-02 1.76281634e+01] [-2.56127124e-02 3.37916532e-05 9.99671940e-01 -9.21476887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:244.79, Y:17.62, Z:-0.92 [[ 9.14848180e-01 4.03003852e-01 2.53121014e-02 2.44791744e+02] [-4.02848366e-01 9.15198281e-01 -1.11937677e-02 1.76153203e+01] [-2.76767232e-02 4.36593399e-05 9.99616925e-01 -9.22050973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.82, Y:17.60, Z:-0.92 [[ 9.14632384e-01 4.03653627e-01 2.26130857e-02 2.44820734e+02] [-4.03529427e-01 9.14911880e-01 -1.00126655e-02 1.76013955e+01] [-2.47306295e-02 3.28625503e-05 9.99694151e-01 -9.21460644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75592 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:244.85, Y:17.59, Z:-0.92 [[ 9.14797602e-01 4.03292233e-01 2.23768081e-02 2.44850273e+02] [-4.03170159e-01 9.15071239e-01 -9.92225408e-03 1.75877628e+01] [-2.44779415e-02 5.51929624e-05 9.99700369e-01 -9.22483781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.88, Y:17.57, Z:-0.92 [[ 9.15315400e-01 4.02162227e-01 2.15235236e-02 2.44880980e+02] [-4.02048652e-01 9.15568421e-01 -9.55755997e-03 1.75744601e+01] [-2.35499481e-02 9.46781718e-05 9.99722657e-01 -9.23519061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81592 meters Centerline goodness [0,1] 0.9998510648860647 Centerline is valid? [True, True] Translation: X:244.91, Y:17.56, Z:-0.92 [[ 9.15717498e-01 4.01279025e-01 2.08951757e-02 2.44910849e+02] [-4.01171454e-01 9.15955855e-01 -9.29173470e-03 1.75613797e+01] [-2.28676368e-02 1.26056024e-04 9.99738493e-01 -9.22575768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84592 meters Centerline goodness [0,1] 0.9998511387882697 Centerline is valid? [True, True] Translation: X:244.94, Y:17.55, Z:-0.92 [[ 9.17022661e-01 3.98209779e-01 2.23251199e-02 2.44939457e+02] [-3.98085763e-01 9.17294347e-01 -9.94011089e-03 1.75472233e+01] [-2.44369557e-02 2.27994552e-04 9.99701347e-01 -9.24033668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.97, Y:17.53, Z:-0.92 [[ 9.17553675e-01 3.96912080e-01 2.35807923e-02 2.44968249e+02] [-3.96772955e-01 9.17856589e-01 -1.05121386e-02 1.75333127e+01] [-2.58161803e-02 2.89230755e-04 9.99666665e-01 -9.24623781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90592 meters Centerline goodness [0,1] 0.9999007247096198 Centerline is valid? [True, True] Translation: X:245.00, Y:17.52, Z:-0.92 [[ 9.17702068e-01 3.96562443e-01 2.36884622e-02 2.44997748e+02] [-3.96421545e-01 9.18007696e-01 -1.05748946e-02 1.75189049e+01] [-2.59397966e-02 3.13985888e-04 9.99663458e-01 -9.24227495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.03, Y:17.50, Z:-0.92 [[ 9.18295028e-01 3.95097257e-01 2.51475307e-02 2.45026007e+02] [-3.94937537e-01 9.18639214e-01 -1.12399429e-02 1.75037539e+01] [-2.75423784e-02 3.89879803e-04 9.99620561e-01 -9.23545471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.06, Y:17.49, Z:-0.92 [[ 9.18246839e-01 3.95208161e-01 2.51644938e-02 2.45055619e+02] [-3.95047834e-01 9.18591502e-01 -1.12632289e-02 1.74893832e+01] [-2.75672101e-02 4.01245551e-04 9.99619872e-01 -9.22789984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.08, Y:17.47, Z:-0.92 [[ 9.18515881e-01 3.94626969e-01 2.44567206e-02 2.45084241e+02] [-3.94474924e-01 9.18841324e-01 -1.09615857e-02 1.74718185e+01] [-2.67975829e-02 4.20827557e-04 9.99640792e-01 -9.22829633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:245.11, Y:17.46, Z:-0.92 [[ 9.18786039e-01 3.93970672e-01 2.48862194e-02 2.45112297e+02] [-3.93812629e-01 9.19122896e-01 -1.11676250e-02 1.74567648e+01] [-2.72732108e-02 4.60150457e-04 9.99627911e-01 -9.22768454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.14, Y:17.44, Z:-0.92 [[ 9.19614448e-01 3.92116345e-01 2.35380237e-02 2.45140732e+02] [-3.91973982e-01 9.19915497e-01 -1.05771370e-02 1.74402883e+01] [-2.58004610e-02 5.00595120e-04 9.99666987e-01 -9.22169791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.17, Y:17.43, Z:-0.92 [[ 9.19826714e-01 3.91581492e-01 2.41402337e-02 2.45168820e+02] [-3.91431221e-01 9.20143273e-01 -1.08607834e-02 1.74253724e+01] [-2.64653554e-02 5.40797592e-04 9.99649585e-01 -9.22256768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.20, Y:17.41, Z:-0.92 [[ 9.20510250e-01 3.89892643e-01 2.53890994e-02 2.45195478e+02] [-3.89725395e-01 9.20860102e-01 -1.14363395e-02 1.74063394e+01] [-2.78387533e-02 6.32490959e-04 9.99612227e-01 -9.22420398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14592000000002 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:245.22, Y:17.39, Z:-0.92 [[ 9.20919092e-01 3.88933193e-01 2.52783852e-02 2.45223128e+02] [-3.88766690e-01 9.21265717e-01 -1.13990694e-02 1.73905654e+01] [-2.77215861e-02 6.70226519e-04 9.99615458e-01 -9.23182754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17592 meters Centerline goodness [0,1] 0.9999008575819164 Centerline is valid? [True, True] Translation: X:245.25, Y:17.37, Z:-0.92 [[ 9.20702973e-01 3.89395390e-01 2.60243247e-02 2.45252033e+02] [-3.89218645e-01 9.21070439e-01 -1.17512871e-02 1.73748641e+01] [-2.85461332e-02 6.90292553e-04 9.99592238e-01 -9.23484362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:245.28, Y:17.36, Z:-0.92 [[ 9.20076183e-01 3.90930284e-01 2.51660449e-02 2.45279187e+02] [-3.90765209e-01 9.20420073e-01 -1.13771973e-02 1.73574921e+01] [-2.76110239e-02 6.33873418e-04 9.99618542e-01 -9.23312962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.31, Y:17.34, Z:-0.92 [[ 9.19850000e-01 3.91498417e-01 2.45960716e-02 2.45307174e+02] [-3.91340580e-01 9.20178576e-01 -1.11327884e-02 1.73421082e+01] [-2.69912471e-02 6.15054464e-04 9.99635481e-01 -9.23567326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.34, Y:17.33, Z:-0.92 [[ 9.19649229e-01 3.91970162e-01 2.45903831e-02 2.45336904e+02] [-3.91812158e-01 9.19977725e-01 -1.11453472e-02 1.73289854e+01] [-2.69912483e-02 6.14998842e-04 9.99635481e-01 -9.23595413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29592 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:245.36, Y:17.31, Z:-0.92 [[ 9.19089482e-01 3.93157125e-01 2.64952609e-02 2.45364183e+02] [-3.92973761e-01 9.19471080e-01 -1.20231219e-02 1.73123876e+01] [-2.90886022e-02 6.38382600e-04 9.99576633e-01 -9.22782875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.39, Y:17.30, Z:-0.92 [[ 9.18601102e-01 3.94316069e-01 2.62078943e-02 2.45392613e+02] [-3.94136907e-01 9.18974687e-01 -1.19005825e-02 1.72968809e+01] [-2.87769824e-02 6.02389823e-04 9.99585675e-01 -9.22562368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.42, Y:17.28, Z:-0.92 [[ 9.17665382e-01 3.96494567e-01 2.61209533e-02 2.45419015e+02] [-3.96317069e-01 9.18036906e-01 -1.18751708e-02 1.72783302e+01] [-2.86884398e-02 5.45253496e-04 9.99588253e-01 -9.22308012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.45, Y:17.26, Z:-0.92 [[ 9.17573143e-01 3.96775594e-01 2.50729981e-02 2.45446888e+02] [-3.96611784e-01 9.17915492e-01 -1.14124021e-02 1.72630634e+01] [-2.75430560e-02 5.27467183e-04 9.99620479e-01 -9.22086477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41592 meters Centerline goodness [0,1] 0.9999007936507937 Centerline is valid? [True, True] Translation: X:245.48, Y:17.25, Z:-0.92 [[ 9.16474481e-01 3.99254017e-01 2.58989608e-02 2.45475236e+02] [-3.99079761e-01 9.16840224e-01 -1.18045609e-02 1.72466411e+01] [-2.84582274e-02 4.82827771e-04 9.99594866e-01 -9.22386293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.50, Y:17.23, Z:-0.92 [[ 9.16105252e-01 4.00018844e-01 2.71310287e-02 2.45503626e+02] [-3.99827497e-01 9.16506781e-01 -1.23811368e-02 1.72321190e+01] [-2.98184598e-02 4.94693118e-04 9.99555208e-01 -9.23314346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:245.53, Y:17.22, Z:-0.92 [[ 9.15832961e-01 4.00686535e-01 2.64629392e-02 2.45531960e+02] [-4.00504349e-01 9.16215081e-01 -1.20909740e-02 1.72170890e+01] [-2.90904344e-02 4.74790289e-04 9.99576671e-01 -9.23365512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:245.56, Y:17.20, Z:-0.92 [[ 9.14683277e-01 4.03326443e-01 2.61205521e-02 2.45559209e+02] [-4.03149597e-01 9.15056075e-01 -1.19491149e-02 1.71999391e+01] [-2.87211640e-02 3.99165547e-04 9.99587383e-01 -9.22981528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53592 meters Centerline goodness [0,1] 0.9999504017458586 Centerline is valid? [True, True] Translation: X:245.59, Y:17.19, Z:-0.92 [[ 9.13861834e-01 4.05117320e-01 2.71386307e-02 2.45588441e+02] [-4.04926692e-01 9.14264633e-01 -1.24320208e-02 1.71855312e+01] [-2.98483172e-02 3.71993356e-04 9.99554371e-01 -9.23081336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.62, Y:17.17, Z:-0.92 [[ 9.12726856e-01 4.07608521e-01 2.80174973e-02 2.45617448e+02] [-4.07405956e-01 9.13156719e-01 -1.28527688e-02 1.71699922e+01] [-3.08232640e-02 3.16571984e-04 9.99524800e-01 -9.24338427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.65, Y:17.16, Z:-0.92 [[ 9.12068345e-01 4.09096882e-01 2.77682532e-02 2.45645852e+02] [-4.08898113e-01 9.12490912e-01 -1.27541757e-02 1.71557201e+01] [-3.05559722e-02 2.78293621e-04 9.99533019e-01 -9.24389748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62592 meters Centerline goodness [0,1] 0.9999504189597898 Centerline is valid? [True, True] Translation: X:245.68, Y:17.14, Z:-0.92 [[ 9.11343219e-01 4.10792004e-01 2.65229644e-02 2.45675065e+02] [-4.10610950e-01 9.11729060e-01 -1.21970992e-02 1.71429237e+01] [-2.91922283e-02 2.25124063e-04 9.99573791e-01 -9.24402963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.71, Y:17.13, Z:-0.92 [[ 9.11148615e-01 4.11203672e-01 2.68279903e-02 2.45705401e+02] [-4.11018099e-01 9.11543464e-01 -1.23545653e-02 1.71302106e+01] [-2.95351218e-02 2.30055471e-04 9.99563717e-01 -9.24492127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.73, Y:17.12, Z:-0.92 [[ 9.11307657e-01 4.10787390e-01 2.77862486e-02 2.45734254e+02] [-4.10587644e-01 9.11731128e-01 -1.28116094e-02 1.71156246e+01] [-3.05964353e-02 2.66627417e-04 9.99531784e-01 -9.24898498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71592 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:245.76, Y:17.10, Z:-0.92 [[ 9.11535505e-01 4.10358020e-01 2.66330215e-02 2.45763614e+02] [-4.10174166e-01 9.11924459e-01 -1.22855094e-02 1.71012849e+01] [-2.93287611e-02 2.74500660e-04 9.99569782e-01 -9.23774725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.79, Y:17.09, Z:-0.92 [[ 9.11615057e-01 4.10124313e-01 2.74961020e-02 2.45792852e+02] [-4.09927782e-01 9.12029580e-01 -1.26987793e-02 1.70877081e+01] [-3.02853365e-02 3.04982327e-04 9.99541247e-01 -9.24274945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.82, Y:17.07, Z:-0.92 [[ 9.11846871e-01 4.09638346e-01 2.70501324e-02 2.45823244e+02] [-4.09447411e-01 9.12247946e-01 -1.25100765e-02 1.70742909e+01] [-2.98010348e-02 3.31667450e-04 9.99555796e-01 -9.24418847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.85, Y:17.06, Z:-0.92 [[ 9.11427299e-01 4.10557055e-01 2.72613823e-02 2.45853383e+02] [-4.10363007e-01 9.11834855e-01 -1.26253852e-02 1.70601085e+01] [-3.00413196e-02 3.20057896e-04 9.99548606e-01 -9.24879923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.88, Y:17.05, Z:-0.92 [[ 9.10322636e-01 4.13122953e-01 2.53401610e-02 2.45882005e+02] [-4.12955887e-01 9.10675229e-01 -1.17500221e-02 1.70462761e+01] [-2.79308607e-02 2.31942442e-04 9.99609831e-01 -9.23323493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.91, Y:17.03, Z:-0.92 [[ 9.09805244e-01 4.14179937e-01 2.66345404e-02 2.45911283e+02] [-4.13995373e-01 9.10194996e-01 -1.23653084e-02 1.70332350e+01] [-2.93640881e-02 2.23445943e-04 9.99568757e-01 -9.23527438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.94, Y:17.02, Z:-0.92 [[ 9.08412347e-01 4.17324929e-01 2.50381994e-02 2.45940145e+02] [-4.17162631e-01 9.08757331e-01 -1.16383570e-02 1.70188014e+01] [-2.76106237e-02 1.27426057e-04 9.99618746e-01 -9.22975314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.97, Y:17.00, Z:-0.92 [[ 9.07734843e-01 4.18901359e-01 2.32186764e-02 2.45969134e+02] [-4.18761974e-01 9.08031742e-01 -1.08057695e-02 1.70046695e+01] [-2.56098467e-02 8.56746550e-05 9.99672010e-01 -9.22662773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.00, Y:16.99, Z:-0.92 [[ 9.06356505e-01 4.21861216e-01 2.34733926e-02 2.45999220e+02] [-4.21719353e-01 9.06660418e-01 -1.09395347e-02 1.69911794e+01] [-2.58973614e-02 1.59344399e-05 9.99664607e-01 -9.23669198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.03, Y:16.98, Z:-0.92 [[ 9.05614526e-01 4.23451994e-01 2.34678433e-02 2.46029359e+02] [-4.23310338e-01 9.05918544e-01 -1.09521522e-02 1.69778329e+01] [-2.58976651e-02 -1.57525458e-05 9.99664599e-01 -9.23387008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.06, Y:16.96, Z:-0.92 [[ 9.04069988e-01 4.26774270e-01 2.28293485e-02 2.46059269e+02] [-4.26640905e-01 9.04358178e-01 -1.06688248e-02 1.69644019e+01] [-2.51990879e-02 -9.45695519e-05 9.99682448e-01 -9.24211169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.09, Y:16.95, Z:-0.92 [[ 9.02866710e-01 4.29308639e-01 2.29302501e-02 2.46089254e+02] [-4.29174538e-01 9.03157832e-01 -1.07306416e-02 1.69501028e+01] [-2.53163921e-02 -1.52740449e-04 9.99679477e-01 -9.23383586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.12, Y:16.94, Z:-0.92 [[ 9.01669830e-01 4.31828917e-01 2.27003068e-02 2.46119312e+02] [-4.31697925e-01 9.01955511e-01 -1.06375833e-02 1.69361815e+01] [-2.50682829e-02 -2.08087449e-04 9.99685720e-01 -9.24397456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10592 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:246.15, Y:16.92, Z:-0.92 [[ 8.98885063e-01 4.37666259e-01 2.13046902e-02 2.46148986e+02] [-4.37552239e-01 8.99137438e-01 -9.99533707e-03 1.69245803e+01] [-2.35304664e-02 -3.37255716e-04 9.99723063e-01 -9.22338780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:246.18, Y:16.91, Z:-0.92 [[ 8.97911200e-01 4.39647053e-01 2.15857843e-02 2.46178669e+02] [-4.39530293e-01 8.98170541e-01 -1.01390418e-02 1.69132561e+01] [-2.38453154e-02 -3.83646935e-04 9.99715586e-01 -9.21881300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.21, Y:16.90, Z:-0.92 [[ 8.95902760e-01 4.43827368e-01 1.93781163e-02 2.46208280e+02] [-4.43734021e-01 8.96112202e-01 -9.11264211e-03 1.69005476e+01] [-2.14094065e-02 -4.34688257e-04 9.99770698e-01 -9.20792303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.24, Y:16.89, Z:-0.92 [[ 8.95332352e-01 4.44929421e-01 2.04399167e-02 2.46238403e+02] [-4.44825598e-01 8.95565510e-01 -9.62311227e-03 1.68882207e+01] [-2.25868902e-02 -4.76314412e-04 9.99744770e-01 -9.19965666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.27, Y:16.88, Z:-0.92 [[ 8.94112289e-01 4.47382364e-01 2.03035956e-02 2.46270013e+02] [-4.47280304e-01 8.94342633e-01 -9.56996647e-03 1.68796805e+01] [-2.24398053e-02 -5.24773786e-04 9.99748058e-01 -9.18807235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.30, Y:16.87, Z:-0.92 [[ 8.93715846e-01 4.48173922e-01 2.03007886e-02 2.46301917e+02] [-4.48071814e-01 8.93946224e-01 -9.58117347e-03 1.68690374e+01] [-2.24418454e-02 -5.33364608e-04 9.99748008e-01 -9.18693563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.34, Y:16.86, Z:-0.92 [[ 8.93261586e-01 4.49056669e-01 2.07809127e-02 2.46335021e+02] [-4.48949616e-01 8.93503104e-01 -9.82062264e-03 1.68610910e+01] [-2.29778261e-02 -5.57197797e-04 9.99735820e-01 -9.17556139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.37, Y:16.85, Z:-0.92 [[ 8.93159878e-01 4.49284329e-01 2.02243263e-02 2.46365819e+02] [-4.49182745e-01 8.93388663e-01 -9.56864865e-03 1.68512153e+01] [-2.23672278e-02 -5.38085367e-04 9.99749677e-01 -9.16716994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.40, Y:16.84, Z:-0.92 [[ 8.93170639e-01 4.49308921e-01 1.91755732e-02 2.46397665e+02] [-4.49217383e-01 8.93376316e-01 -9.08297468e-03 1.68442030e+01] [-2.12120645e-02 -5.01354512e-04 9.99774873e-01 -9.17172767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.43, Y:16.83, Z:-0.92 [[ 8.93258397e-01 4.49129422e-01 1.92924569e-02 2.46428886e+02] [-4.49036468e-01 8.93466576e-01 -9.15028788e-03 1.68330794e+01] [-2.13468289e-02 -4.89445239e-04 9.99772011e-01 -9.17019545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.46, Y:16.82, Z:-0.92 [[ 8.94004677e-01 4.47626259e-01 1.96562736e-02 2.46458669e+02] [-4.47529311e-01 8.94220623e-01 -9.32703930e-03 1.68218794e+01] [-2.17520729e-02 -4.58341804e-04 9.99763291e-01 -9.17361204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.49, Y:16.81, Z:-0.92 [[ 8.95881359e-01 4.43796809e-01 2.09995833e-02 2.46490061e+02] [-4.43684955e-01 8.96127359e-01 -9.97077875e-03 1.68118140e+01] [-2.32433010e-02 -3.84564371e-04 9.99729764e-01 -9.18499433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46592 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:246.52, Y:16.80, Z:-0.92 [[ 8.96362881e-01 4.42898026e-01 1.93629383e-02 2.46520293e+02] [-4.42802494e-01 8.96571934e-01 -9.20422546e-03 1.68002018e+01] [-2.14368004e-02 -3.23631335e-04 9.99770153e-01 -9.18302694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49592 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:246.55, Y:16.79, Z:-0.92 [[ 8.97170054e-01 4.41228040e-01 2.00925715e-02 2.46551782e+02] [-4.41124466e-01 8.97394973e-01 -9.56391878e-03 1.67891445e+01] [-2.22508417e-02 -2.82863326e-04 9.99752379e-01 -9.18435657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.58, Y:16.78, Z:-0.92 [[ 8.96958829e-01 4.41632098e-01 2.06385454e-02 2.46582391e+02] [-4.41522621e-01 8.97196192e-01 -9.83713368e-03 1.67759039e+01] [-2.28612183e-02 -2.88880741e-04 9.99738606e-01 -9.18688717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.61, Y:16.76, Z:-0.92 [[ 8.96777209e-01 4.41997717e-01 2.07039940e-02 2.46613665e+02] [-4.41887337e-01 8.97016129e-01 -9.88157524e-03 1.67640094e+01] [-2.29394503e-02 -2.87261342e-04 9.99736815e-01 -9.18430283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.64, Y:16.75, Z:-0.92 [[ 8.96559441e-01 4.42463170e-01 2.01869010e-02 2.46643998e+02] [-4.42358062e-01 8.96786633e-01 -9.64782848e-03 1.67509251e+01] [-2.23721517e-02 -2.79986670e-04 9.99749673e-01 -9.18500073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.67, Y:16.74, Z:-0.92 [[ 8.96509901e-01 4.42644898e-01 1.83164015e-02 2.46673476e+02] [-4.42558196e-01 8.96696957e-01 -8.76418400e-03 1.67379883e+01] [-2.03036828e-02 -2.48895877e-04 9.99793828e-01 -9.18697508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64592000000002 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:246.70, Y:16.73, Z:-0.92 [[ 8.96138935e-01 4.43405644e-01 1.80677769e-02 2.46703407e+02] [-4.43321203e-01 8.96321020e-01 -8.65677908e-03 1.67251535e+01] [-2.00329929e-02 -2.52151807e-04 9.99799288e-01 -9.18287812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.73, Y:16.71, Z:-0.92 [[ 8.95769182e-01 4.44103305e-01 1.92308767e-02 2.46733979e+02] [-4.44007569e-01 8.95975546e-01 -9.22498426e-03 1.67144071e+01] [-2.13272412e-02 -2.75198184e-04 9.99772511e-01 -9.17845949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.76, Y:16.70, Z:-0.92 [[ 8.95406354e-01 4.44831445e-01 1.92989042e-02 2.46764263e+02] [-4.44734933e-01 8.95614262e-01 -9.27000994e-03 1.67020547e+01] [-2.14079657e-02 -2.82471056e-04 9.99770783e-01 -9.17332748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.79, Y:16.69, Z:-0.92 [[ 8.95340346e-01 4.45029689e-01 1.77268280e-02 2.46793523e+02] [-4.44948103e-01 8.95515779e-01 -8.52494611e-03 1.66894478e+01] [-1.96685083e-02 -2.54790311e-04 9.99806524e-01 -9.15630440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:246.82, Y:16.68, Z:-0.92 [[ 8.94642842e-01 4.46338246e-01 1.99086904e-02 2.46822720e+02] [-4.46235411e-01 8.94864277e-01 -9.58556700e-03 1.66769206e+01] [-2.20939810e-02 -3.08303736e-04 9.99755851e-01 -9.16679702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:246.85, Y:16.67, Z:-0.92 [[ 8.93521636e-01 4.48607891e-01 1.92365549e-02 2.46854103e+02] [-4.48512145e-01 8.93728619e-01 -9.27427579e-03 1.66654224e+01] [-2.13527729e-02 -3.41062428e-04 9.99771945e-01 -9.16713911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.88, Y:16.65, Z:-0.92 [[ 8.93208894e-01 4.49207427e-01 1.97625469e-02 2.46884212e+02] [-4.49106242e-01 8.93427424e-01 -9.54052376e-03 1.66529221e+01] [-2.19420755e-02 -3.53802464e-04 9.99759181e-01 -9.17108617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.91, Y:16.64, Z:-0.92 [[ 8.93033490e-01 4.49583597e-01 1.91252538e-02 2.46913875e+02] [-4.49488830e-01 8.93238193e-01 -9.23705242e-03 1.66392613e+01] [-2.12362343e-02 -3.47590768e-04 9.99774425e-01 -9.16496508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.94, Y:16.63, Z:-0.92 [[ 8.92602861e-01 4.50484428e-01 1.79975931e-02 2.46943693e+02] [-4.50400466e-01 8.92784222e-01 -8.70369824e-03 1.66256707e+01] [-1.99888476e-02 -3.37178351e-04 9.99800146e-01 -9.15500581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.97, Y:16.61, Z:-0.92 [[ 8.92039185e-01 4.51613935e-01 1.76336903e-02 2.46973218e+02] [-4.51533332e-01 8.92213391e-01 -8.53903684e-03 1.66116330e+01] [-1.95893627e-02 -3.45043471e-04 9.99808050e-01 -9.15620130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:247.00, Y:16.60, Z:-0.92 [[ 8.91238506e-01 4.53163333e-01 1.83553404e-02 2.47001951e+02] [-4.53076114e-01 8.91427420e-01 -8.89886734e-03 1.65975230e+01] [-2.03950941e-02 -3.85353069e-04 9.99791924e-01 -9.16068994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:247.03, Y:16.58, Z:-0.92 [[ 8.90820665e-01 4.53954719e-01 1.90697782e-02 2.47031091e+02] [-4.53860532e-01 8.91024660e-01 -9.25590057e-03 1.65834494e+01] [-2.11934024e-02 -4.09672199e-04 9.99775311e-01 -9.16180088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.06, Y:16.57, Z:-0.92 [[ 8.89878314e-01 4.55733654e-01 2.05772538e-02 2.47059829e+02] [-4.55624198e-01 8.90116065e-01 -9.99910779e-03 1.65692170e+01] [-2.28730741e-02 -4.77505559e-04 9.99738263e-01 -9.15599358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.09, Y:16.56, Z:-0.92 [[ 8.88998591e-01 4.57490272e-01 1.95998951e-02 2.47089342e+02] [-4.57391124e-01 8.89214493e-01 -9.53653934e-03 1.65554060e+01] [-2.17913848e-02 -4.86848034e-04 9.99762421e-01 -9.15006159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.12, Y:16.54, Z:-0.91 [[ 8.87998913e-01 4.59485133e-01 1.82028509e-02 2.47119038e+02] [-4.59399801e-01 8.88185327e-01 -8.86835780e-03 1.65405136e+01] [-2.02423836e-02 -4.87293991e-04 9.99794983e-01 -9.14002423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.15, Y:16.53, Z:-0.91 [[ 8.86943185e-01 4.61506877e-01 1.85253540e-02 2.47148346e+02] [-4.61418722e-01 8.87136470e-01 -9.03578331e-03 1.65267517e+01] [-2.06045933e-02 -5.33718730e-04 9.99787560e-01 -9.13365473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.18, Y:16.51, Z:-0.91 [[ 8.85589891e-01 4.64024516e-01 2.02927078e-02 2.47178173e+02] [-4.63919140e-01 8.85822127e-01 -9.90914754e-03 1.65137010e+01] [-2.25738169e-02 -6.38734653e-04 9.99744975e-01 -9.13624901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.21, Y:16.50, Z:-0.91 [[ 8.84927260e-01 4.65258428e-01 2.09365443e-02 2.47207092e+02] [-4.65146335e-01 8.85174633e-01 -1.02350412e-02 1.65004556e+01] [-2.32944371e-02 -6.81289926e-04 9.99728416e-01 -9.13480837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.24, Y:16.49, Z:-0.91 [[ 8.84692881e-01 4.65704180e-01 2.09314099e-02 2.47236436e+02] [-4.65591963e-01 8.84940197e-01 -1.02455371e-02 1.64864485e+01] [-2.32944354e-02 -6.81342522e-04 9.99728416e-01 -9.13508929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.27, Y:16.47, Z:-0.91 [[ 8.83237482e-01 4.68518079e-01 1.95540158e-02 2.47265820e+02] [-4.68420603e-01 8.83453635e-01 -9.58198495e-03 1.64741977e+01] [-2.17643995e-02 -6.96335581e-04 9.99762885e-01 -9.12089517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.30, Y:16.46, Z:-0.91 [[ 8.82496433e-01 4.69905722e-01 1.97144220e-02 2.47295494e+02] [-4.69806748e-01 8.82716310e-01 -9.67134633e-03 1.64615499e+01] [-2.19468629e-02 -7.27039879e-04 9.99758874e-01 -9.12391714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.33, Y:16.45, Z:-0.91 [[ 8.82121438e-01 4.70658857e-01 1.84934903e-02 2.47326020e+02] [-4.70571695e-01 8.82315003e-01 -9.08379254e-03 1.64491891e+01] [-2.05924514e-02 -6.89504960e-04 9.99787715e-01 -9.11541271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.36, Y:16.44, Z:-0.91 [[ 8.81180948e-01 4.72375056e-01 1.95433758e-02 2.47356193e+02] [-4.72277903e-01 8.81397315e-01 -9.61018959e-03 1.64375800e+01] [-2.17650928e-02 -7.61588546e-04 9.99762822e-01 -9.11703299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.39, Y:16.43, Z:-0.91 [[ 8.81309124e-01 4.72177193e-01 1.85182887e-02 2.47386829e+02] [-4.72089715e-01 8.81503373e-01 -9.11614431e-03 1.64267272e+01] [-2.06283693e-02 -7.08152453e-04 9.99786962e-01 -9.11552491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.42, Y:16.42, Z:-0.91 [[ 8.81532467e-01 4.71753308e-01 1.86902589e-02 2.47417199e+02] [-4.71663891e-01 8.81730306e-01 -9.21095970e-03 1.64151643e+01] [-2.08250684e-02 -6.95760213e-04 9.99782893e-01 -9.11251575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.45, Y:16.40, Z:-0.91 [[ 8.81560693e-01 4.71655349e-01 1.97983843e-02 2.47448217e+02] [-4.71554717e-01 8.81782688e-01 -9.76939110e-03 1.64035760e+01] [-2.20656581e-02 -7.23710308e-04 9.99756262e-01 -9.10863167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.48, Y:16.39, Z:-0.91 [[ 8.82044259e-01 4.70795297e-01 1.87006095e-02 2.47479480e+02] [-4.70705240e-01 8.82242230e-01 -9.23168239e-03 1.63930533e+01] [-2.08447001e-02 -6.59722415e-04 9.99782508e-01 -9.10566179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.51, Y:16.38, Z:-0.91 [[ 8.81313208e-01 4.72194260e-01 1.78776600e-02 2.47510159e+02] [-4.72112026e-01 8.81494274e-01 -8.83632469e-03 1.63799475e+01] [-1.99315167e-02 -6.52688601e-04 9.99801135e-01 -9.10284468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.54, Y:16.37, Z:-0.91 [[ 8.80373653e-01 4.73942716e-01 1.79034085e-02 2.47540948e+02] [-4.73860408e-01 8.80555412e-01 -8.85891973e-03 1.63700269e+01] [-1.99635637e-02 -6.84556934e-04 9.99800474e-01 -9.11080340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.57, Y:16.36, Z:-0.91 [[ 8.79933947e-01 4.74802071e-01 1.67105499e-02 2.47571342e+02] [-4.74730327e-01 8.80092366e-01 -8.27908647e-03 1.63581152e+01] [-1.86377548e-02 -6.47955576e-04 9.99826092e-01 -9.10234530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.60, Y:16.35, Z:-0.91 [[ 8.79461835e-01 4.75663052e-01 1.70745599e-02 2.47601937e+02] [-4.75588130e-01 8.79627312e-01 -8.46889337e-03 1.63483143e+01] [-1.90475889e-02 -6.72389503e-04 9.99818352e-01 -9.11091107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.63, Y:16.34, Z:-0.91 [[ 8.79542839e-01 4.75576791e-01 1.52022890e-02 2.47632507e+02] [-4.75517247e-01 8.79674012e-01 -7.54852006e-03 1.63372487e+01] [-1.69629595e-02 -5.89703840e-04 9.99855945e-01 -9.09901322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.66, Y:16.33, Z:-0.91 [[ 8.79952073e-01 4.74775015e-01 1.65237453e-02 2.47662816e+02] [-4.74704357e-01 8.80106986e-01 -8.21383742e-03 1.63260868e+01] [-1.84423884e-02 -6.16110610e-04 9.99829735e-01 -9.10602006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.69, Y:16.32, Z:-0.91 [[ 8.81320929e-01 4.72240745e-01 1.61894846e-02 2.47693957e+02] [-4.72172328e-01 8.81469445e-01 -8.05667274e-03 1.63161574e+01] [-1.80752251e-02 -5.43712315e-04 9.99836482e-01 -9.10336361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.72, Y:16.30, Z:-0.91 [[ 8.82784099e-01 4.69480659e-01 1.67375413e-02 2.47724180e+02] [-4.69406859e-01 8.82942617e-01 -8.33881736e-03 1.63042646e+01] [-1.86932020e-02 -4.95341317e-04 9.99825144e-01 -9.10648630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.75, Y:16.29, Z:-0.91 [[ 8.83271520e-01 4.68553641e-01 1.69972522e-02 2.47753798e+02] [-4.68477178e-01 8.83434921e-01 -8.47781904e-03 1.62920315e+01] [-1.89882792e-02 -4.74608639e-04 9.99819594e-01 -9.10736624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.78, Y:16.28, Z:-0.91 [[ 8.83391927e-01 4.68354131e-01 1.62206918e-02 2.47783434e+02] [-4.68284297e-01 8.83540725e-01 -8.09964184e-03 1.62794383e+01] [-1.81251425e-02 -4.40737042e-04 9.99835629e-01 -9.10102919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.81, Y:16.27, Z:-0.91 [[ 8.83606327e-01 4.67922485e-01 1.69825308e-02 2.47814397e+02] [-4.67845647e-01 8.83769400e-01 -8.49108367e-03 1.62675340e+01] [-1.89818100e-02 -4.42427829e-04 9.99819731e-01 -9.09882147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.84, Y:16.25, Z:-0.91 [[ 8.83127519e-01 4.68879544e-01 1.54193975e-02 2.47844251e+02] [-4.68816173e-01 8.83262024e-01 -7.71957941e-03 1.62530713e+01] [-1.72389211e-02 -4.11489915e-04 9.99851314e-01 -9.08866154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.87, Y:16.24, Z:-0.91 [[ 8.82406714e-01 4.70210666e-01 1.61344645e-02 2.47873695e+02] [-4.70141337e-01 8.82554093e-01 -8.08680379e-03 1.62404266e+01] [-1.80420391e-02 -4.49628770e-04 9.99837128e-01 -9.08598904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.90, Y:16.23, Z:-0.91 [[ 8.82141613e-01 4.70747684e-01 1.49262265e-02 2.47903056e+02] [-4.70688284e-01 8.82267784e-01 -7.48972681e-03 1.62266676e+01] [-1.66947003e-02 -4.18600239e-04 9.99860546e-01 -9.07942237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.93, Y:16.21, Z:-0.91 [[ 8.81907638e-01 4.71133003e-01 1.65109873e-02 2.47932171e+02] [-4.71060223e-01 8.82062061e-01 -8.29381751e-03 1.62140908e+01] [-1.84712066e-02 -4.63288336e-04 9.99829285e-01 -9.07552054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.96, Y:16.20, Z:-0.91 [[ 8.81512978e-01 4.71861401e-01 1.67835593e-02 2.47962740e+02] [-4.71786124e-01 8.81672610e-01 -8.44170894e-03 1.62011410e+01] [-1.87809212e-02 -4.76774408e-04 9.99823509e-01 -9.07152694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.99, Y:16.19, Z:-0.91 [[ 8.81015542e-01 4.72798197e-01 1.65372060e-02 2.47993878e+02] [-4.72725078e-01 8.81170605e-01 -8.32863905e-03 1.61904981e+01] [-1.85098654e-02 -4.79891560e-04 9.99828563e-01 -9.06503477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.02, Y:16.18, Z:-0.91 [[ 8.80425166e-01 4.73906395e-01 1.62559707e-02 2.48024228e+02] [-4.73835737e-01 8.80575092e-01 -8.19760209e-03 1.61770954e+01] [-1.81994989e-02 -4.85284670e-04 9.99834258e-01 -9.06634680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.05, Y:16.17, Z:-0.91 [[ 8.79877207e-01 4.74913162e-01 1.65405073e-02 2.48054407e+02] [-4.74840010e-01 8.80032517e-01 -8.35062098e-03 1.61654712e+01] [-1.85220041e-02 -5.06573611e-04 9.99828325e-01 -9.05718197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.09, Y:16.15, Z:-0.90 [[ 8.79463406e-01 4.75718782e-01 1.53544200e-02 2.48085125e+02] [-4.75655697e-01 8.79597301e-01 -7.76177322e-03 1.61531373e+01] [-1.71981277e-02 -4.77221819e-04 9.99851987e-01 -9.04541514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.12, Y:16.14, Z:-0.91 [[ 8.79505315e-01 4.75622004e-01 1.59408359e-02 2.48116300e+02] [-4.75553806e-01 8.79649632e-01 -8.06864902e-03 1.61424927e+01] [-1.78599774e-02 -4.84305465e-04 9.99840381e-01 -9.06622883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.15, Y:16.13, Z:-0.91 [[ 8.79635139e-01 4.75420380e-01 1.47473182e-02 2.48146274e+02] [-4.75361844e-01 8.79758644e-01 -7.47303470e-03 1.61294471e+01] [-1.65269136e-02 -4.36768435e-04 9.99863326e-01 -9.06399088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.18, Y:16.12, Z:-0.91 [[ 8.80136692e-01 4.74466615e-01 1.55188708e-02 2.48176184e+02] [-4.74401489e-01 8.80273392e-01 -7.87291485e-03 1.61169686e+01] [-1.73962843e-02 -4.32934191e-04 9.99848579e-01 -9.07810007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.21, Y:16.11, Z:-0.91 [[ 8.80667018e-01 4.73408236e-01 1.76137955e-02 2.48207512e+02] [-4.73323898e-01 8.80843024e-01 -8.94734346e-03 1.61053237e+01] [-1.97507350e-02 -4.57400054e-04 9.99804831e-01 -9.07691612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.24, Y:16.09, Z:-0.91 [[ 8.81037107e-01 4.72724693e-01 1.74636722e-02 2.48236506e+02] [-4.72641454e-01 8.81210066e-01 -8.88123921e-03 1.60922158e+01] [-1.95875448e-02 -4.29354108e-04 9.99808053e-01 -9.07377098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.27, Y:16.08, Z:-0.91 [[ 8.81536884e-01 4.71755375e-01 1.84279070e-02 2.48267112e+02] [-4.71662224e-01 8.81729375e-01 -9.38382437e-03 1.60798091e+01] [-2.06752965e-02 -4.19560312e-04 9.99786155e-01 -9.08393133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.30, Y:16.07, Z:-0.91 [[ 8.81191787e-01 4.72392207e-01 1.86182047e-02 2.48297221e+02] [-4.72297003e-01 8.81388348e-01 -9.49318728e-03 1.60661014e+01] [-2.08943763e-02 -4.28003608e-04 9.99781597e-01 -9.08684876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.33, Y:16.06, Z:-0.91 [[ 8.81645621e-01 4.71544906e-01 1.86118320e-02 2.48328225e+02] [-4.71449351e-01 8.81841961e-01 -9.50084242e-03 1.60550470e+01] [-2.08927682e-02 -3.98159993e-04 9.99781643e-01 -9.09111151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.36, Y:16.04, Z:-0.91 [[ 8.81192578e-01 4.72387758e-01 1.86934829e-02 2.48358132e+02] [-4.72291291e-01 8.81390741e-01 -9.55497270e-03 1.60411261e+01] [-2.09899149e-02 -4.08998151e-04 9.99779604e-01 -9.08364473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.39, Y:16.03, Z:-0.91 [[ 8.81534013e-01 4.71714983e-01 1.95642109e-02 2.48388769e+02] [-4.71608864e-01 8.81750994e-01 -1.00131703e-02 1.60290161e+01] [-2.19741249e-02 -3.99705131e-04 9.99758460e-01 -9.08618359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.42, Y:16.02, Z:-0.91 [[ 8.82736316e-01 4.69430737e-01 2.02825055e-02 2.48418305e+02] [-4.69315806e-01 8.82969232e-01 -1.03928027e-02 1.60167082e+01] [-2.27875294e-02 -3.44796070e-04 9.99740271e-01 -9.09725174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.45, Y:16.00, Z:-0.91 [[ 8.83047415e-01 4.68851591e-01 2.01357347e-02 2.48447648e+02] [-4.68737901e-01 8.83276902e-01 -1.03293176e-02 1.60024413e+01] [-2.26283464e-02 -3.17104767e-04 9.99743896e-01 -9.09852613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.48, Y:15.99, Z:-0.91 [[ 8.83376708e-01 4.68171433e-01 2.14732533e-02 2.48477214e+02] [-4.68041591e-01 8.83637604e-01 -1.10297118e-02 1.59882090e+01] [-2.41383701e-02 -3.06985150e-04 9.99708580e-01 -9.10665065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.51, Y:15.97, Z:-0.91 [[ 8.83862493e-01 4.67230113e-01 2.19798530e-02 2.48506762e+02] [-4.67093416e-01 8.84135705e-01 -1.13046445e-02 1.59743393e+01] [-2.47150432e-02 -2.74893326e-04 9.99694499e-01 -9.10387715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.54, Y:15.96, Z:-0.91 [[ 8.83587933e-01 4.67779020e-01 2.13343192e-02 2.48536481e+02] [-4.67650053e-01 8.83845414e-01 -1.09869037e-02 1.59602262e+01] [-2.39956833e-02 -2.69099975e-04 9.99712026e-01 -9.10100381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.57, Y:15.95, Z:-0.91 [[ 8.83249629e-01 4.68462741e-01 2.03163337e-02 2.48565354e+02] [-4.68345697e-01 8.83483215e-01 -1.04745983e-02 1.59459066e+01] [-2.28560989e-02 -2.63382419e-04 9.99738731e-01 -9.09650404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.59, Y:15.93, Z:-0.91 [[ 8.83128270e-01 4.68715733e-01 1.97489424e-02 2.48594996e+02] [-4.68604909e-01 8.83349024e-01 -1.01951289e-02 1.59305278e+01] [-2.22238263e-02 -2.50844776e-04 9.99752989e-01 -9.10023783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.62, Y:15.91, Z:-0.91 [[ 8.82694801e-01 4.69506750e-01 2.03297941e-02 2.48624296e+02] [-4.69389208e-01 8.82928842e-01 -1.05085909e-02 1.59148143e+01] [-2.28836160e-02 -2.66707382e-04 9.99738100e-01 -9.10299293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.65, Y:15.90, Z:-0.91 [[ 8.82655268e-01 4.69523942e-01 2.16089151e-02 2.48653442e+02] [-4.69390837e-01 8.82919698e-01 -1.11825170e-02 1.59007536e+01] [-2.43293963e-02 -2.72719222e-04 9.99703959e-01 -9.11395724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.68, Y:15.89, Z:-0.91 [[ 8.81897696e-01 4.70907769e-01 2.24126640e-02 2.48681903e+02] [-4.70764691e-01 8.82182394e-01 -1.16116178e-02 1.58857167e+01] [-2.52400586e-02 -3.10831898e-04 9.99681371e-01 -9.12059924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.71, Y:15.87, Z:-0.91 [[ 8.81260242e-01 4.72056579e-01 2.33017513e-02 2.48710870e+02] [-4.71901968e-01 8.81568186e-01 -1.20857899e-02 1.58712750e+01] [-2.62472593e-02 -3.45416143e-04 9.99655422e-01 -9.13156141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.74, Y:15.86, Z:-0.91 [[ 8.81059334e-01 4.72498731e-01 2.18951636e-02 2.48740115e+02] [-4.72362044e-01 8.81331290e-01 -1.13690891e-02 1.58570559e+01] [-2.46687730e-02 -3.25602128e-04 9.99695626e-01 -9.12473821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.77, Y:15.84, Z:-0.91 [[ 8.79727848e-01 4.74998906e-01 2.13296166e-02 2.48770115e+02] [-4.74869583e-01 8.79986307e-01 -1.10896152e-02 1.58441330e+01] [-2.40373256e-02 -3.72942785e-04 9.99710992e-01 -9.12345804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.80, Y:15.83, Z:-0.91 [[ 8.78789102e-01 4.76837335e-01 1.88645037e-02 2.48798804e+02] [-4.76736366e-01 8.78991481e-01 -9.81906806e-03 1.58296576e+01] [-2.12638363e-02 -3.64504959e-04 9.99773833e-01 -9.11562726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.83, Y:15.82, Z:-0.91 [[ 8.77945552e-01 4.78217242e-01 2.28008071e-02 2.48827825e+02] [-4.78070088e-01 8.78241448e-01 -1.18722296e-02 1.58150482e+01] [-2.57021187e-02 -4.77212652e-04 9.99669532e-01 -9.13812596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80592000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.86, Y:15.80, Z:-0.91 [[ 8.77572403e-01 4.78941021e-01 2.19584916e-02 2.48858006e+02] [-4.78804408e-01 8.77846957e-01 -1.14480898e-02 1.58004666e+01] [-2.47591549e-02 -4.67294849e-04 9.99693336e-01 -9.13289695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83592000000002 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:248.89, Y:15.79, Z:-0.91 [[ 8.77252542e-01 4.79541584e-01 2.16297732e-02 2.48888169e+02] [-4.79408857e-01 8.77519033e-01 -1.12913303e-02 1.57868770e+01] [-2.43952001e-02 -4.64156656e-04 9.99702285e-01 -9.13644208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86592000000002 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:248.92, Y:15.77, Z:-0.91 [[ 8.77246182e-01 4.79603614e-01 2.04819067e-02 2.48916873e+02] [-4.79484339e-01 8.77485150e-01 -1.07042570e-02 1.57731537e+01] [-2.31063693e-02 -4.30484939e-04 9.99732920e-01 -9.14139774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89592000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.95, Y:15.76, Z:-0.91 [[ 8.77442849e-01 4.79239418e-01 2.05821972e-02 2.48946701e+02] [-4.79118550e-01 8.77684118e-01 -1.07705119e-02 1.57587459e+01] [-2.32263215e-02 -4.10803810e-04 9.99730148e-01 -9.14782105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:248.98, Y:15.74, Z:-0.92 [[ 8.77568108e-01 4.78955939e-01 2.18042455e-02 2.48976038e+02] [-4.78819840e-01 8.77838845e-01 -1.14246806e-02 1.57442242e+01] [-2.46125323e-02 -4.14370009e-04 9.99696980e-01 -9.17101985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.00, Y:15.73, Z:-0.92 [[ 8.77340027e-01 4.79334060e-01 2.26568930e-02 2.49004778e+02] [-4.79186843e-01 8.77632426e-01 -1.18867231e-02 1.57278688e+01] [-2.55821353e-02 -4.28187049e-04 9.99672632e-01 -9.17005067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.03, Y:15.71, Z:-0.92 [[ 8.77594787e-01 4.78859466e-01 2.28254413e-02 2.49034122e+02] [-4.78709495e-01 8.77891479e-01 -1.19904671e-02 1.57123270e+01] [-2.57800090e-02 -4.03984031e-04 9.99667559e-01 -9.17342781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.06, Y:15.70, Z:-0.92 [[ 8.77835989e-01 4.78460514e-01 2.18977846e-02 2.49062266e+02] [-4.78322043e-01 8.78108993e-01 -1.15160708e-02 1.56962032e+01] [-2.47386267e-02 -3.64971698e-04 9.99693887e-01 -9.17063367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.09, Y:15.68, Z:-0.92 [[ 8.78193721e-01 4.77812847e-01 2.16949685e-02 2.49090484e+02] [-4.77676613e-01 8.78461592e-01 -1.14142496e-02 1.56808530e+01] [-2.45120716e-02 -3.39256756e-04 9.99699476e-01 -9.17388570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.12, Y:15.67, Z:-0.92 [[ 8.77938398e-01 4.78282089e-01 2.16890160e-02 2.49119438e+02] [-4.78145719e-01 8.78206199e-01 -1.14255559e-02 1.56659607e+01] [-2.45120671e-02 -3.39575957e-04 9.99699476e-01 -9.17416672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.15, Y:15.65, Z:-0.92 [[ 8.78116503e-01 4.77897983e-01 2.29112445e-02 2.49147622e+02] [-4.77745271e-01 8.78415282e-01 -1.20850985e-02 1.56488558e+01] [-2.59010315e-02 -3.33614310e-04 9.99664456e-01 -9.17566107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.18, Y:15.63, Z:-0.92 [[ 8.77420360e-01 4.79100207e-01 2.44234335e-02 2.49175676e+02] [-4.78926732e-01 8.77760131e-01 -1.28972261e-02 1.56333608e+01] [-2.76169799e-02 -3.80746411e-04 9.99618506e-01 -9.18710307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.20, Y:15.62, Z:-0.92 [[ 8.76966957e-01 4.79927524e-01 2.44648507e-02 2.49204875e+02] [-4.79753326e-01 8.77308052e-01 -1.29355637e-02 1.56180274e+01] [-2.76713436e-02 -3.93031602e-04 9.99616998e-01 -9.18441799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.23, Y:15.60, Z:-0.92 [[ 8.75767559e-01 4.82176782e-01 2.31675288e-02 2.49234548e+02] [-4.82020950e-01 8.76073838e-01 -1.22651703e-02 1.56024225e+01] [-2.62104462e-02 -4.25795996e-04 9.99656357e-01 -9.17038737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.26, Y:15.59, Z:-0.92 [[ 8.74269751e-01 4.84952474e-01 2.17600639e-02 2.49263990e+02] [-4.84815501e-01 8.74540383e-01 -1.15346725e-02 1.55868551e+01] [-2.46238226e-02 -4.65200985e-04 9.99696679e-01 -9.16314006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.29, Y:15.57, Z:-0.92 [[ 8.73361328e-01 4.86568843e-01 2.21529349e-02 2.49292334e+02] [-4.86427088e-01 8.73642090e-01 -1.17552501e-02 1.55726772e+01] [-2.50734748e-02 -5.09206806e-04 9.99685481e-01 -9.17249050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.32, Y:15.56, Z:-0.92 [[ 8.72851735e-01 4.87504208e-01 2.16678462e-02 2.49322430e+02] [-4.87368525e-01 8.73120487e-01 -1.15123910e-02 1.55586147e+01] [-2.45309794e-02 -5.11615804e-04 9.99698939e-01 -9.16343032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.35, Y:15.55, Z:-0.92 [[ 8.71716239e-01 4.89500690e-01 2.23578282e-02 2.49351836e+02] [-4.89356546e-01 8.72002721e-01 -1.18922793e-02 1.55455725e+01] [-2.53173659e-02 -5.74256555e-04 9.99679299e-01 -9.15890947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34592 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:249.38, Y:15.53, Z:-0.92 [[ 8.71342770e-01 4.90126502e-01 2.31902627e-02 2.49380532e+02] [-4.89971284e-01 8.71651105e-01 -1.23487774e-02 1.55318966e+01] [-2.62662812e-02 -6.02544831e-04 9.99654800e-01 -9.15833039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.41, Y:15.52, Z:-0.92 [[ 8.70842026e-01 4.91058635e-01 2.22616866e-02 2.49411132e+02] [-4.90915525e-01 8.71126321e-01 -1.18693128e-02 1.55192735e+01] [-2.52212697e-02 -5.92311135e-04 9.99681718e-01 -9.15043369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:249.44, Y:15.51, Z:-0.92 [[ 8.71170082e-01 4.90444308e-01 2.29579637e-02 2.49442942e+02] [-4.90291487e-01 8.71472343e-01 -1.22561227e-02 1.55079530e+01] [-2.60181761e-02 -5.78926734e-04 9.99661302e-01 -9.16462090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.47, Y:15.49, Z:-0.92 [[ 8.71004906e-01 4.90768334e-01 2.22911586e-02 2.49472276e+02] [-4.90624032e-01 8.71289923e-01 -1.19134301e-02 1.54944977e+01] [-2.52687960e-02 -5.59922077e-04 9.99680536e-01 -9.16418058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.50, Y:15.48, Z:-0.92 [[ 8.71113902e-01 4.90613337e-01 2.14271833e-02 2.49501340e+02] [-4.90479863e-01 8.71377227e-01 -1.14556062e-02 1.54807801e+01] [-2.42914328e-02 -5.30464128e-04 9.99704779e-01 -9.16569338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.53, Y:15.47, Z:-0.92 [[ 8.71636201e-01 4.89641255e-01 2.24003125e-02 2.49532289e+02] [-4.89494916e-01 8.71923833e-01 -1.19815343e-02 1.54680634e+01] [-2.53980198e-02 -5.21299986e-04 9.99677282e-01 -9.17215845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52592 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:249.56, Y:15.45, Z:-0.92 [[ 8.71788569e-01 4.89413570e-01 2.14254271e-02 2.49561457e+02] [-4.89279535e-01 8.72051672e-01 -1.14637659e-02 1.54545442e+01] [-2.42946021e-02 -4.89042964e-04 9.99704723e-01 -9.16641630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55591999999996 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:249.59, Y:15.44, Z:-0.92 [[ 8.72567720e-01 4.87989660e-01 2.21735441e-02 2.49591230e+02] [-4.87845545e-01 8.72849288e-01 -1.18678242e-02 1.54424061e+01] [-2.51455376e-02 -4.61784426e-04 9.99683694e-01 -9.17302295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.62, Y:15.43, Z:-0.92 [[ 8.73368650e-01 4.86533682e-01 2.26313419e-02 2.49620612e+02] [-4.86382966e-01 8.73661717e-01 -1.21167048e-02 1.54281426e+01] [-2.56673220e-02 -4.25149032e-04 9.99670450e-01 -9.18007885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.65, Y:15.41, Z:-0.92 [[ 8.74808400e-01 4.83900104e-01 2.34723570e-02 2.49649909e+02] [-4.83736922e-01 8.75123169e-01 -1.25709657e-02 1.54142179e+01] [-2.66242950e-02 -3.57259333e-04 9.99645447e-01 -9.20582748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.68, Y:15.40, Z:-0.92 [[ 8.75631311e-01 4.82438209e-01 2.28731779e-02 2.49677880e+02] [-4.82282653e-01 8.75929954e-01 -1.22539519e-02 1.53992086e+01] [-2.59470763e-02 -3.01392959e-04 9.99663273e-01 -9.20649759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.71, Y:15.38, Z:-0.92 [[ 8.77175796e-01 4.79597797e-01 2.34216994e-02 2.49706552e+02] [-4.79433569e-01 8.77488408e-01 -1.25517745e-02 1.53848616e+01] [-2.65720731e-02 -2.19036136e-04 9.99646876e-01 -9.21532773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.74, Y:15.37, Z:-0.92 [[ 8.77981222e-01 4.78095708e-01 2.39471988e-02 2.49735692e+02] [-4.77923304e-01 8.78307728e-01 -1.28394190e-02 1.53700730e+01] [-2.71714809e-02 -1.72155540e-04 9.99630772e-01 -9.21746320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73591999999996 meters Centerline goodness [0,1] 0.9998510057114477 Centerline is valid? [True, True] Translation: X:249.76, Y:15.35, Z:-0.92 [[ 8.79433225e-01 4.75425960e-01 2.38193162e-02 2.49763562e+02] [-4.75254302e-01 8.79755733e-01 -1.27749336e-02 1.53541761e+01] [-2.70287150e-02 -8.55314494e-05 9.99634654e-01 -9.22096320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76592 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:249.79, Y:15.34, Z:-0.92 [[ 8.79871573e-01 4.74698321e-01 2.20798226e-02 2.49791034e+02] [-4.74550501e-01 8.80148567e-01 -1.18457183e-02 1.53376434e+01] [-2.50566668e-02 -5.52800949e-05 9.99686031e-01 -9.21956798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79591999999997 meters Centerline goodness [0,1] 0.9999007936507937 Centerline is valid? [True, True] Translation: X:249.82, Y:15.32, Z:-0.92 [[ 8.80450859e-01 4.73620044e-01 2.21435792e-02 2.49818891e+02] [-4.73470887e-01 8.80729273e-01 -1.18855435e-02 1.53193246e+01] [-2.51317300e-02 -1.97030616e-05 9.99684148e-01 -9.23069188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82592 meters Centerline goodness [0,1] 0.9998508575689784 Centerline is valid? [True, True] Translation: X:249.85, Y:15.30, Z:-0.92 [[ 8.80491126e-01 4.73579683e-01 2.13930374e-02 2.49846920e+02] [-4.73440366e-01 8.80750977e-01 -1.14863422e-02 1.53030137e+01] [-2.42816369e-02 -1.47051029e-05 9.99705157e-01 -9.22037546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85591999999997 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:249.87, Y:15.28, Z:-0.92 [[ 8.79273260e-01 4.75768669e-01 2.28628034e-02 2.49872827e+02] [-4.75610187e-01 8.79570445e-01 -1.22793616e-02 1.52838907e+01] [-2.59515817e-02 -7.68678846e-05 9.99663198e-01 -9.22497743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:249.90, Y:15.27, Z:-0.92 [[ 8.78687821e-01 4.76931666e-01 2.10689020e-02 2.49900034e+02] [-4.76797129e-01 8.78940372e-01 -1.13278491e-02 1.52672317e+01] [-2.39209185e-02 -9.19489293e-05 9.99713850e-01 -9.21636683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.93, Y:15.25, Z:-0.92 [[ 8.76848670e-01 4.80338637e-01 2.02781686e-02 2.49927864e+02] [-4.80214777e-01 8.77083100e-01 -1.09089299e-02 1.52488751e+01] [-2.30256195e-02 -1.72395520e-04 9.99734860e-01 -9.21097688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94592 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:249.96, Y:15.23, Z:-0.92 [[ 8.76113096e-01 4.81633047e-01 2.13412787e-02 2.49955624e+02] [-4.81496149e-01 8.76372958e-01 -1.14846076e-02 1.52329892e+01] [-2.42342861e-02 -2.13928347e-04 9.99706284e-01 -9.21488836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.98, Y:15.22, Z:-0.92 [[ 8.73928508e-01 4.85586607e-01 2.13215925e-02 2.49982489e+02] [-4.85450837e-01 8.74188509e-01 -1.14862961e-02 1.52158395e+01] [-2.42166827e-02 -3.12383293e-04 9.99706684e-01 -9.21739577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.01, Y:15.20, Z:-0.92 [[ 8.72978822e-01 4.87290597e-01 2.13506555e-02 2.50011970e+02] [-4.87154617e-01 8.73239803e-01 -1.15163066e-02 1.52002693e+01] [-2.42560301e-02 -3.47578670e-04 9.99705719e-01 -9.20993283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.04, Y:15.19, Z:-0.92 [[ 8.71405970e-01 4.90133424e-01 2.05149182e-02 2.50041242e+02] [-4.90008345e-01 8.71647330e-01 -1.10794141e-02 1.51855775e+01] [-2.33121648e-02 -3.97813489e-04 9.99728155e-01 -9.20624043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.07, Y:15.17, Z:-0.92 [[ 8.69655061e-01 4.93241698e-01 2.03150993e-02 2.50070402e+02] [-4.93119629e-01 8.69892183e-01 -1.09827690e-02 1.51728511e+01] [-2.30891057e-02 -4.66553553e-04 9.99733302e-01 -9.20334716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.10, Y:15.16, Z:-0.92 [[ 8.68845312e-01 4.94626402e-01 2.12731124e-02 2.50099422e+02] [-4.94492868e-01 8.69105545e-01 -1.15046083e-02 1.51582766e+01] [-2.41790629e-02 -5.23677333e-04 9.99707507e-01 -9.20123695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.13, Y:15.15, Z:-0.92 [[ 8.67773557e-01 4.96484164e-01 2.17376997e-02 2.50128945e+02] [-4.96345223e-01 8.68045582e-01 -1.17595529e-02 1.51454484e+01] [-2.47077460e-02 -5.84774341e-04 9.99694546e-01 -9.19320707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.16, Y:15.13, Z:-0.92 [[ 8.67253215e-01 4.97410192e-01 2.13298412e-02 2.50158229e+02] [-4.97276608e-01 8.67515271e-01 -1.15425515e-02 1.51317985e+01] [-2.42453457e-02 -5.96516202e-04 9.99705860e-01 -9.19912727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.19, Y:15.12, Z:-0.92 [[ 8.66828081e-01 4.98147915e-01 2.13946933e-02 2.50188359e+02] [-4.98013653e-01 8.67091850e-01 -1.15812779e-02 1.51201152e+01] [-2.43203536e-02 -6.15872513e-04 9.99704027e-01 -9.21503426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.22, Y:15.11, Z:-0.92 [[ 8.67143618e-01 4.97592860e-01 2.15242237e-02 2.50217404e+02] [-4.97456706e-01 8.67410506e-01 -1.16550459e-02 1.51067303e+01] [-2.44698054e-02 -6.00770741e-04 9.99700389e-01 -9.21402508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24591999999996 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:250.25, Y:15.09, Z:-0.92 [[ 8.67491094e-01 4.96901004e-01 2.34220728e-02 2.50247518e+02] [-4.96739420e-01 8.67807004e-01 -1.26867026e-02 1.50948437e+01] [-2.66298741e-02 -6.29065293e-04 9.99645164e-01 -9.21664640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27592 meters Centerline goodness [0,1] 0.9997518117740495 Centerline is valid? [True, True] Translation: X:250.28, Y:15.08, Z:-0.92 [[ 8.68317179e-01 4.95514616e-01 2.21481660e-02 2.50276753e+02] [-4.95369588e-01 8.68599425e-01 -1.20004526e-02 1.50814056e+01] [-2.51842840e-02 -5.51328693e-04 9.99682674e-01 -9.21777691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30591999999996 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:250.31, Y:15.07, Z:-0.92 [[ 8.70293026e-01 4.92076718e-01 2.12262063e-02 2.50307065e+02] [-4.91942402e-01 8.70551732e-01 -1.15045419e-02 1.50691171e+01] [-2.41396279e-02 -4.29748317e-04 9.99708504e-01 -9.22715834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:250.34, Y:15.06, Z:-0.92 [[ 8.71371575e-01 4.90157129e-01 2.13908151e-02 2.50336580e+02] [-4.90020054e-01 8.71634010e-01 -1.15974111e-02 1.50554825e+01] [-2.43295157e-02 -3.76273971e-04 9.99703923e-01 -9.22943304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36591999999996 meters Centerline goodness [0,1] 0.9997020706092656 Centerline is valid? [True, True] Translation: X:250.37, Y:15.04, Z:-0.92 [[ 8.72507747e-01 4.88171180e-01 2.04727055e-02 2.50365774e+02] [-4.88044991e-01 8.72747848e-01 -1.11031308e-02 1.50414029e+01] [-2.32877381e-02 -3.04033746e-04 9.99728758e-01 -9.22843725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39592 meters Centerline goodness [0,1] 0.9991542709317944 Centerline is valid? [True, True] Translation: X:250.40, Y:15.03, Z:-0.92 [[ 8.74096976e-01 4.85296393e-01 2.10211038e-02 2.50395654e+02] [-4.85162435e-01 8.74349677e-01 -1.14041405e-02 1.50288099e+01] [-2.39141836e-02 -2.30325192e-04 9.99713988e-01 -9.23311741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42591999999996 meters Centerline goodness [0,1] 0.9993537161322397 Centerline is valid? [True, True] Translation: X:250.43, Y:15.02, Z:-0.92 [[ 8.74270539e-01 4.84978014e-01 2.11506659e-02 2.50425539e+02] [-4.84842176e-01 8.74526317e-01 -1.14798052e-02 1.50155174e+01] [-2.40642671e-02 -2.18279386e-04 9.99710390e-01 -9.22990641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45592 meters Centerline goodness [0,1] 0.9997001049632629 Centerline is valid? [True, True] Translation: X:250.45, Y:15.00, Z:-0.92 [[ 8.73652062e-01 4.86038084e-01 2.23395448e-02 2.50454277e+02] [-4.85886791e-01 8.73937592e-01 -1.21289741e-02 1.50015587e+01] [-2.54185113e-02 -2.57986476e-04 9.99676864e-01 -9.23605103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48591999999996 meters Centerline goodness [0,1] 0.9998511757118762 Centerline is valid? [True, True] Translation: X:250.48, Y:14.99, Z:-0.92 [[ 8.73349979e-01 4.86581971e-01 2.23114502e-02 2.50484265e+02] [-4.86431092e-01 8.73634886e-01 -1.21193490e-02 1.49872498e+01] [-2.53891179e-02 -2.68549918e-04 9.99677608e-01 -9.22990971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51592 meters Centerline goodness [0,1] 0.9994522730667729 Centerline is valid? [True, True] Translation: X:250.51, Y:14.98, Z:-0.92 [[ 8.72689321e-01 4.87730182e-01 2.30785552e-02 2.50513944e+02] [-4.87569069e-01 8.72994372e-01 -1.25390737e-02 1.49754344e+01] [-2.62631335e-02 -3.09674001e-04 9.99655016e-01 -9.23902941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54591999999997 meters Centerline goodness [0,1] 0.9993546785802929 Centerline is valid? [True, True] Translation: X:250.54, Y:14.96, Z:-0.92 [[ 8.72529503e-01 4.87963080e-01 2.41722667e-02 2.50542443e+02] [-4.87786311e-01 8.72864207e-01 -1.31373686e-02 1.49612239e+01] [-2.75096573e-02 -3.28159114e-04 9.99621484e-01 -9.23974192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57592 meters Centerline goodness [0,1] 0.9993537482600915 Centerline is valid? [True, True] Translation: X:250.57, Y:14.95, Z:-0.92 [[ 8.73405835e-01 4.86436941e-01 2.32669231e-02 2.50572093e+02] [-4.86272497e-01 8.73715647e-01 -1.26501911e-02 1.49473226e+01] [-2.64821950e-02 -2.65314100e-04 9.99649250e-01 -9.23744644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60591999999997 meters Centerline goodness [0,1] 0.9991064780342517 Centerline is valid? [True, True] Translation: X:250.60, Y:14.94, Z:-0.92 [[ 8.74676163e-01 4.84198589e-01 2.22111675e-02 2.50602809e+02] [-4.84047881e-01 8.74958109e-01 -1.20812543e-02 1.49354707e+01] [-2.52835674e-02 -1.84083398e-04 9.99680303e-01 -9.22941761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63592 meters Centerline goodness [0,1] 0.9990071978158352 Centerline is valid? [True, True] Translation: X:250.63, Y:14.92, Z:-0.92 [[ 8.75030665e-01 4.83536922e-01 2.26578915e-02 2.50632121e+02] [-4.83379767e-01 8.75323950e-01 -1.23281414e-02 1.49220134e+01] [-2.57941066e-02 -1.64864576e-04 9.99667263e-01 -9.23559281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66591999999997 meters Centerline goodness [0,1] 0.9993538767395627 Centerline is valid? [True, True] Translation: X:250.66, Y:14.91, Z:-0.92 [[ 8.75421168e-01 4.82872988e-01 2.17130342e-02 2.50659995e+02] [-4.82728418e-01 8.75690390e-01 -1.18159139e-02 1.49084891e+01] [-2.47194810e-02 -1.37597518e-04 9.99694417e-01 -9.22789341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69592 meters Centerline goodness [0,1] 0.9987093571605857 Centerline is valid? [True, True] Translation: X:250.69, Y:14.90, Z:-0.92 [[ 8.76642735e-01 4.80724317e-01 2.00411406e-02 2.50688828e+02] [-4.80600556e-01 8.76871785e-01 -1.09077757e-02 1.48959422e+01] [-2.28171437e-02 -6.95610011e-05 9.99739653e-01 -9.22921686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72592 meters Centerline goodness [0,1] 0.9988094647551962 Centerline is valid? [True, True] Translation: X:250.72, Y:14.88, Z:-0.92 [[ 8.77258796e-01 4.79557409e-01 2.10165939e-02 2.50716292e+02] [-4.79420968e-01 8.77510507e-01 -1.14387518e-02 1.48821541e+01] [-2.39278202e-02 -4.10501637e-05 9.99713688e-01 -9.24207454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75592 meters Centerline goodness [0,1] 0.9987596745385989 Centerline is valid? [True, True] Translation: X:250.74, Y:14.87, Z:-0.92 [[ 8.78934025e-01 4.76486898e-01 2.08618266e-02 2.50744074e+02] [-4.76351594e-01 8.79181571e-01 -1.13545162e-02 1.48694552e+01] [-2.37516117e-02 4.23063155e-05 9.99717890e-01 -9.23504797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78592 meters Centerline goodness [0,1] 0.9986582517517268 Centerline is valid? [True, True] Translation: X:250.77, Y:14.86, Z:-0.92 [[ 8.79574980e-01 4.75242826e-01 2.21835767e-02 2.50770851e+02] [-4.75089435e-01 8.79854675e-01 -1.20739083e-02 1.48554473e+01] [-2.52563620e-02 8.07247557e-05 9.99681004e-01 -9.23858164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81591999999995 meters Centerline goodness [0,1] 0.9987085237432942 Centerline is valid? [True, True] Translation: X:250.80, Y:14.84, Z:-0.92 [[ 8.81697043e-01 4.71320656e-01 2.16139877e-02 2.50797929e+02] [-4.71173860e-01 8.81961906e-01 -1.17638968e-02 1.48410731e+01] [-2.46072814e-02 1.88246964e-04 9.99697177e-01 -9.24484503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84592 meters Centerline goodness [0,1] 0.9987113402061856 Centerline is valid? [True, True] Translation: X:250.82, Y:14.83, Z:-0.93 [[ 8.82853948e-01 4.69159916e-01 2.13981114e-02 2.50824217e+02] [-4.69015403e-01 8.83113194e-01 -1.16464013e-02 1.48261562e+01] [-2.43609792e-02 2.46027489e-04 9.99703197e-01 -9.25022410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87591999999995 meters Centerline goodness [0,1] 0.9988568588469184 Centerline is valid? [True, True] Translation: X:250.85, Y:14.81, Z:-0.93 [[ 8.84940396e-01 4.65134589e-01 2.30284353e-02 2.50850420e+02] [-4.64965847e-01 8.85239892e-01 -1.25337415e-02 1.48107334e+01] [-2.62155663e-02 3.84178280e-04 9.99656239e-01 -9.26030081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90592 meters Centerline goodness [0,1] 0.9985113878826973 Centerline is valid? [True, True] Translation: X:250.88, Y:14.79, Z:-0.93 [[ 8.85799723e-01 4.63480060e-01 2.33470511e-02 2.50877783e+02] [-4.63305943e-01 8.86107239e-01 -1.27108039e-02 1.47941317e+01] [-2.65791951e-02 4.42399011e-04 9.99646613e-01 -9.26894790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93591999999995 meters Centerline goodness [0,1] 0.9985558488123102 Centerline is valid? [True, True] Translation: X:250.90, Y:14.77, Z:-0.93 [[ 8.87973028e-01 4.59275773e-01 2.38676668e-02 2.50903286e+02] [-4.59092177e-01 8.88293546e-01 -1.29980818e-02 1.47742213e+01] [-2.71711984e-02 5.84487013e-04 9.99630624e-01 -9.27052171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96592 meters Centerline goodness [0,1] 0.9985558488123102 Centerline is valid? [True, True] Translation: X:250.93, Y:14.76, Z:-0.93 [[ 8.87915956e-01 4.59386186e-01 2.38660510e-02 2.50931145e+02] [-4.59202550e-01 8.88236450e-01 -1.30010483e-02 1.47590923e+01] [-2.71711984e-02 5.84486738e-04 9.99630624e-01 -9.27079530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99591999999996 meters Centerline goodness [0,1] 0.9982145514060408 Centerline is valid? [True, True] Translation: X:250.96, Y:14.74, Z:-0.93 [[ 8.88969721e-01 4.57434486e-01 2.20573592e-02 2.50958467e+02] [-4.57276944e-01 8.89243124e-01 -1.20193028e-02 1.47412955e+01] [-2.51123986e-02 5.98474518e-04 9.99684455e-01 -9.26504765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02592 meters Centerline goodness [0,1] 0.9981640450553267 Centerline is valid? [True, True] Translation: X:250.98, Y:14.72, Z:-0.93 [[ 8.90474266e-01 4.54505334e-01 2.19199080e-02 2.50983397e+02] [-4.54348754e-01 8.90743756e-01 -1.19487226e-02 1.47202839e+01] [-2.49557794e-02 6.80747054e-04 9.99688324e-01 -9.26372212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05591999999996 meters Centerline goodness [0,1] 0.9978656871990867 Centerline is valid? [True, True] Translation: X:251.01, Y:14.70, Z:-0.93 [[ 8.91364545e-01 4.52725956e-01 2.25490043e-02 2.51010283e+02] [-4.52559594e-01 8.91649392e-01 -1.22953075e-02 1.47025500e+01] [-2.56722109e-02 7.54832961e-04 9.99670130e-01 -9.27115133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08592 meters Centerline goodness [0,1] 0.9980154792617583 Centerline is valid? [True, True] Translation: X:251.04, Y:14.68, Z:-0.93 [[ 8.91930737e-01 4.51675677e-01 2.11812172e-02 2.51035849e+02] [-4.51528472e-01 8.92181894e-01 -1.15544980e-02 1.46796406e+01] [-2.41163842e-02 7.41889295e-04 9.99708882e-01 -9.25971790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11591999999996 meters Centerline goodness [0,1] 0.9976651763537009 Centerline is valid? [True, True] Translation: X:251.06, Y:14.66, Z:-0.93 [[ 8.92461678e-01 4.50630649e-01 2.10753888e-02 2.51061927e+02] [-4.50484539e-01 8.92710158e-01 -1.15001468e-02 1.46602869e+01] [-2.39965323e-02 7.69303543e-04 9.99711746e-01 -9.25906334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14592 meters Centerline goodness [0,1] 0.9979654624851131 Centerline is valid? [True, True] Translation: X:251.09, Y:14.64, Z:-0.93 [[ 8.92850720e-01 4.49926408e-01 1.95913058e-02 2.51086018e+02] [-4.49799916e-01 8.93065332e-01 -1.06934166e-02 1.46368691e+01] [-2.23075665e-02 7.35457023e-04 9.99750885e-01 -9.25561988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17591999999996 meters Centerline goodness [0,1] 0.9977156478124845 Centerline is valid? [True, True] Translation: X:251.11, Y:14.62, Z:-0.93 [[ 8.93047349e-01 4.49438956e-01 2.17038338e-02 2.51111974e+02] [-4.49283480e-01 8.93310659e-01 -1.18499426e-02 1.46177283e+01] [-2.47140920e-02 8.31385867e-04 9.99694214e-01 -9.25801492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20592 meters Centerline goodness [0,1] 0.9978653693407467 Centerline is valid? [True, True] Translation: X:251.14, Y:14.59, Z:-0.92 [[ 8.92953132e-01 4.49693049e-01 2.02698036e-02 2.51135566e+02] [-4.49557256e-01 8.93182822e-01 -1.10779292e-02 1.45942881e+01] [-2.30863081e-02 7.79634288e-04 9.99733172e-01 -9.24208423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23591999999996 meters Centerline goodness [0,1] 0.9980140998907755 Centerline is valid? [True, True] Translation: X:251.16, Y:14.57, Z:-0.92 [[ 8.92311422e-01 4.50944111e-01 2.07300373e-02 2.51162193e+02] [-4.50802142e-01 8.92551852e-01 -1.13410455e-02 1.45749616e+01] [-2.36168109e-02 7.74599210e-04 9.99720784e-01 -9.24480949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26592 meters Centerline goodness [0,1] 0.9978601642199552 Centerline is valid? [True, True] Translation: X:251.19, Y:14.56, Z:-0.92 [[ 8.91827641e-01 4.51896859e-01 2.08011365e-02 2.51188207e+02] [-4.51753902e-01 8.92069867e-01 -1.13914143e-02 1.45555008e+01] [-2.37038114e-02 7.62183545e-04 9.99718735e-01 -9.23865954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29591999999997 meters Centerline goodness [0,1] 0.9981631335947972 Centerline is valid? [True, True] Translation: X:251.21, Y:14.53, Z:-0.92 [[ 8.89955428e-01 4.55607083e-01 2.00379995e-02 2.51212955e+02] [-4.55475107e-01 8.90180748e-01 -1.09846397e-02 1.45333824e+01] [-2.28421210e-02 6.49029739e-04 9.99738874e-01 -9.24002221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32592 meters Centerline goodness [0,1] 0.9984116741946691 Centerline is valid? [True, True] Translation: X:251.24, Y:14.52, Z:-0.92 [[ 8.88379409e-01 4.58656459e-01 2.04028778e-02 2.51239359e+02] [-4.58520166e-01 8.88613472e-01 -1.11961867e-02 1.45152325e+01] [-2.32654754e-02 5.91330783e-04 9.99729147e-01 -9.23916240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35591999999997 meters Centerline goodness [0,1] 0.9989580749193748 Centerline is valid? [True, True] Translation: X:251.26, Y:14.49, Z:-0.92 [[ 8.86180156e-01 4.62857433e-01 2.11595901e-02 2.51264468e+02] [-4.62711745e-01 8.86432590e-01 -1.16234210e-02 1.44945633e+01] [-2.41365371e-02 5.09654199e-04 9.99708541e-01 -9.24127725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38592 meters Centerline goodness [0,1] 0.999305590000496 Centerline is valid? [True, True] Translation: X:251.29, Y:14.47, Z:-0.93 [[ 8.84169086e-01 4.66624563e-01 2.25065394e-02 2.51290523e+02] [-4.66460617e-01 8.84455380e-01 -1.23763068e-02 1.44742726e+01] [-2.56811186e-02 4.44333571e-04 9.99670087e-01 -9.25968570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41591999999997 meters Centerline goodness [0,1] 0.9996031352316698 Centerline is valid? [True, True] Translation: X:251.32, Y:14.46, Z:-0.93 [[ 8.83313772e-01 4.68191084e-01 2.35348299e-02 2.51318159e+02] [-4.68011951e-01 8.83627140e-01 -1.29572352e-02 1.44567109e+01] [-2.68624764e-02 4.30722679e-04 9.99639046e-01 -9.26868621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44592 meters Centerline goodness [0,1] 0.999751577482983 Centerline is valid? [True, True] Translation: X:251.35, Y:14.44, Z:-0.93 [[ 8.82854733e-01 4.69055377e-01 2.35494006e-02 2.51346542e+02] [-4.68876031e-01 8.83168660e-01 -1.29763453e-02 1.44387654e+01] [-2.68847172e-02 4.14478379e-04 9.99638455e-01 -9.27967869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.37, Y:14.42, Z:-0.93 [[ 8.81698936e-01 4.71238405e-01 2.32669665e-02 2.51373613e+02] [-4.71063962e-01 8.82005808e-01 -1.28257301e-02 1.44202270e+01] [-2.65655761e-02 3.48203219e-04 9.99647012e-01 -9.27579329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.40, Y:14.40, Z:-0.93 [[ 8.81341416e-01 4.71937446e-01 2.26352805e-02 2.51401947e+02] [-4.71772457e-01 8.81631977e-01 -1.24822181e-02 1.44039698e+01] [-2.58468132e-02 3.22393906e-04 9.99665863e-01 -9.26648928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.43, Y:14.39, Z:-0.93 [[ 8.79490811e-01 4.75269289e-01 2.47995120e-02 2.51429025e+02] [-4.75072150e-01 8.79840347e-01 -1.36899954e-02 1.43859753e+01] [-2.83260457e-02 2.58667631e-04 9.99598704e-01 -9.27856534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.46, Y:14.37, Z:-0.93 [[ 8.78322236e-01 4.77304204e-01 2.70323185e-02 2.51455744e+02] [-4.77070430e-01 8.78738099e-01 -1.49384850e-02 1.43688696e+01] [-3.08845298e-02 2.24483721e-04 9.99522934e-01 -9.28881109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.48, Y:14.35, Z:-0.93 [[ 8.77790012e-01 4.78300250e-01 2.67126640e-02 2.51483504e+02] [-4.78071879e-01 8.78196350e-01 -1.47800232e-02 1.43506829e+01] [-3.05282529e-02 2.03183264e-04 9.99533884e-01 -9.28403498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.51, Y:14.33, Z:-0.93 [[ 8.77801152e-01 4.78412162e-01 2.42268679e-02 2.51511629e+02] [-4.78223965e-01 8.78135391e-01 -1.34191598e-02 1.43345009e+01] [-2.76943594e-02 1.93485080e-04 9.99616419e-01 -9.28042759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.54, Y:14.32, Z:-0.93 [[ 8.77534340e-01 4.78925712e-01 2.37412187e-02 2.51539119e+02] [-4.78744737e-01 8.77855414e-01 -1.31662324e-02 1.43151762e+01] [-2.71470045e-02 1.87837545e-04 9.99631435e-01 -9.28847359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.57, Y:14.30, Z:-0.93 [[ 8.77138734e-01 4.79610293e-01 2.45276997e-02 2.51566825e+02] [-4.79416926e-01 8.77481585e-01 -1.36190800e-02 1.42980089e+01] [-2.80544558e-02 1.86828199e-04 9.99606379e-01 -9.28988393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.59, Y:14.28, Z:-0.93 [[ 8.76532024e-01 4.80645141e-01 2.59202422e-02 2.51594519e+02] [-4.80429184e-01 8.76915171e-01 -1.44076960e-02 1.42812848e+01] [-2.96548427e-02 1.75966125e-04 9.99560183e-01 -9.27296062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.62, Y:14.27, Z:-0.93 [[ 8.75966184e-01 4.81619796e-01 2.69372698e-02 2.51622455e+02] [-4.81386519e-01 8.76380252e-01 -1.49891197e-02 1.42652407e+01] [-3.08263481e-02 1.62723407e-04 9.99524742e-01 -9.27880396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.65, Y:14.25, Z:-0.93 [[ 8.74280033e-01 4.84566613e-01 2.88031305e-02 2.51649244e+02] [-4.84300914e-01 8.74754360e-01 -1.60447290e-02 1.42463123e+01] [-3.29704039e-02 7.82037838e-05 9.99456325e-01 -9.29702852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.68, Y:14.23, Z:-0.93 [[ 8.73237754e-01 4.86454516e-01 2.85976963e-02 2.51677977e+02] [-4.86192966e-01 8.73705902e-01 -1.59498284e-02 1.42291521e+01] [-3.27448421e-02 2.39935596e-05 9.99463744e-01 -9.30434662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.71, Y:14.21, Z:-0.93 [[ 8.71468486e-01 4.89556813e-01 2.96108850e-02 2.51705764e+02] [-4.89277574e-01 8.71971399e-01 -1.65328551e-02 1.42134117e+01] [-3.39136167e-02 -8.00797376e-05 9.99424765e-01 -9.30968847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.73, Y:14.20, Z:-0.93 [[ 8.70852193e-01 4.90541789e-01 3.13880811e-02 2.51734223e+02] [-4.90227974e-01 8.71417662e-01 -1.75440054e-02 1.41979636e+01] [-3.59581960e-02 -1.09079889e-04 9.99353289e-01 -9.31097726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.76, Y:14.18, Z:-0.93 [[ 8.70404568e-01 4.91381700e-01 3.06580085e-02 2.51762885e+02] [-4.91082183e-01 8.70944321e-01 -1.71545659e-02 1.41829556e+01] [-3.51308582e-02 -1.24189202e-04 9.99382713e-01 -9.31687556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.79, Y:14.17, Z:-0.93 [[ 8.70305380e-01 4.91540501e-01 3.09270359e-02 2.51792194e+02] [-4.91235041e-01 8.70854708e-01 -1.73266132e-02 1.41678220e+01] [-3.54496870e-02 -1.12999109e-04 9.99371456e-01 -9.31498896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.82, Y:14.15, Z:-0.93 [[ 8.71042378e-01 4.90214941e-01 3.12167776e-02 2.51821949e+02] [-4.89902104e-01 8.71601577e-01 -1.75105364e-02 1.41538737e+01] [-3.57925192e-02 -4.07457706e-05 9.99359242e-01 -9.33407646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.85, Y:14.14, Z:-0.93 [[ 8.71529620e-01 4.89295319e-01 3.20345591e-02 2.51850558e+02] [-4.88964537e-01 8.72118163e-01 -1.79886395e-02 1.41384985e+01] [-3.67396779e-02 1.38688516e-05 9.99324870e-01 -9.33773016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.88, Y:14.12, Z:-0.93 [[ 8.72919478e-01 4.86824323e-01 3.18380816e-02 2.51880064e+02] [-4.86495139e-01 8.73499891e-01 -1.79002574e-02 1.41240793e+01] [-3.65248415e-02 1.36411394e-04 9.99332736e-01 -9.33849876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.91, Y:14.11, Z:-0.93 [[ 8.73379168e-01 4.86030166e-01 3.13609169e-02 2.51910042e+02] [-4.85709491e-01 8.73942014e-01 -1.76535254e-02 1.41099511e+01] [-3.59877687e-02 1.85926327e-04 9.99352213e-01 -9.33409124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:251.94, Y:14.10, Z:-0.93 [[ 8.73902717e-01 4.85074394e-01 3.15732967e-02 2.51940312e+02] [-4.84747946e-01 8.74472853e-01 -1.77948637e-02 1.40965842e+01] [-3.62418236e-02 2.45889024e-04 9.99343019e-01 -9.34435845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10591999999997 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:251.97, Y:14.08, Z:-0.94 [[ 8.73220837e-01 4.86220738e-01 3.27836072e-02 2.51968704e+02] [-4.85868838e-01 8.73835994e-01 -1.84966994e-02 1.40806060e+01] [-3.76409748e-02 2.23170222e-04 9.99291302e-01 -9.35523043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.00, Y:14.07, Z:-0.94 [[ 8.72991378e-01 4.86658358e-01 3.23990083e-02 2.51997817e+02] [-4.86314149e-01 8.73592350e-01 -1.83017705e-02 1.40651929e+01] [-3.72102353e-02 2.21191697e-04 9.99307435e-01 -9.35488329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16591999999997 meters Centerline goodness [0,1] 0.9999005173099881 Centerline is valid? [True, True] Translation: X:252.03, Y:14.05, Z:-0.93 [[ 8.72068631e-01 4.88292559e-01 3.26600496e-02 2.52028137e+02] [-4.87943083e-01 8.72679980e-01 -1.84716363e-02 1.40519556e+01] [-3.75213340e-02 1.72289304e-04 9.99295812e-01 -9.34862753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:252.06, Y:14.04, Z:-0.94 [[ 8.71671945e-01 4.88896566e-01 3.41784846e-02 2.52056994e+02] [-4.88513477e-01 8.72341744e-01 -1.93510730e-02 1.40372644e+01] [-3.92759920e-02 1.71137015e-04 9.99228386e-01 -9.36346604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22592 meters Centerline goodness [0,1] 0.9996028594122319 Centerline is valid? [True, True] Translation: X:252.09, Y:14.02, Z:-0.94 [[ 8.71887448e-01 4.88547725e-01 3.36659914e-02 2.52086355e+02] [-4.88174891e-01 8.72537150e-01 -1.90839439e-02 1.40214426e+01] [-3.86982456e-02 2.04159417e-04 9.99250922e-01 -9.36747156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25592 meters Centerline goodness [0,1] 0.9995035249726939 Centerline is valid? [True, True] Translation: X:252.12, Y:14.01, Z:-0.94 [[ 8.71875274e-01 4.88628196e-01 3.28023270e-02 2.52115387e+02] [-4.88273568e-01 8.72492086e-01 -1.86140382e-02 1.40071018e+01] [-3.77151147e-02 2.12610424e-04 9.99288509e-01 -9.36194932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28592 meters Centerline goodness [0,1] 0.9996029382568989 Centerline is valid? [True, True] Translation: X:252.15, Y:13.99, Z:-0.94 [[ 8.71723699e-01 4.88886113e-01 3.29872939e-02 2.52145177e+02] [-4.88526807e-01 8.72347591e-01 -1.87413723e-02 1.39917140e+01] [-3.79387830e-02 2.22120994e-04 9.99280041e-01 -9.36327368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31591999999995 meters Centerline goodness [0,1] 0.9992552135054618 Centerline is valid? [True, True] Translation: X:252.17, Y:13.98, Z:-0.94 [[ 8.71722459e-01 4.88929603e-01 3.23697173e-02 2.52173070e+02] [-4.88582939e-01 8.72323214e-01 -1.84098429e-02 1.39761125e+01] [-3.72379730e-02 2.32981942e-04 9.99306399e-01 -9.36292793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34592 meters Centerline goodness [0,1] 0.9992538798249104 Centerline is valid? [True, True] Translation: X:252.20, Y:13.96, Z:-0.94 [[ 8.71110389e-01 4.90064032e-01 3.16849189e-02 2.52200986e+02] [-4.89731945e-01 8.71686415e-01 -1.80393195e-02 1.39605722e+01] [-3.64597350e-02 1.97121728e-04 9.99335103e-01 -9.37626712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37591999999995 meters Centerline goodness [0,1] 0.9993043132578017 Centerline is valid? [True, True] Translation: X:252.23, Y:13.95, Z:-0.94 [[ 8.69642792e-01 4.92606049e-01 3.25683115e-02 2.52229404e+02] [-4.92256279e-01 8.70252416e-01 -1.85603652e-02 1.39463909e+01] [-3.74856000e-02 1.08931945e-04 9.99297162e-01 -9.37807160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40592 meters Centerline goodness [0,1] 0.9997022923489134 Centerline is valid? [True, True] Translation: X:252.26, Y:13.93, Z:-0.94 [[ 8.68516082e-01 4.94599764e-01 3.24174211e-02 2.52258370e+02] [-4.94253782e-01 8.69120861e-01 -1.84966898e-02 1.39305431e+01] [-3.73231154e-02 4.22395935e-05 9.99303249e-01 -9.37833304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43591999999995 meters Centerline goodness [0,1] 0.9996522948539638 Centerline is valid? [True, True] Translation: X:252.29, Y:13.91, Z:-0.94 [[ 8.67282522e-01 4.96767217e-01 3.23010763e-02 2.52287336e+02] [-4.96424384e-01 8.67883824e-01 -1.84526372e-02 1.39144020e+01] [-3.72002468e-02 -3.13921137e-05 9.99307831e-01 -9.38076054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46592 meters Centerline goodness [0,1] 0.9995023390066686 Centerline is valid? [True, True] Translation: X:252.32, Y:13.90, Z:-0.94 [[ 8.65731198e-01 4.99577170e-01 3.05310196e-02 2.52315460e+02] [-4.99272392e-01 8.66269376e-01 -1.74484004e-02 1.38978301e+01] [-3.51649098e-02 -1.37670562e-04 9.99381514e-01 -9.37825250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49591999999996 meters Centerline goodness [0,1] 0.9996524502259073 Centerline is valid? [True, True] Translation: X:252.34, Y:13.88, Z:-0.94 [[ 8.64538104e-01 5.01709780e-01 2.93455841e-02 2.52344160e+02] [-5.01428849e-01 8.65035985e-01 -1.67884840e-02 1.38825479e+01] [-3.38079328e-02 -2.00438324e-04 9.99428328e-01 -9.38117950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52592 meters Centerline goodness [0,1] 0.9994535790571755 Centerline is valid? [True, True] Translation: X:252.37, Y:13.87, Z:-0.94 [[ 8.62736041e-01 5.04785076e-01 2.96403536e-02 2.52373465e+02] [-5.04499667e-01 8.63245001e-01 -1.69751048e-02 1.38687626e+01] [-3.41556667e-02 -3.08513808e-04 9.99416477e-01 -9.38785576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55591999999996 meters Centerline goodness [0,1] 0.9995034016983662 Centerline is valid? [True, True] Translation: X:252.40, Y:13.85, Z:-0.94 [[ 8.62471054e-01 5.05269703e-01 2.90896495e-02 2.52402759e+02] [-5.04994484e-01 8.62961432e-01 -1.66774678e-02 1.38547598e+01] [-3.35298648e-02 -3.06279250e-04 9.99437669e-01 -9.38128526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58592 meters Centerline goodness [0,1] 0.9994539859029088 Centerline is valid? [True, True] Translation: X:252.43, Y:13.84, Z:-0.94 [[ 8.61392980e-01 5.07052168e-01 3.00038648e-02 2.52433111e+02] [-5.06759823e-01 8.61915286e-01 -1.72197899e-02 1.38423472e+01] [-3.45921215e-02 -3.71747042e-04 9.99401444e-01 -9.37255933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61591999999996 meters Centerline goodness [0,1] 0.999155069582505 Centerline is valid? [True, True] Translation: X:252.46, Y:13.83, Z:-0.94 [[ 8.61538848e-01 5.06795377e-01 3.01539093e-02 2.52464643e+02] [-5.06499205e-01 8.62066312e-01 -1.73271103e-02 1.38306016e+01] [-3.47759688e-02 -3.44952432e-04 9.99395074e-01 -9.39290316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64592 meters Centerline goodness [0,1] 0.9993047278506159 Centerline is valid? [True, True] Translation: X:252.49, Y:13.82, Z:-0.94 [[ 8.61336052e-01 5.07081188e-01 3.11267416e-02 2.52493162e+02] [-5.06765141e-01 8.61898222e-01 -1.79038374e-02 1.38166104e+01] [-3.59067824e-02 -3.52727007e-04 9.99355081e-01 -9.40270091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67591999999996 meters Centerline goodness [0,1] 0.9991547755183214 Centerline is valid? [True, True] Translation: X:252.52, Y:13.80, Z:-0.94 [[ 8.62407842e-01 5.05252954e-01 3.11795986e-02 2.52523491e+02] [-5.04933950e-01 8.62971254e-01 -1.79532951e-02 1.38049353e+01] [-3.59780527e-02 -2.60575374e-04 9.99352546e-01 -9.40408458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70592 meters Centerline goodness [0,1] 0.9990562757661551 Centerline is valid? [True, True] Translation: X:252.55, Y:13.79, Z:-0.94 [[ 8.62228831e-01 5.05522294e-01 3.17592940e-02 2.52553534e+02] [-5.05190686e-01 8.62813505e-01 -1.83092037e-02 1.37909539e+01] [-3.66580584e-02 -2.57776138e-04 9.99327834e-01 -9.40969230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73591999999996 meters Centerline goodness [0,1] 0.9992542136926366 Centerline is valid? [True, True] Translation: X:252.58, Y:13.78, Z:-0.94 [[ 8.63043802e-01 5.04191971e-01 3.07547074e-02 2.52583987e+02] [-5.03879499e-01 8.63591585e-01 -1.77489583e-02 1.37788975e+01] [-3.55083887e-02 -1.78538083e-04 9.99369362e-01 -9.41077156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76592 meters Centerline goodness [0,1] 0.9992551395371934 Centerline is valid? [True, True] Translation: X:252.61, Y:13.76, Z:-0.94 [[ 8.63057219e-01 5.04194043e-01 3.03414583e-02 2.52612926e+02] [-5.03889269e-01 8.63590378e-01 -1.75289095e-02 1.37643726e+01] [-3.50405632e-02 -1.60283374e-04 9.99385878e-01 -9.41501243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79591999999997 meters Centerline goodness [0,1] 0.9993543580829402 Centerline is valid? [True, True] Translation: X:252.64, Y:13.75, Z:-0.94 [[ 8.63622241e-01 5.03286281e-01 2.93179978e-02 2.52642338e+02] [-5.03000601e-01 8.64119731e-01 -1.69554296e-02 1.37509717e+01] [-3.38676954e-02 -1.03884417e-04 9.99426320e-01 -9.40602261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82592 meters Centerline goodness [0,1] 0.9991059898678851 Centerline is valid? [True, True] Translation: X:252.67, Y:13.74, Z:-0.94 [[ 8.63777662e-01 5.03059736e-01 2.86191060e-02 2.52670837e+02] [-5.02786817e-01 8.64251640e-01 -1.65686385e-02 1.37367161e+01] [-3.30691242e-02 -7.76893710e-05 9.99453064e-01 -9.39831579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85591999999997 meters Centerline goodness [0,1] 0.9993551587301587 Centerline is valid? [True, True] Translation: X:252.70, Y:13.72, Z:-0.94 [[ 8.63989308e-01 5.02704395e-01 2.84739703e-02 2.52701163e+02] [-5.02433390e-01 8.64458379e-01 -1.65045212e-02 1.37225089e+01] [-3.29114575e-02 -4.65436061e-05 9.99458270e-01 -9.40882779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88592 meters Centerline goodness [0,1] 0.9993551587301587 Centerline is valid? [True, True] Translation: X:252.73, Y:13.71, Z:-0.94 [[ 8.63725656e-01 5.03157746e-01 2.84653091e-02 2.52729495e+02] [-5.02886496e-01 8.64194585e-01 -1.65194545e-02 1.37064593e+01] [-3.29114574e-02 -4.65428848e-05 9.99458270e-01 -9.40910868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91591999999997 meters Centerline goodness [0,1] 0.998759859119996 Centerline is valid? [True, True] Translation: X:252.76, Y:13.69, Z:-0.94 [[ 8.63729037e-01 5.03115730e-01 2.90983297e-02 2.52758522e+02] [-5.02831607e-01 8.64219047e-01 -1.69060291e-02 1.36916466e+01] [-3.36530200e-02 -2.93316497e-05 9.99433576e-01 -9.41689038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94592 meters Centerline goodness [0,1] 0.9991067884080984 Centerline is valid? [True, True] Translation: X:252.79, Y:13.68, Z:-0.94 [[ 8.63565728e-01 5.03287004e-01 3.09261334e-02 2.52788310e+02] [-5.02965491e-01 8.64119315e-01 -1.79867718e-02 1.36781522e+01] [-3.57763777e-02 -2.20182569e-05 9.99359820e-01 -9.43006635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97592 meters Centerline goodness [0,1] 0.9989575059571089 Centerline is valid? [True, True] Translation: X:252.82, Y:13.66, Z:-0.94 [[ 8.63260044e-01 5.03789404e-01 3.12782999e-02 2.52817450e+02] [-5.03460074e-01 8.63826508e-01 -1.82131333e-02 1.36633251e+01] [-3.61946081e-02 -2.47048790e-05 9.99344760e-01 -9.41922509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00592 meters Centerline goodness [0,1] 0.9990077396308792 Centerline is valid? [True, True] Translation: X:252.85, Y:13.65, Z:-0.94 [[ 8.62906221e-01 5.04406575e-01 3.10943967e-02 2.52847331e+02] [-5.04080727e-01 8.63466274e-01 -1.81277471e-02 1.36496742e+01] [-3.59927178e-02 -3.15403270e-05 9.99352052e-01 -9.43256247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03592 meters Centerline goodness [0,1] 0.9993046933200894 Centerline is valid? [True, True] Translation: X:252.88, Y:13.63, Z:-0.94 [[ 8.62455971e-01 5.05246391e-01 2.99296188e-02 2.52876136e+02] [-5.04944383e-01 8.62975134e-01 -1.74667777e-02 1.36343959e+01] [-3.46535432e-02 -4.84661822e-05 9.99399384e-01 -9.43007216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06591999999995 meters Centerline goodness [0,1] 0.9992543249154902 Centerline is valid? [True, True] Translation: X:252.91, Y:13.62, Z:-0.94 [[ 8.62192483e-01 5.05755378e-01 2.89070871e-02 2.52905771e+02] [-5.05473356e-01 8.62676935e-01 -1.68876197e-02 1.36214290e+01] [-3.34784818e-02 -5.13836317e-05 9.99439437e-01 -9.43404694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09592 meters Centerline goodness [0,1] 0.9990558067882522 Centerline is valid? [True, True] Translation: X:252.94, Y:13.61, Z:-0.94 [[ 8.61986702e-01 5.06079652e-01 2.93651428e-02 2.52935300e+02] [-5.05788110e-01 8.62486744e-01 -1.71756922e-02 1.36066199e+01] [-3.40193147e-02 -4.73218210e-05 9.99421174e-01 -9.44254119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12591999999995 meters Centerline goodness [0,1] 0.9991549855850482 Centerline is valid? [True, True] Translation: X:252.96, Y:13.59, Z:-0.94 [[ 8.61726585e-01 5.06523251e-01 2.93511288e-02 2.52964726e+02] [-5.06231541e-01 8.62226301e-01 -1.71881418e-02 1.35915089e+01] [-3.40135087e-02 -4.69884372e-05 9.99421372e-01 -9.44104247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15592 meters Centerline goodness [0,1] 0.9992547694753577 Centerline is valid? [True, True] Translation: X:253.00, Y:13.58, Z:-0.94 [[ 8.62040161e-01 5.05978796e-01 2.95333585e-02 2.52995129e+02] [-5.05682430e-01 8.62545916e-01 -1.73153905e-02 1.35776001e+01] [-3.42350982e-02 -7.93851801e-06 9.99413807e-01 -9.44588407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18591999999995 meters Centerline goodness [0,1] 0.9995527283570221 Centerline is valid? [True, True] Translation: X:253.02, Y:13.56, Z:-0.94 [[ 8.61847377e-01 5.06366179e-01 2.85024714e-02 2.53023818e+02] [-5.06089785e-01 8.62318556e-01 -1.67283306e-02 1.35630057e+01] [-3.30488708e-02 -7.54177039e-06 9.99453737e-01 -9.44149761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21592 meters Centerline goodness [0,1] 0.9994039932452567 Centerline is valid? [True, True] Translation: X:253.05, Y:13.55, Z:-0.95 [[ 8.61791185e-01 5.06465339e-01 2.84396667e-02 2.53053754e+02] [-5.06189566e-01 8.62260321e-01 -1.67111597e-02 1.35489421e+01] [-3.29860193e-02 5.66759228e-06 9.99455813e-01 -9.45512009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24591999999996 meters Centerline goodness [0,1] 0.9996523811888564 Centerline is valid? [True, True] Translation: X:253.08, Y:13.53, Z:-0.95 [[ 8.61852480e-01 5.06276058e-01 2.99141598e-02 2.53082544e+02] [-5.05970184e-01 8.62371470e-01 -1.75960193e-02 1.35336892e+01] [-3.47055612e-02 2.94999245e-05 9.99397580e-01 -9.47281580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27592 meters Centerline goodness [0,1] 0.9998012619863864 Centerline is valid? [True, True] Translation: X:253.11, Y:13.52, Z:-0.95 [[ 8.61996167e-01 5.05967702e-01 3.09724308e-02 2.53110719e+02] [-5.05638924e-01 8.62552422e-01 -1.82372672e-02 1.35177779e+01] [-3.59428134e-02 5.95878305e-05 9.99353847e-01 -9.46814247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30591999999996 meters Centerline goodness [0,1] 0.9999006063015605 Centerline is valid? [True, True] Translation: X:253.14, Y:13.50, Z:-0.95 [[ 8.62065617e-01 5.05864141e-01 3.07301614e-02 2.53139508e+02] [-5.05539662e-01 8.62613160e-01 -1.81159251e-02 1.35014245e+01] [-3.56724385e-02 8.18007159e-05 9.99363533e-01 -9.48089057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.17, Y:13.48, Z:-0.95 [[ 8.62904734e-01 5.04465543e-01 3.01651372e-02 2.53167612e+02] [-5.04151307e-01 8.63431811e-01 -1.78035862e-02 1.34845130e+01] [-3.50268348e-02 1.55005459e-04 9.99386360e-01 -9.48685767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36591999999996 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:253.19, Y:13.47, Z:-0.95 [[ 8.62863984e-01 5.04568400e-01 2.96053331e-02 2.53194631e+02] [-5.04265166e-01 8.63371706e-01 -1.74911043e-02 1.34674699e+01] [-3.43858655e-02 1.63505707e-04 9.99408618e-01 -9.49036657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.22, Y:13.45, Z:-0.95 [[ 8.63269815e-01 5.03868248e-01 2.96987323e-02 2.53222539e+02] [-5.03561976e-01 8.63780496e-01 -1.75667922e-02 1.34496181e+01] [-3.45045345e-02 2.09729178e-04 9.99404519e-01 -9.48548263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.25, Y:13.43, Z:-0.95 [[ 8.62696497e-01 5.04819553e-01 3.01988728e-02 2.53249419e+02] [-5.04502726e-01 8.63224873e-01 -1.78834516e-02 1.34306915e+01] [-3.50963342e-02 1.92577380e-04 9.99383915e-01 -9.49341414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.28, Y:13.41, Z:-0.95 [[ 8.61865073e-01 5.06260137e-01 2.98206276e-02 2.53276141e+02] [-5.05951438e-01 8.62380805e-01 -1.76773980e-02 1.34120793e+01] [-3.46660987e-02 1.47742563e-04 9.99398939e-01 -9.49911195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.30, Y:13.39, Z:-0.95 [[ 8.59615726e-01 5.10096955e-01 2.93581265e-02 2.53301270e+02] [-5.09799385e-01 8.60116908e-01 -1.74210035e-02 1.33919572e+01] [-3.41378219e-02 8.61369816e-06 9.99417135e-01 -9.50832915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.33, Y:13.37, Z:-0.95 [[ 8.58580791e-01 5.11816066e-01 2.97210240e-02 2.53329381e+02] [-5.11511402e-01 8.59095054e-01 -1.76570959e-02 1.33739976e+01] [-3.45703701e-02 -4.25993050e-05 9.99402265e-01 -9.50934372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.36, Y:13.36, Z:-0.95 [[ 8.57580385e-01 5.13442611e-01 3.05379789e-02 2.53356429e+02] [-5.13121369e-01 8.58123928e-01 -1.81599516e-02 1.33573957e+01] [-3.55294633e-02 -9.60712728e-05 9.99368625e-01 -9.51271051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.38, Y:13.34, Z:-0.95 [[ 8.56619762e-01 5.15103348e-01 2.95148253e-02 2.53384112e+02] [-5.14803646e-01 8.57128065e-01 -1.75694599e-02 1.33407327e+01] [-3.43480727e-02 -1.43993154e-04 9.99409920e-01 -9.51406167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.41, Y:13.32, Z:-0.95 [[ 8.56358776e-01 5.15520017e-01 2.98120416e-02 2.53411417e+02] [-5.15213770e-01 8.56877524e-01 -1.77673876e-02 1.33217209e+01] [-3.47047124e-02 -1.44316056e-04 9.99397600e-01 -9.52262654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.44, Y:13.30, Z:-0.95 [[ 8.56386895e-01 5.15446447e-01 3.02728601e-02 2.53439513e+02] [-5.15129863e-01 8.56921784e-01 -1.80632366e-02 1.33044235e+01] [-3.52521044e-02 -1.25335111e-04 9.99378444e-01 -9.52247311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.47, Y:13.29, Z:-0.95 [[ 8.56543644e-01 5.15158744e-01 3.07319746e-02 2.53467546e+02] [-5.14831515e-01 8.57094778e-01 -1.83589933e-02 1.32862685e+01] [-3.57980109e-02 -9.65099748e-05 9.99359041e-01 -9.53470122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.49, Y:13.27, Z:-0.95 [[ 8.56145638e-01 5.15862110e-01 3.00155077e-02 2.53494629e+02] [-5.15549750e-01 8.56671624e-01 -1.79494769e-02 1.32694069e+01] [-3.49728888e-02 -1.07121135e-04 9.99388256e-01 -9.53320369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.52, Y:13.25, Z:-0.95 [[ 8.55954271e-01 5.16088905e-01 3.15361339e-02 2.53521927e+02] [-5.15743516e-01 8.56535014e-01 -1.88784372e-02 1.32522154e+01] [-3.67547549e-02 -1.05477647e-04 9.99324310e-01 -9.54750475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.55, Y:13.23, Z:-0.95 [[ 8.55645875e-01 5.16703912e-01 2.97859767e-02 2.53548493e+02] [-5.16395544e-01 8.56164152e-01 -1.78489853e-02 1.32344968e+01] [-3.47243260e-02 -1.08934970e-04 9.99396923e-01 -9.53936499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:253.58, Y:13.22, Z:-0.95 [[ 8.54894667e-01 5.17906913e-01 3.04555139e-02 2.53575081e+02] [-5.17584615e-01 8.55436969e-01 -1.82690355e-02 1.32154165e+01] [-3.55144323e-02 -1.45204455e-04 9.99369153e-01 -9.54222924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81591999999995 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:253.60, Y:13.20, Z:-0.95 [[ 8.54773255e-01 5.18141401e-01 2.98692342e-02 2.53602337e+02] [-5.17830897e-01 8.55294961e-01 -1.79357954e-02 1.31976269e+01] [-3.48402837e-02 -1.36174121e-04 9.99392884e-01 -9.54408977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.63, Y:13.18, Z:-0.95 [[ 8.55579105e-01 5.16835755e-01 2.94142428e-02 2.53629702e+02] [-5.16533243e-01 8.56084574e-01 -1.76808031e-02 1.31815056e+01] [-3.43191507e-02 -6.61085667e-05 9.99410922e-01 -9.54358954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.66, Y:13.17, Z:-0.96 [[ 8.56249262e-01 5.15751453e-01 2.89420220e-02 2.53657725e+02] [-5.15457353e-01 8.56738256e-01 -1.74148831e-02 1.31656776e+01] [-3.37774887e-02 -6.89726436e-06 9.99429378e-01 -9.55404212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:253.69, Y:13.15, Z:-0.96 [[ 8.58177559e-01 5.12574349e-01 2.82632978e-02 2.53686036e+02] [-5.12291502e-01 8.58642836e-01 -1.70263817e-02 1.31485037e+01] [-3.29953646e-02 1.32611413e-04 9.99455496e-01 -9.56494299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93591999999995 meters Centerline goodness [0,1] 0.9999004876107075 Centerline is valid? [True, True] Translation: X:253.71, Y:13.13, Z:-0.96 [[ 8.58642111e-01 5.11773074e-01 2.86713378e-02 2.53713926e+02] [-5.11480878e-01 8.59120648e-01 -1.72923236e-02 1.31308661e+01] [-3.34818839e-02 1.83076201e-04 9.99439308e-01 -9.56296745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:253.74, Y:13.11, Z:-0.96 [[ 8.58396994e-01 5.12154038e-01 2.92034451e-02 2.53742339e+02] [-5.11850414e-01 8.58893594e-01 -1.76337340e-02 1.31133039e+01] [-3.41138400e-02 1.88948792e-04 9.99417936e-01 -9.56486565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99591999999996 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:253.77, Y:13.10, Z:-0.96 [[ 8.58599938e-01 5.11755924e-01 3.01996648e-02 2.53770471e+02] [-5.11430328e-01 8.59130853e-01 -1.82536995e-02 1.30971130e+01] [-3.52869026e-02 2.27600846e-04 9.99377197e-01 -9.57420870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:253.80, Y:13.08, Z:-0.96 [[ 8.58118153e-01 5.12550539e-01 3.04167946e-02 2.53798829e+02] [-5.12219986e-01 8.58657032e-01 -1.84061561e-02 1.30792729e+01] [-3.55516798e-02 2.14566583e-04 9.99367816e-01 -9.59128857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05591999999996 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:253.83, Y:13.06, Z:-0.96 [[ 8.57589406e-01 5.13443471e-01 3.02690197e-02 2.53826600e+02] [-5.13115926e-01 8.58123397e-01 -1.83379901e-02 1.30612772e+01] [-3.53900753e-02 1.94949975e-04 9.99373556e-01 -9.60610090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08592 meters Centerline goodness [0,1] 0.9999004777070064 Centerline is valid? [True, True] Translation: X:253.85, Y:13.04, Z:-0.96 [[ 8.57033168e-01 5.14339678e-01 3.08033222e-02 2.53854685e+02] [-5.14000266e-01 8.57586534e-01 -1.86832353e-02 1.30430199e+01] [-3.60260435e-02 1.79236567e-04 9.99350835e-01 -9.60078515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11591999999996 meters Centerline goodness [0,1] 0.999950104779962 Centerline is valid? [True, True] Translation: X:253.88, Y:13.03, Z:-0.96 [[ 8.56589090e-01 5.15021456e-01 3.17495087e-02 2.53881765e+02] [-5.14660600e-01 8.57177269e-01 -1.92768231e-02 1.30264301e+01] [-3.71429347e-02 1.72095160e-04 9.99309948e-01 -9.60602167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14592 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:253.91, Y:13.01, Z:-0.96 [[ 8.54995470e-01 5.17771719e-01 2.99197815e-02 2.53908984e+02] [-5.17452304e-01 8.55518815e-01 -1.81843547e-02 1.30098504e+01] [-3.50122806e-02 6.54810450e-05 9.99386880e-01 -9.60479937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17591999999996 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:253.94, Y:12.99, Z:-0.96 [[ 8.54014695e-01 5.19466129e-01 2.85279193e-02 2.53936147e+02] [-5.19176103e-01 8.54491042e-01 -1.73560616e-02 1.29930297e+01] [-3.33927376e-02 1.13176860e-05 9.99442307e-01 -9.59752043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.96, Y:12.98, Z:-0.96 [[ 8.51881795e-01 5.22928353e-01 2.90403864e-02 2.53964198e+02] [-5.22629201e-01 8.52376633e-01 -1.76859537e-02 1.29766163e+01] [-3.40018334e-02 -1.11011960e-04 9.99421764e-01 -9.60874385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23591999999996 meters Centerline goodness [0,1] 0.9999006556725611 Centerline is valid? [True, True] Translation: X:253.99, Y:12.96, Z:-0.96 [[ 8.50997751e-01 5.24395434e-01 2.85001271e-02 2.53993189e+02] [-5.24107460e-01 8.51474842e-01 -1.73770942e-02 1.29603444e+01] [-3.33796101e-02 -1.49261198e-04 9.99442734e-01 -9.60631632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.02, Y:12.94, Z:-0.96 [[ 8.50111643e-01 5.25840392e-01 2.83209769e-02 2.54022904e+02] [-5.25556158e-01 8.50583240e-01 -1.72880705e-02 1.29446988e+01] [-3.31801141e-02 -1.87473835e-04 9.99449371e-01 -9.60111574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.05, Y:12.93, Z:-0.96 [[ 8.48596137e-01 5.28254311e-01 2.88440519e-02 2.54051479e+02] [-5.27960262e-01 8.49086161e-01 -1.76253367e-02 1.29288420e+01] [-3.38017454e-02 -2.71720517e-04 9.99428521e-01 -9.60795723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.08, Y:12.91, Z:-0.96 [[ 8.47975921e-01 5.29386086e-01 2.62146630e-02 2.54079664e+02] [-5.29143255e-01 8.48380986e-01 -1.60349455e-02 1.29124694e+01] [-3.07286987e-02 -2.74064416e-04 9.99527724e-01 -9.59838444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.11, Y:12.90, Z:-0.96 [[ 8.47149218e-01 5.30695194e-01 2.64728943e-02 2.54108849e+02] [-5.30447600e-01 8.47562691e-01 -1.62119584e-02 1.28962607e+01] [-3.10410460e-02 -3.08535362e-04 9.99518063e-01 -9.59805677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.14, Y:12.88, Z:-0.96 [[ 8.47404978e-01 5.30288636e-01 2.64341975e-02 2.54139447e+02] [-5.30040974e-01 8.47817130e-01 -1.62073787e-02 1.28821270e+01] [-3.10059542e-02 -2.76994401e-04 9.99519161e-01 -9.60533844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.17, Y:12.87, Z:-0.96 [[ 8.47747697e-01 5.29748409e-01 2.62766915e-02 2.54168423e+02] [-5.29502851e-01 8.48154800e-01 -1.61296512e-02 1.28659045e+01] [-3.08313591e-02 -2.39708453e-04 9.99524572e-01 -9.59772229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.20, Y:12.85, Z:-0.96 [[ 8.48022199e-01 5.29318909e-01 2.60737872e-02 2.54197536e+02] [-5.29076351e-01 8.48422919e-01 -1.60239116e-02 1.28499845e+01] [-3.06033581e-02 -2.06391402e-04 9.99531586e-01 -9.60897350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.23, Y:12.84, Z:-0.96 [[ 8.48408440e-01 5.28663530e-01 2.67953566e-02 2.54227674e+02] [-5.28406424e-01 8.48831457e-01 -1.64866234e-02 1.28354761e+01] [-3.14606181e-02 -1.71448167e-04 9.99504978e-01 -9.62810894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.26, Y:12.82, Z:-0.96 [[ 8.48410200e-01 5.28709236e-01 2.58200817e-02 2.54256826e+02] [-5.28470256e-01 8.48802992e-01 -1.58956024e-02 1.28219033e+01] [-3.03203144e-02 -1.59154023e-04 9.99540221e-01 -9.63098101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.29, Y:12.81, Z:-0.96 [[ 8.48393376e-01 5.28725776e-01 2.60333354e-02 2.54286475e+02] [-5.28482269e-01 8.48792692e-01 -1.60455197e-02 1.28062550e+01] [-3.05805847e-02 -1.45243582e-04 9.99532294e-01 -9.63177956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.32, Y:12.79, Z:-0.96 [[ 8.49239858e-01 5.27409191e-01 2.51238446e-02 2.54315437e+02] [-5.27181360e-01 8.49611404e-01 -1.55008350e-02 1.27926664e+01] [-2.95207877e-02 -8.08955921e-05 9.99564163e-01 -9.63181723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.34, Y:12.78, Z:-0.96 [[ 8.49438053e-01 5.27084475e-01 2.52378665e-02 2.54344849e+02] [-5.26853889e-01 8.49812893e-01 -1.55892950e-02 1.27766437e+01] [-2.96643397e-02 -5.45277126e-05 9.99559915e-01 -9.64566924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62591999999995 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:254.37, Y:12.76, Z:-0.97 [[ 8.50002229e-01 5.26222256e-01 2.42146027e-02 2.54373116e+02] [-5.26009210e-01 8.50347069e-01 -1.49724400e-02 1.27616342e+01] [-2.84696476e-02 -1.04966608e-05 9.99594657e-01 -9.65127368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.40, Y:12.75, Z:-0.97 [[ 8.50594315e-01 5.25262863e-01 2.42535614e-02 2.54401936e+02] [-5.25048244e-01 8.50940023e-01 -1.50139322e-02 1.27453910e+01] [-2.85245871e-02 3.64756048e-05 9.99593091e-01 -9.65423644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.43, Y:12.73, Z:-0.97 [[ 8.51068169e-01 5.24515523e-01 2.37999639e-02 2.54431268e+02] [-5.24308085e-01 8.51400881e-01 -1.47503243e-02 1.27292309e+01] [-2.80000843e-02 7.50180204e-05 9.99607918e-01 -9.65399772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.46, Y:12.71, Z:-0.97 [[ 8.51510823e-01 5.23809922e-01 2.35049830e-02 2.54459627e+02] [-5.23606859e-01 8.51835168e-01 -1.45843736e-02 1.27123638e+01] [-2.76618108e-02 1.11381655e-04 9.99617333e-01 -9.65097043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74591999999996 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:254.49, Y:12.69, Z:-0.96 [[ 8.51772883e-01 5.23399564e-01 2.31485096e-02 2.54487136e+02] [-5.23202010e-01 8.52087365e-01 -1.43798059e-02 1.26941036e+01] [-2.72509367e-02 1.36981930e-04 9.99628615e-01 -9.64879673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77592 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:254.51, Y:12.68, Z:-0.96 [[ 8.51502770e-01 5.23839215e-01 2.31410847e-02 2.54514968e+02] [-5.23641499e-01 8.51817151e-01 -1.43917514e-02 1.26771941e+01] [-2.72509366e-02 1.36983933e-04 9.99628615e-01 -9.64907757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80591999999996 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:254.54, Y:12.66, Z:-0.96 [[ 8.51542931e-01 5.23781396e-01 2.29714164e-02 2.54542653e+02] [-5.23586103e-01 8.51852702e-01 -1.43026807e-02 1.26595367e+01] [-2.70597412e-02 1.51832219e-04 9.99633807e-01 -9.64909971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83592 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:254.57, Y:12.64, Z:-0.97 [[ 8.51238645e-01 5.24236534e-01 2.38500714e-02 2.54568702e+02] [-5.24025769e-01 8.51572681e-01 -1.48647696e-02 1.26400560e+01] [-2.81027245e-02 1.55414323e-04 9.99605028e-01 -9.65959712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86591999999996 meters Centerline goodness [0,1] 0.9999005370996619 Centerline is valid? [True, True] Translation: X:254.60, Y:12.62, Z:-0.96 [[ 8.51076056e-01 5.24595395e-01 2.16614437e-02 2.54595531e+02] [-5.24421310e-01 8.51351662e-01 -1.35143564e-02 1.26225621e+01] [-2.55310752e-02 1.42022475e-04 9.99674019e-01 -9.64651604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.62, Y:12.60, Z:-0.96 [[ 8.50197690e-01 5.26017225e-01 2.16741031e-02 2.54621563e+02] [-5.25843264e-01 8.50473908e-01 -1.35274875e-02 1.26043664e+01] [-2.55489506e-02 1.03857512e-04 9.99673567e-01 -9.64285071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92591999999996 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:254.65, Y:12.59, Z:-0.97 [[ 8.48369711e-01 5.29006698e-01 2.05121186e-02 2.54648217e+02] [-5.28851451e-01 8.48617648e-01 -1.28152303e-02 1.25866045e+01] [-2.41862885e-02 2.41895886e-05 9.99707469e-01 -9.65125270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95592 meters Centerline goodness [0,1] 0.9999004826591034 Centerline is valid? [True, True] Translation: X:254.68, Y:12.57, Z:-0.96 [[ 8.46138076e-01 5.32608617e-01 1.94529500e-02 2.54675143e+02] [-5.32469832e-01 8.46361658e-01 -1.21581889e-02 1.25684815e+01] [-2.29397872e-02 -7.06025047e-05 9.99736846e-01 -9.63984916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.70, Y:12.55, Z:-0.96 [[ 8.44300308e-01 5.35529774e-01 1.91010940e-02 2.54702771e+02] [-5.35396404e-01 8.44516337e-01 -1.19519043e-02 1.25499475e+01] [-2.25317866e-02 -1.35660594e-04 9.99746118e-01 -9.64163574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.73, Y:12.53, Z:-0.96 [[ 8.42599669e-01 5.38208486e-01 1.89056507e-02 2.54730339e+02] [-5.38078196e-01 8.42811716e-01 -1.18434212e-02 1.25319934e+01] [-2.23081337e-02 -1.93455663e-04 9.99751124e-01 -9.62924377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04591999999997 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:254.76, Y:12.52, Z:-0.96 [[ 8.39600352e-01 5.42818770e-01 2.04702729e-02 2.54757572e+02] [-5.42667086e-01 8.39849792e-01 -1.28359231e-02 1.25158070e+01] [-2.41595344e-02 -3.31497775e-04 9.99708061e-01 -9.63647958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07592 meters Centerline goodness [0,1] 0.9999501296628766 Centerline is valid? [True, True] Translation: X:254.79, Y:12.50, Z:-0.96 [[ 8.38551357e-01 5.44491451e-01 1.89916009e-02 2.54786327e+02] [-5.44361010e-01 8.38766323e-01 -1.19225150e-02 1.24997500e+01] [-2.24212228e-02 -3.40645909e-04 9.99748555e-01 -9.63357649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.81, Y:12.48, Z:-0.96 [[ 8.36332636e-01 5.47900908e-01 1.87701044e-02 2.54814752e+02] [-5.47774246e-01 8.36543135e-01 -1.17881095e-02 1.24847064e+01] [-2.21607179e-02 -4.22999064e-04 9.99754332e-01 -9.64756435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.84, Y:12.47, Z:-0.96 [[ 8.34291482e-01 5.51018708e-01 1.83332100e-02 2.54844404e+02] [-5.50898376e-01 8.34492749e-01 -1.15252354e-02 1.24707309e+01] [-2.16495512e-02 -4.84329871e-04 9.99765504e-01 -9.64401339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.87, Y:12.46, Z:-0.96 [[ 8.33292213e-01 5.52500702e-01 1.91588834e-02 2.54873468e+02] [-5.52369398e-01 8.33512260e-01 -1.20565742e-02 1.24569118e+01] [-2.26304299e-02 -5.36131469e-04 9.99743755e-01 -9.64534601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.90, Y:12.44, Z:-0.96 [[ 8.32540205e-01 5.53623027e-01 1.94512515e-02 2.54903034e+02] [-5.53487900e-01 8.32767205e-01 -1.22444760e-02 1.24429378e+01] [-2.29771882e-02 -5.72013785e-04 9.99735826e-01 -9.64491732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.93, Y:12.43, Z:-0.96 [[ 8.30917872e-01 5.56044258e-01 1.97553279e-02 2.54931853e+02] [-5.55905471e-01 8.31152433e-01 -1.24394940e-02 1.24290608e+01] [-2.33365980e-02 -6.45897008e-04 9.99727456e-01 -9.64297366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.96, Y:12.41, Z:-0.96 [[ 8.31366264e-01 5.55409729e-01 1.87127756e-02 2.54960103e+02] [-5.55284969e-01 8.31576625e-01 -1.17864360e-02 1.24141127e+01] [-2.21074080e-02 -5.92077786e-04 9.99755426e-01 -9.64301620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.99, Y:12.40, Z:-0.96 [[ 8.33688334e-01 5.51935264e-01 1.81996379e-02 2.54991725e+02] [-5.51816352e-01 8.33886821e-01 -1.14665797e-02 1.24034544e+01] [-2.15052478e-02 -4.83304077e-04 9.99768619e-01 -9.63904984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.02, Y:12.39, Z:-0.96 [[ 8.34914953e-01 5.50091702e-01 1.77803337e-02 2.55020674e+02] [-5.49977720e-01 8.35104150e-01 -1.12056622e-02 1.23887434e+01] [-2.10125723e-02 -4.23012481e-04 9.99779122e-01 -9.63606819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.05, Y:12.37, Z:-0.97 [[ 8.38430068e-01 5.44658704e-01 1.95427035e-02 2.55050331e+02] [-5.44519439e-01 8.38657737e-01 -1.23199771e-02 1.23747768e+01] [-2.30998223e-02 -3.11942671e-04 9.99733115e-01 -9.65401684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.08, Y:12.36, Z:-0.97 [[ 8.39889119e-01 5.42361649e-01 2.07390895e-02 2.55078946e+02] [-5.42203968e-01 8.40145091e-01 -1.30798670e-02 1.23589380e+01] [-2.45178625e-02 -2.59178606e-04 9.99699358e-01 -9.65893490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.11, Y:12.35, Z:-0.97 [[ 8.43663189e-01 5.36520623e-01 1.94433964e-02 2.55109380e+02] [-5.36380371e-01 8.43887205e-01 -1.22671387e-02 1.23459064e+01] [-2.29896064e-02 -7.97228019e-05 9.99735701e-01 -9.65758729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.14, Y:12.33, Z:-0.97 [[ 8.46155994e-01 5.32656282e-01 1.72429572e-02 2.55136379e+02] [-5.32545113e-01 8.46331663e-01 -1.08820103e-02 1.23287416e+01] [-2.03896318e-02 2.52256300e-05 9.99792110e-01 -9.65748740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.16, Y:12.31, Z:-0.97 [[ 8.46828041e-01 5.31572377e-01 1.76940061e-02 2.55162739e+02] [-5.31455011e-01 8.47012872e-01 -1.11698710e-02 1.23102132e+01] [-2.09246458e-02 5.53917781e-05 9.99781054e-01 -9.65710438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.19, Y:12.29, Z:-0.97 [[ 8.47445645e-01 5.30588097e-01 1.76677497e-02 2.55189569e+02] [-5.30470799e-01 8.47629792e-01 -1.11564811e-02 1.22928568e+01] [-2.08952070e-02 8.22860331e-05 9.99781668e-01 -9.65167193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.22, Y:12.28, Z:-0.96 [[ 8.48440062e-01 5.28945878e-01 1.91237986e-02 2.55217410e+02] [-5.28807951e-01 8.48655548e-01 -1.20793927e-02 1.22765873e+01] [-2.26188628e-02 1.35823930e-04 9.99744152e-01 -9.64971814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.24, Y:12.26, Z:-0.97 [[ 8.48487609e-01 5.28861243e-01 1.93536235e-02 2.55243750e+02] [-5.28719878e-01 8.48708292e-01 -1.22280654e-02 1.22582869e+01] [-2.28925306e-02 1.42716498e-04 9.99737922e-01 -9.66812451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.27, Y:12.24, Z:-0.97 [[ 8.47988195e-01 5.29635540e-01 2.00553181e-02 2.55266862e+02] [-5.29483868e-01 8.48225311e-01 -1.26750169e-02 1.22352601e+01] [-2.37245678e-02 1.29297320e-04 9.99718524e-01 -9.67941767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.29, Y:12.22, Z:-0.97 [[ 8.47225671e-01 5.30891437e-01 1.90510951e-02 2.55292194e+02] [-5.30754815e-01 8.47439835e-01 -1.20437928e-02 1.22159845e+01] [-2.25386034e-02 9.23499366e-05 9.99745969e-01 -9.67433338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.32, Y:12.20, Z:-0.97 [[ 8.44961880e-01 5.34445785e-01 2.01773386e-02 2.55317692e+02] [-5.34293452e-01 8.45202759e-01 -1.27594802e-02 1.21967854e+01] [-2.38731927e-02 6.54504061e-07 9.99714995e-01 -9.67601256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.34, Y:12.18, Z:-0.97 [[ 8.43463602e-01 5.36799741e-01 2.03762064e-02 2.55344589e+02] [-5.36644942e-01 8.43709686e-01 -1.28907529e-02 1.21778805e+01] [-2.41113555e-02 -6.19072499e-05 9.99709277e-01 -9.67959047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.37, Y:12.16, Z:-0.97 [[ 8.41349445e-01 5.40110963e-01 2.02795195e-02 2.55370152e+02] [-5.39958499e-01 8.41593800e-01 -1.28333443e-02 1.21586050e+01] [-2.39985478e-02 -1.52771822e-04 9.99711982e-01 -9.67961681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.40, Y:12.14, Z:-0.97 [[ 8.40470139e-01 5.41557173e-01 1.80492286e-02 2.55396579e+02] [-5.41436667e-01 8.40663904e-01 -1.14252483e-02 1.21410399e+01] [-2.13607602e-02 -1.69934129e-04 9.99771818e-01 -9.66797108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.42, Y:12.12, Z:-0.97 [[ 8.39124656e-01 5.43611402e-01 1.88799924e-02 2.55423102e+02] [-5.43479988e-01 8.39336995e-01 -1.19545851e-02 1.21232995e+01] [-2.23453248e-02 -2.29510961e-04 9.99750286e-01 -9.65581715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.45, Y:12.11, Z:-0.97 [[ 8.38134757e-01 5.45117346e-01 1.94218420e-02 2.55450001e+02] [-5.44978601e-01 8.38359710e-01 -1.23012524e-02 1.21055265e+01] [-2.29881158e-02 -2.74381120e-04 9.99735701e-01 -9.66465287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.48, Y:12.09, Z:-0.97 [[ 8.37091284e-01 5.46777960e-01 1.76648018e-02 2.55476494e+02] [-5.46663486e-01 8.37277600e-01 -1.11916416e-02 1.20879786e+01] [-2.09096858e-02 -2.88276506e-04 9.99781327e-01 -9.68290788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.50, Y:12.07, Z:-0.97 [[ 8.36736006e-01 5.47331097e-01 1.73645048e-02 2.55504328e+02] [-5.47220505e-01 8.36916115e-01 -1.10061292e-02 1.20704177e+01] [-2.05566307e-02 -2.92988505e-04 9.99788647e-01 -9.67776054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.53, Y:12.05, Z:-0.97 [[ 8.35461546e-01 5.49237061e-01 1.85109691e-02 2.55531580e+02] [-5.49111772e-01 8.35666513e-01 -1.17362707e-02 1.20533313e+01] [-2.19149918e-02 -3.59388152e-04 9.99759773e-01 -9.68364179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.56, Y:12.04, Z:-0.97 [[ 8.34727065e-01 5.50382754e-01 1.75940682e-02 2.55560333e+02] [-5.50269708e-01 8.34912385e-01 -1.11605331e-02 1.20361189e+01] [-2.08320704e-02 -3.65483769e-04 9.99782922e-01 -9.66535341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.59, Y:12.02, Z:-0.97 [[ 8.33284091e-01 5.52505330e-01 1.93774011e-02 2.55587934e+02] [-5.52368710e-01 8.33509238e-01 -1.22946467e-02 1.20205073e+01] [-2.29441006e-02 -4.58536574e-04 9.99736644e-01 -9.66707995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.62, Y:12.00, Z:-0.97 [[ 8.32686966e-01 5.53404155e-01 1.93973644e-02 2.55615332e+02] [-5.53267415e-01 8.32912726e-01 -1.23108580e-02 1.20042228e+01] [-2.29691916e-02 -4.80838718e-04 9.99736058e-01 -9.67234305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.64, Y:11.99, Z:-0.97 [[ 8.32002620e-01 5.54435377e-01 1.93145804e-02 2.55642715e+02] [-5.54299998e-01 8.32226627e-01 -1.22618824e-02 1.19881957e+01] [-2.28725295e-02 -5.04153548e-04 9.99738262e-01 -9.68109293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.67, Y:11.97, Z:-0.97 [[ 8.31116853e-01 5.55829473e-01 1.72735036e-02 2.55671089e+02] [-5.55721433e-01 8.31296195e-01 -1.09692594e-02 1.19729378e+01] [-2.04564355e-02 -4.82519843e-04 9.99790629e-01 -9.67095180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.70, Y:11.96, Z:-0.97 [[ 8.31289348e-01 5.55556489e-01 1.77484737e-02 2.55699937e+02] [-5.55442261e-01 8.31478654e-01 -1.12757420e-02 1.19571879e+01] [-2.10217886e-02 -4.84848188e-04 9.99778900e-01 -9.67146936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.73, Y:11.94, Z:-0.97 [[ 8.31458165e-01 5.55327076e-01 1.70046727e-02 2.55728841e+02] [-5.55222095e-01 8.31631908e-01 -1.08071380e-02 1.19417454e+01] [-2.01431247e-02 -4.55686904e-04 9.99797003e-01 -9.66620072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.76, Y:11.93, Z:-0.97 [[ 8.31472953e-01 5.55310842e-01 1.68106151e-02 2.55756636e+02] [-5.55208178e-01 8.31642753e-01 -1.06869413e-02 1.19259521e+01] [-1.99150005e-02 -4.47488340e-04 9.99801577e-01 -9.66948028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.79, Y:11.91, Z:-0.97 [[ 8.31952969e-01 5.54612161e-01 1.61123268e-02 2.55787066e+02] [-5.54517662e-01 8.32108876e-01 -1.02459979e-02 1.19139162e+01] [-1.90897652e-02 -4.10381425e-04 9.99817690e-01 -9.66049405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.82, Y:11.90, Z:-0.97 [[ 8.31311665e-01 5.55562173e-01 1.64798907e-02 2.55816580e+02] [-5.55463440e-01 8.31474881e-01 -1.04827817e-02 1.18998772e+01] [-1.95264521e-02 -4.39518059e-04 9.99809244e-01 -9.66604566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.85, Y:11.89, Z:-0.97 [[ 8.31180209e-01 5.55753718e-01 1.66512787e-02 2.55845777e+02] [-5.55652956e-01 8.31346861e-01 -1.05919367e-02 1.18884685e+01] [-1.97294965e-02 -4.48524078e-04 9.99805254e-01 -9.65598446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.87, Y:11.87, Z:-0.97 [[ 8.30877434e-01 5.56237898e-01 1.55592797e-02 2.55873020e+02] [-5.56150004e-01 8.31022994e-01 -9.89731232e-03 1.18743263e+01] [-1.84353794e-02 -4.29840028e-04 9.99829962e-01 -9.65204236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.90, Y:11.86, Z:-0.97 [[ 8.31676121e-01 5.54998260e-01 1.70810253e-02 2.55901134e+02] [-5.54892281e-01 8.31851386e-01 -1.08548769e-02 1.18647349e+01] [-2.02333123e-02 -4.50387156e-04 9.99795184e-01 -9.65863293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.93, Y:11.85, Z:-0.97 [[ 8.32787336e-01 5.53326585e-01 1.71739516e-02 2.55927020e+02] [-5.53219316e-01 8.32964293e-01 -1.09029534e-02 1.18520577e+01] [-2.03381824e-02 -4.21120207e-04 9.99793069e-01 -9.66797443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.95, Y:11.84, Z:-0.97 [[ 8.34969337e-01 5.50103049e-01 1.45890700e-02 2.55954067e+02] [-5.50025311e-01 8.35096729e-01 -9.25264130e-03 1.18410532e+01] [-1.72731908e-02 -2.98685973e-04 9.99850763e-01 -9.66298033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.98, Y:11.83, Z:-0.97 [[ 8.37382099e-01 5.46425437e-01 1.45073117e-02 2.55979482e+02] [-5.46348174e-01 8.37507725e-01 -9.19149117e-03 1.18274615e+01] [-1.71724502e-02 -2.29253062e-04 9.99852516e-01 -9.65924047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.01, Y:11.82, Z:-0.97 [[ 8.41300594e-01 5.40389563e-01 1.38719600e-02 2.56005516e+02] [-5.40318242e-01 8.41414944e-01 -8.78003096e-03 1.18150482e+01] [-1.64167116e-02 -1.08627780e-04 9.99865231e-01 -9.67196433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.03, Y:11.80, Z:-0.97 [[ 8.43421295e-01 5.37061436e-01 1.43364258e-02 2.56029821e+02] [-5.36984952e-01 8.43543129e-01 -9.06363979e-03 1.18012621e+01] [-1.69611249e-02 -5.39780997e-05 9.99856148e-01 -9.66727209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.05, Y:11.79, Z:-0.97 [[ 8.46280940e-01 5.32556525e-01 1.38606455e-02 2.56054604e+02] [-5.32484594e-01 8.46394439e-01 -8.75271819e-03 1.17876805e+01] [-1.63928904e-02 2.66784075e-05 9.99865627e-01 -9.66336447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.08, Y:11.77, Z:-0.97 [[ 8.47201873e-01 5.31108339e-01 1.31498310e-02 2.56078656e+02] [-5.31043569e-01 8.47303918e-01 -8.29440503e-03 1.17732190e+01] [-1.55471310e-02 4.39023063e-05 9.99879135e-01 -9.65671364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.10, Y:11.76, Z:-0.96 [[ 8.47383701e-01 5.30862329e-01 1.12272449e-02 2.56102951e+02] [-5.30815187e-01 8.47458074e-01 -7.07464066e-03 1.17573503e+01] [-1.32702796e-02 3.53430775e-05 9.99911945e-01 -9.64595108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.13, Y:11.74, Z:-0.96 [[ 8.47262370e-01 5.31065703e-01 1.07562094e-02 2.56125722e+02] [-5.31022548e-01 8.47330643e-01 -6.77015835e-03 1.17415902e+01] [-1.27094647e-02 2.43106961e-05 9.99919231e-01 -9.63580531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.15, Y:11.72, Z:-0.96 [[ 8.46391851e-01 5.32456445e-01 1.05341899e-02 2.56148692e+02] [-5.32415256e-01 8.46457403e-01 -6.62275940e-03 1.17249582e+01] [-1.24430739e-02 -3.11381766e-06 9.99922582e-01 -9.61861763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.17, Y:11.71, Z:-0.96 [[ 8.46211828e-01 5.32730685e-01 1.11157506e-02 2.56172379e+02] [-5.32684952e-01 8.46284832e-01 -6.98031788e-03 1.17095872e+01] [-1.31257207e-02 -1.43655390e-05 9.99913854e-01 -9.62091476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.20, Y:11.69, Z:-0.96 [[ 8.44279899e-01 5.35825051e-01 9.10860599e-03 2.56195377e+02] [-5.35794593e-01 8.44329030e-01 -5.71341748e-03 1.16935016e+01] [-1.07520527e-02 -5.66183055e-05 9.99942193e-01 -9.62059957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.22, Y:11.68, Z:-0.96 [[ 8.42909440e-01 5.37984132e-01 8.76070912e-03 2.56219385e+02] [-5.37956130e-01 8.42954961e-01 -5.48962340e-03 1.16772711e+01] [-1.03382135e-02 -8.56217917e-05 9.99946556e-01 -9.61589118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.24, Y:11.66, Z:-0.96 [[ 8.43189743e-01 5.37544656e-01 8.76353810e-03 2.56242454e+02] [-5.37516677e-01 8.43235279e-01 -5.48510591e-03 1.16624458e+01] [-1.03382139e-02 -8.55628357e-05 9.99946556e-01 -9.61612841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.27, Y:11.65, Z:-0.96 [[ 8.41284063e-01 5.40482354e-01 1.09522273e-02 2.56267361e+02] [-5.40438988e-01 8.41355335e-01 -6.84832065e-03 1.16487678e+01] [-1.29161114e-02 -1.57627647e-04 9.99916571e-01 -9.61037926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.29, Y:11.63, Z:-0.96 [[ 8.40526528e-01 5.41665467e-01 1.06620068e-02 2.56292299e+02] [-5.41624550e-01 8.40594130e-01 -6.66003968e-03 1.16343323e+01] [-1.25699338e-02 -1.76864610e-04 9.99920980e-01 -9.60145769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.32, Y:11.62, Z:-0.96 [[ 8.39212891e-01 5.43729886e-01 8.91822892e-03 2.56319075e+02] [-5.43701429e-01 8.39260258e-01 -5.56563338e-03 1.16225319e+01] [-1.05109163e-02 -1.78102525e-04 9.99944743e-01 -9.60528002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.34, Y:11.61, Z:-0.96 [[ 8.39531454e-01 5.43224708e-01 9.68788046e-03 2.56343816e+02] [-5.43191174e-01 8.39587327e-01 -6.03898001e-03 1.16095193e+01] [-1.14143448e-02 -1.92457495e-04 9.99934836e-01 -9.60856129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.37, Y:11.60, Z:-0.96 [[ 8.39720990e-01 5.42935605e-01 9.46510054e-03 2.56368460e+02] [-5.42903654e-01 8.39774310e-01 -5.89325072e-03 1.15965153e+01] [-1.11482039e-02 -1.89951338e-04 9.99937839e-01 -9.60153408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.40, Y:11.59, Z:-0.96 [[ 8.40952313e-01 5.40994242e-01 1.11551639e-02 2.56395056e+02] [-5.40949797e-01 8.41026272e-01 -6.93739670e-03 1.15860166e+01] [-1.31348775e-02 -2.00363824e-04 9.99913714e-01 -9.59973184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.42, Y:11.57, Z:-0.96 [[ 8.42202359e-01 5.39068536e-01 1.00149934e-02 2.56420034e+02] [-5.39032650e-01 8.42261888e-01 -6.22199771e-03 1.15724802e+01] [-1.17893305e-02 -1.58227286e-04 9.99930491e-01 -9.59702256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.45, Y:11.56, Z:-0.96 [[ 8.45450059e-01 5.33984937e-01 8.61889686e-03 2.56446107e+02] [-5.33958149e-01 8.45493986e-01 -5.34924463e-03 1.15600450e+01] [-1.01436415e-02 -7.96110218e-05 9.99948549e-01 -9.58851675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.47, Y:11.55, Z:-0.96 [[ 8.48832884e-01 5.28581272e-01 9.19635030e-03 2.56472012e+02] [-5.28550520e-01 8.48882700e-01 -5.70176930e-03 1.15471066e+01] [-1.08204711e-02 -2.08864518e-05 9.99941457e-01 -9.58596803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.50, Y:11.53, Z:-0.96 [[ 8.50583550e-01 5.25746291e-01 9.92273750e-03 2.56496053e+02] [-5.25710378e-01 8.50641427e-01 -6.14505893e-03 1.15330547e+01] [-1.16714335e-02 1.03999638e-05 9.99931886e-01 -9.59189495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02592 meters Centerline goodness [0,1] 0.9998509612996175 Centerline is valid? [True, True] Translation: X:256.52, Y:11.52, Z:-0.96 [[ 8.51874180e-01 5.23664630e-01 9.25936277e-03 2.56519853e+02] [-5.23633306e-01 8.51924500e-01 -5.72772142e-03 1.15179089e+01] [-1.08876831e-02 3.07872479e-05 9.99940727e-01 -9.58754397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05591999999996 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:256.54, Y:11.50, Z:-0.96 [[ 8.53568084e-01 5.20903968e-01 8.97672324e-03 2.56542307e+02] [-5.20874441e-01 8.53615283e-01 -5.54658073e-03 1.15020001e+01] [-1.05519041e-02 5.86385827e-05 9.99944325e-01 -9.57505595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08592 meters Centerline goodness [0,1] 0.9999006260558482 Centerline is valid? [True, True] Translation: X:256.56, Y:11.49, Z:-0.96 [[ 8.54347937e-01 5.19647198e-01 7.50954644e-03 2.56564828e+02] [-5.19626531e-01 8.54380938e-01 -4.63483947e-03 1.14850918e+01] [-8.82449467e-03 5.76059693e-05 9.99961062e-01 -9.56856613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.59, Y:11.47, Z:-0.96 [[ 8.54136487e-01 5.19999958e-01 7.13483760e-03 2.56587068e+02] [-5.19981356e-01 8.54166285e-01 -4.39859576e-03 1.14688755e+01] [-8.38160733e-03 4.70185979e-05 9.99964873e-01 -9.56961585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.61, Y:11.45, Z:-0.96 [[ 8.54003209e-01 5.20207430e-01 7.92139999e-03 2.56609692e+02] [-5.20184562e-01 8.54039945e-01 -4.87789067e-03 1.14521467e+01] [-9.30270698e-03 4.51443020e-05 9.99956728e-01 -9.56637566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.63, Y:11.43, Z:-0.96 [[ 8.52364110e-01 5.22879018e-01 8.54146047e-03 2.56630953e+02] [-5.22852624e-01 8.52406905e-01 -5.25363656e-03 1.14330130e+01] [-1.00278162e-02 1.20862254e-05 9.99949720e-01 -9.55318700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.65, Y:11.42, Z:-0.96 [[ 8.51111116e-01 5.24887984e-01 1.01229225e-02 2.56654779e+02] [-5.24851130e-01 8.51171313e-01 -6.21989287e-03 1.14161270e+01] [-1.18810882e-02 -1.92073354e-05 9.99929417e-01 -9.56389228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.68, Y:11.40, Z:-0.96 [[ 8.48562396e-01 5.29004047e-01 9.82743822e-03 2.56677663e+02] [-5.28969659e-01 8.48619298e-01 -6.03226244e-03 1.13985036e+01] [-1.15308450e-02 -7.96655671e-05 9.99933514e-01 -9.55740519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.70, Y:11.38, Z:-0.96 [[ 8.47018875e-01 5.31490350e-01 8.77690437e-03 2.56701391e+02] [-5.31463110e-01 8.47064340e-01 -5.38203013e-03 1.13824899e+01] [-1.02950998e-02 -1.05919786e-04 9.99946998e-01 -9.55979044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.72, Y:11.37, Z:-0.96 [[ 8.45871861e-01 5.33315799e-01 8.66333060e-03 2.56724914e+02] [-5.33289386e-01 8.45916215e-01 -5.30929851e-03 1.13667604e+01] [-1.01599846e-02 -1.29076043e-04 9.99948378e-01 -9.55869364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.75, Y:11.35, Z:-0.96 [[ 8.46264845e-01 5.32708286e-01 7.59561282e-03 2.56748561e+02] [-5.32688001e-01 8.46298925e-01 -4.65014638e-03 1.13526120e+01] [-8.90533047e-03 -1.10836404e-04 9.99960341e-01 -9.55015229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.77, Y:11.34, Z:-0.96 [[ 8.47161497e-01 5.31256518e-01 9.16019964e-03 2.56773271e+02] [-5.31227002e-01 8.47211011e-01 -5.60130495e-03 1.13393324e+01] [-1.07363518e-02 -1.20935505e-04 9.99942356e-01 -9.55838877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.80, Y:11.32, Z:-0.96 [[ 8.48470984e-01 5.29186359e-01 7.66732694e-03 2.56798141e+02] [-5.29165638e-01 8.48505622e-01 -4.68364772e-03 1.13241942e+01] [-8.98429250e-03 -8.33467714e-05 9.99959637e-01 -9.55959539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.82, Y:11.31, Z:-0.96 [[ 8.49485337e-01 5.27545084e-01 8.41698813e-03 2.56821219e+02] [-5.27520092e-01 8.49527032e-01 -5.13558963e-03 1.13093712e+01] [-9.85971401e-03 -7.75222625e-05 9.99951389e-01 -9.55880115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.85, Y:11.29, Z:-0.96 [[ 8.50221687e-01 5.26340661e-01 9.41223808e-03 2.56845301e+02] [-5.26309411e-01 8.50273781e-01 -5.73603258e-03 1.12944569e+01] [-1.10220864e-02 -7.68501793e-05 9.99939252e-01 -9.56022155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.87, Y:11.28, Z:-0.96 [[ 8.50775675e-01 5.25423123e-01 1.05495312e-02 2.56869680e+02] [-5.25383885e-01 8.50841076e-01 -6.42160740e-03 1.12802213e+01] [-1.23500355e-02 -7.92063432e-05 9.99923732e-01 -9.55461969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.89, Y:11.26, Z:-0.96 [[ 8.49883528e-01 5.26822176e-01 1.25053543e-02 2.56893900e+02] [-5.26767307e-01 8.49975517e-01 -7.60423473e-03 1.12642693e+01] [-1.46353245e-02 -1.24697980e-04 9.99892890e-01 -9.55259572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.92, Y:11.25, Z:-0.95 [[ 8.50106449e-01 5.26490787e-01 1.12462301e-02 2.56916914e+02] [-5.26446486e-01 8.50180827e-01 -6.83068426e-03 1.12490164e+01] [-1.31576215e-02 -1.13729589e-04 9.99913428e-01 -9.53314699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.94, Y:11.23, Z:-0.95 [[ 8.50610884e-01 5.25667281e-01 1.16203747e-02 2.56940083e+02] [-5.25620021e-01 8.50690248e-01 -7.04954107e-03 1.12325941e+01] [-1.35910525e-02 -1.11485228e-04 9.99907631e-01 -9.53533202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.96, Y:11.22, Z:-0.95 [[ 8.51557533e-01 5.24124503e-01 1.19697226e-02 2.56963309e+02] [-5.24074325e-01 8.51641648e-01 -7.25292702e-03 1.12173488e+01] [-1.39953510e-02 -9.67396496e-05 9.99902056e-01 -9.53843462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.99, Y:11.20, Z:-0.95 [[ 8.53483673e-01 5.20967894e-01 1.25727285e-02 2.56985020e+02] [-5.20912323e-01 8.53576271e-01 -7.60929080e-03 1.11998963e+01] [-1.46959789e-02 -5.48837525e-05 9.99892007e-01 -9.54435685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.01, Y:11.18, Z:-0.95 [[ 8.54142463e-01 5.19851213e-01 1.39774459e-02 2.57008783e+02] [-5.19782524e-01 8.54256820e-01 -8.45064086e-03 1.11835036e+01] [-1.63334043e-02 -4.71808821e-05 9.99866600e-01 -9.54266223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.03, Y:11.17, Z:-0.95 [[ 8.55041701e-01 5.18396515e-01 1.29900706e-02 2.57032958e+02] [-5.18337142e-01 8.55140370e-01 -7.84570495e-03 1.11676985e+01] [-1.51755199e-02 -2.48311534e-05 9.99884845e-01 -9.54138187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71592 meters Centerline goodness [0,1] 0.9999502140794583 Centerline is valid? [True, True] Translation: X:257.06, Y:11.15, Z:-0.95 [[ 8.56041429e-01 5.16731981e-01 1.34585281e-02 2.57055378e+02] [-5.16668192e-01 8.56147218e-01 -8.11913325e-03 1.11514986e+01] [-1.57178972e-02 -3.27896947e-06 9.99876466e-01 -9.54194290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.08, Y:11.13, Z:-0.95 [[ 8.55743964e-01 5.17222965e-01 1.35156206e-02 2.57076897e+02] [-5.17158847e-01 8.55850690e-01 -8.14389321e-03 1.11335148e+01] [-1.57795619e-02 -2.06353183e-05 9.99875495e-01 -9.54189994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.10, Y:11.12, Z:-0.95 [[ 8.55831473e-01 5.17041773e-01 1.48423570e-02 2.57100888e+02] [-5.16964585e-01 8.55960165e-01 -8.93384274e-03 1.11172081e+01] [-1.73236362e-02 -2.71091153e-05 9.99849934e-01 -9.54262020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.12, Y:11.10, Z:-0.95 [[ 8.55344143e-01 5.17816972e-01 1.58738652e-02 2.57124522e+02] [-5.17728999e-01 8.55491426e-01 -9.54479485e-03 1.10999877e+01] [-1.85224124e-02 -5.42759856e-05 9.99828444e-01 -9.54971564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.15, Y:11.08, Z:-0.95 [[ 8.55539944e-01 5.17564438e-01 1.33587648e-02 2.57146870e+02] [-5.17502232e-01 8.55644231e-01 -8.02432539e-03 1.10805426e+01] [-1.55834555e-02 -4.80597102e-05 9.99878569e-01 -9.54457552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.17, Y:11.07, Z:-0.95 [[ 8.55594257e-01 5.17492110e-01 1.26642448e-02 2.57169681e+02] [-5.17436328e-01 8.55687977e-01 -7.59825811e-03 1.10650900e+01] [-1.47686806e-02 -5.19143208e-05 9.99890936e-01 -9.54217756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.19, Y:11.05, Z:-0.96 [[ 8.56094902e-01 5.16613279e-01 1.45684408e-02 2.57193238e+02] [-5.16539489e-01 8.56218849e-01 -8.73144478e-03 1.10491078e+01] [-1.69845539e-02 -5.02296068e-05 9.99855751e-01 -9.55055320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.22, Y:11.03, Z:-0.96 [[ 8.56600447e-01 5.15766439e-01 1.48544515e-02 2.57215718e+02] [-5.15689778e-01 8.56729233e-01 -8.89240093e-03 1.10316838e+01] [-1.73126448e-02 -4.30541679e-05 9.99850124e-01 -9.55455406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.24, Y:11.02, Z:-0.95 [[ 8.56998990e-01 5.15106753e-01 1.47568060e-02 2.57239123e+02] [-5.15031157e-01 8.57126030e-01 -8.82476199e-03 1.10150506e+01] [-1.71941370e-02 -3.74027521e-05 9.99852169e-01 -9.54872921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98591999999996 meters Centerline goodness [0,1] 0.9998510796723753 Centerline is valid? [True, True] Translation: X:257.26, Y:11.00, Z:-0.96 [[ 8.57356645e-01 5.14495077e-01 1.53101147e-02 2.57263049e+02] [-5.14413777e-01 8.57493332e-01 -9.14608859e-03 1.09989801e+01] [-1.78339389e-02 -3.42741247e-05 9.99840962e-01 -9.55978346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.29, Y:10.98, Z:-0.96 [[ 8.57293670e-01 5.14608811e-01 1.50111334e-02 2.57287863e+02] [-5.14530703e-01 8.57425081e-01 -8.96577429e-03 1.09831814e+01] [-1.74847887e-02 -3.73874829e-05 9.99847129e-01 -9.55264997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.31, Y:10.97, Z:-0.96 [[ 8.57631640e-01 5.14047485e-01 1.49382812e-02 2.57313619e+02] [-5.13970072e-01 8.57761728e-01 -8.92094984e-03 1.09675833e+01] [-1.73992777e-02 -2.69405883e-05 9.99848621e-01 -9.55539583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.34, Y:10.95, Z:-0.96 [[ 8.57476410e-01 5.14280605e-01 1.58007892e-02 2.57338593e+02] [-5.14194059e-01 8.57621978e-01 -9.43461992e-03 1.09507585e+01] [-1.84031462e-02 -3.47079228e-05 9.99830647e-01 -9.55972953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.36, Y:10.93, Z:-0.96 [[ 8.57137186e-01 5.14871741e-01 1.49310375e-02 2.57363874e+02] [-5.14794551e-01 8.57267221e-01 -8.91523056e-03 1.09343294e+01] [-1.73900893e-02 -4.48410965e-05 9.99848780e-01 -9.56376626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.39, Y:10.92, Z:-0.96 [[ 8.56570857e-01 5.15763750e-01 1.65566122e-02 2.57388994e+02] [-5.15669003e-01 8.56730850e-01 -9.88585123e-03 1.09177697e+01] [-1.92833241e-02 -6.97996437e-05 9.99814057e-01 -9.55913183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.42, Y:10.90, Z:-0.96 [[ 8.56481850e-01 5.15882480e-01 1.74386790e-02 2.57415255e+02] [-5.15777393e-01 8.56659361e-01 -1.04125279e-02 1.09021530e+01] [-2.03106483e-02 -7.63352383e-05 9.99793715e-01 -9.55667849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.44, Y:10.89, Z:-0.96 [[ 8.55763228e-01 5.17044462e-01 1.82844852e-02 2.57441966e+02] [-5.16929164e-01 8.55958534e-01 -1.09190967e-02 1.08855089e+01] [-2.12964196e-02 -1.07622217e-04 9.99773200e-01 -9.56157815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.47, Y:10.87, Z:-0.96 [[ 8.55461550e-01 5.17550896e-01 1.80722683e-02 2.57469477e+02] [-5.17438307e-01 8.55652415e-01 -1.07954878e-02 1.08687881e+01] [-2.10507944e-02 -1.16159243e-04 9.99778401e-01 -9.56645575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.50, Y:10.85, Z:-0.96 [[ 8.53647869e-01 5.20562496e-01 1.73206116e-02 2.57496254e+02] [-5.20459650e-01 8.53823551e-01 -1.03487992e-02 1.08525171e+01] [-2.01759428e-02 -1.80448999e-04 9.99796429e-01 -9.55838048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.52, Y:10.84, Z:-0.96 [[ 8.53145894e-01 5.21384590e-01 1.73260750e-02 2.57523121e+02] [-5.21281846e-01 8.53321786e-01 -1.03521614e-02 1.08372189e+01] [-2.01821747e-02 -1.99864333e-04 9.99796299e-01 -9.55744791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.55, Y:10.82, Z:-0.95 [[ 8.51256185e-01 5.24499366e-01 1.62271924e-02 2.57550017e+02] [-5.24409782e-01 8.51410800e-01 -9.69694933e-03 1.08218660e+01] [-1.89020507e-02 -2.55110355e-04 9.99821308e-01 -9.54790009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34592 meters Centerline goodness [0,1] 0.9998014789815872 Centerline is valid? [True, True] Translation: X:257.58, Y:10.81, Z:-0.95 [[ 8.50092554e-01 5.26377157e-01 1.64237233e-02 2.57576266e+02] [-5.26285738e-01 8.50251139e-01 -9.81445689e-03 1.08068683e+01] [-1.91303953e-02 -3.00374589e-04 9.99816952e-01 -9.53640394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37591999999995 meters Centerline goodness [0,1] 0.9996521911954686 Centerline is valid? [True, True] Translation: X:257.60, Y:10.79, Z:-0.95 [[ 8.49139352e-01 5.27942179e-01 1.54730967e-02 2.57603123e+02] [-5.27861297e-01 8.49280257e-01 -9.24638333e-03 1.07921447e+01] [-1.80225514e-02 -3.16180973e-04 9.99837531e-01 -9.53518265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40592 meters Centerline goodness [0,1] 0.9992052848557096 Centerline is valid? [True, True] Translation: X:257.63, Y:10.78, Z:-0.95 [[ 8.46941631e-01 5.31439166e-01 1.61952855e-02 2.57629365e+02] [-5.31351219e-01 8.47096361e-01 -9.67658986e-03 1.07783862e+01] [-1.88614862e-02 -4.09877892e-04 9.99822022e-01 -9.53760180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43591999999995 meters Centerline goodness [0,1] 0.9989075379878836 Centerline is valid? [True, True] Translation: X:257.66, Y:10.77, Z:-0.95 [[ 8.45185248e-01 5.34274884e-01 1.45686312e-02 2.57655956e+02] [-5.34204283e-01 8.45310689e-01 -8.69609986e-03 1.07663579e+01] [-1.69611274e-02 -4.32809864e-04 9.99856056e-01 -9.52527675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46592 meters Centerline goodness [0,1] 0.9989076464746772 Centerline is valid? [True, True] Translation: X:257.68, Y:10.75, Z:-0.95 [[ 8.44886890e-01 5.34746584e-01 1.45682229e-02 2.57681840e+02] [-5.34676212e-01 8.45012360e-01 -8.68679773e-03 1.07531381e+01] [-1.69555638e-02 -4.49920711e-04 9.99856143e-01 -9.51697108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49591999999996 meters Centerline goodness [0,1] 0.9994039340353665 Centerline is valid? [True, True] Translation: X:257.71, Y:10.74, Z:-0.95 [[ 8.44318411e-01 5.35613114e-01 1.56529012e-02 2.57707271e+02] [-5.35532197e-01 8.44463340e-01 -9.32384140e-03 1.07403520e+01] [-1.82122729e-02 -5.10341612e-04 9.99834013e-01 -9.52170769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52592 meters Centerline goodness [0,1] 0.9993052798729655 Centerline is valid? [True, True] Translation: X:257.73, Y:10.73, Z:-0.95 [[ 8.42258608e-01 5.38857420e-01 1.52681831e-02 2.57733192e+02] [-5.38781028e-01 8.42396793e-01 -9.09103872e-03 1.07284140e+01] [-1.77606421e-02 -5.69201756e-04 9.99842105e-01 -9.52042753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55591999999996 meters Centerline goodness [0,1] 0.9985552732526279 Centerline is valid? [True, True] Translation: X:257.76, Y:10.72, Z:-0.95 [[ 8.41637081e-01 5.39842811e-01 1.47229090e-02 2.57759305e+02] [-5.39772078e-01 8.41765649e-01 -8.75760440e-03 1.07154435e+01] [-1.71209688e-02 -5.76290584e-04 9.99853259e-01 -9.51477982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58592 meters Centerline goodness [0,1] 0.9985552732526279 Centerline is valid? [True, True] Translation: X:257.78, Y:10.70, Z:-0.95 [[ 8.41919609e-01 5.39401960e-01 1.47274622e-02 2.57782744e+02] [-5.39331294e-01 8.42048213e-01 -8.74994491e-03 1.07011713e+01] [-1.71209707e-02 -5.76231072e-04 9.99853259e-01 -9.51501719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61591999999996 meters Centerline goodness [0,1] 0.9988573699637339 Centerline is valid? [True, True] Translation: X:257.81, Y:10.69, Z:-0.95 [[ 8.40097106e-01 5.42255159e-01 1.40069533e-02 2.57810930e+02] [-5.42191775e-01 8.40213646e-01 -8.31319517e-03 1.06926637e+01] [-1.62767062e-02 -6.10563632e-04 9.99867339e-01 -9.49873424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64592 meters Centerline goodness [0,1] 0.9986587183308495 Centerline is valid? [True, True] Translation: X:257.84, Y:10.68, Z:-0.95 [[ 8.39189387e-01 5.43646601e-01 1.44757152e-02 2.57837467e+02] [-5.43579194e-01 8.39313966e-01 -8.58640032e-03 1.06818844e+01] [-1.68176373e-02 -6.63081562e-04 9.99858354e-01 -9.49675099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67591999999996 meters Centerline goodness [0,1] 0.9985606511812587 Centerline is valid? [True, True] Translation: X:257.87, Y:10.67, Z:-0.95 [[ 8.37830021e-01 5.45718843e-01 1.52249771e-02 2.57865822e+02] [-5.45644707e-01 8.37968012e-01 -9.02577820e-03 1.06740925e+01] [-1.76835810e-02 -7.45360214e-04 9.99843355e-01 -9.48485232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70592 meters Centerline goodness [0,1] 0.999055619066554 Centerline is valid? [True, True] Translation: X:257.89, Y:10.66, Z:-0.95 [[ 8.38792160e-01 5.44205667e-01 1.63677788e-02 2.57892651e+02] [-5.44119882e-01 8.38951483e-01 -9.69343507e-03 1.06626244e+01] [-1.90069946e-02 -7.75256517e-04 9.99819050e-01 -9.48977843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73591999999996 meters Centerline goodness [0,1] 0.9983139938510364 Centerline is valid? [True, True] Translation: X:257.92, Y:10.65, Z:-0.95 [[ 8.40797584e-01 5.41121928e-01 1.56997303e-02 2.57921086e+02] [-5.41042522e-01 8.40943873e-01 -9.29475446e-03 1.06548051e+01] [-1.82321875e-02 -6.79214599e-04 9.99833549e-01 -9.48272571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76592 meters Centerline goodness [0,1] 0.9984605452649352 Centerline is valid? [True, True] Translation: X:257.95, Y:10.64, Z:-0.95 [[ 8.42689468e-01 5.38154703e-01 1.62473563e-02 2.57947634e+02] [-5.38069290e-01 8.42845834e-01 -9.60930752e-03 1.06428683e+01] [-1.88653106e-02 -6.44541243e-04 9.99821826e-01 -9.49284061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79591999999997 meters Centerline goodness [0,1] 0.9984119894794303 Centerline is valid? [True, True] Translation: X:257.98, Y:10.63, Z:-0.95 [[ 8.47474015e-01 5.30657594e-01 1.37953744e-02 2.57975824e+02] [-5.30595044e-01 8.47586192e-01 -8.15757442e-03 1.06326111e+01] [-1.60216477e-02 -4.06424951e-04 9.99871563e-01 -9.49358283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82592 meters Centerline goodness [0,1] 0.9981132075471698 Centerline is valid? [True, True] Translation: X:258.00, Y:10.62, Z:-0.95 [[ 8.49618157e-01 5.27212424e-01 1.40016817e-02 2.58002156e+02] [-5.27147592e-01 8.49733451e-01 -8.27521842e-03 1.06195369e+01] [-1.62604953e-02 -3.50176988e-04 9.99867728e-01 -9.49506906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85591999999997 meters Centerline goodness [0,1] 0.9985087239648058 Centerline is valid? [True, True] Translation: X:258.03, Y:10.61, Z:-0.95 [[ 8.54271331e-01 5.19646010e-01 1.37302007e-02 2.58029873e+02] [-5.19582808e-01 8.54381637e-01 -8.10708004e-03 1.06088188e+01] [-1.59436431e-02 -2.08330177e-04 9.99872870e-01 -9.49002595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88592 meters Centerline goodness [0,1] 0.9980649002679369 Centerline is valid? [True, True] Translation: X:258.06, Y:10.60, Z:-0.95 [[ 8.56163758e-01 5.16555460e-01 1.24127336e-02 2.58055910e+02] [-5.16503588e-01 8.56253722e-01 -7.32168761e-03 1.05955889e+01] [-1.44105071e-02 -1.42657861e-04 9.99896153e-01 -9.47683210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91591999999997 meters Centerline goodness [0,1] 0.9977190459661823 Centerline is valid? [True, True] Translation: X:258.08, Y:10.58, Z:-0.95 [[ 8.58276001e-01 5.13062475e-01 1.13667733e-02 2.58081364e+02] [-5.13018761e-01 8.58351263e-01 -6.69776424e-03 1.05822258e+01] [-1.31930557e-02 -8.28376319e-05 9.99912964e-01 -9.47882168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94592 meters Centerline goodness [0,1] 0.9975207021371547 Centerline is valid? [True, True] Translation: X:258.11, Y:10.57, Z:-0.95 [[ 8.58472173e-01 5.12733420e-01 1.14003918e-02 2.58105295e+02] [-5.12689523e-01 8.58547863e-01 -6.70971341e-03 1.05674745e+01] [-1.32280763e-02 -8.47591885e-05 9.99912502e-01 -9.48049205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97592 meters Centerline goodness [0,1] 0.9974683544303797 Centerline is valid? [True, True] Translation: X:258.13, Y:10.55, Z:-0.95 [[ 8.58816921e-01 5.12149669e-01 1.16710211e-02 2.58129378e+02] [-5.12103718e-01 8.58896216e-01 -6.86094224e-03 1.05528726e+01] [-1.35380251e-02 -8.44799935e-05 9.99908353e-01 -9.47890310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00592 meters Centerline goodness [0,1] 0.9982642332870462 Centerline is valid? [True, True] Translation: X:258.15, Y:10.54, Z:-0.95 [[ 8.59343608e-01 5.11271073e-01 1.14216087e-02 2.58152848e+02] [-5.11227091e-01 8.59419504e-01 -6.70643985e-03 1.05377794e+01] [-1.32447620e-02 -7.58995921e-05 9.99912281e-01 -9.48042104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03592 meters Centerline goodness [0,1] 0.9978197314305535 Centerline is valid? [True, True] Translation: X:258.18, Y:10.52, Z:-0.95 [[ 8.60551866e-01 5.09264047e-01 1.00307702e-02 2.58178039e+02] [-5.09230059e-01 8.60610323e-01 -5.88369819e-03 1.05231648e+01] [-1.16289403e-02 -4.47422353e-05 9.99932381e-01 -9.47955937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06591999999995 meters Centerline goodness [0,1] 0.9974189705663374 Centerline is valid? [True, True] Translation: X:258.20, Y:10.51, Z:-0.95 [[ 8.61505048e-01 5.07643987e-01 1.03264547e-02 2.58201438e+02] [-5.07607934e-01 8.61566934e-01 -6.05008174e-03 1.05087149e+01] [-1.19682195e-02 -2.96143845e-05 9.99928378e-01 -9.48710972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09592 meters Centerline goodness [0,1] 0.9974201230402858 Centerline is valid? [True, True] Translation: X:258.23, Y:10.49, Z:-0.95 [[ 8.62624647e-01 5.05697059e-01 1.22148386e-02 2.58226280e+02] [-5.05646525e-01 8.62711125e-01 -7.14891157e-03 1.04937575e+01] [-1.41530607e-02 -9.56337300e-06 9.99899840e-01 -9.48860459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12591999999995 meters Centerline goodness [0,1] 0.9973689436060366 Centerline is valid? [True, True] Translation: X:258.25, Y:10.48, Z:-0.95 [[ 8.64279603e-01 5.02906044e-01 1.03091835e-02 2.58250417e+02] [-5.02869922e-01 8.64341085e-01 -6.02748735e-03 1.04788081e+01] [-1.19419107e-02 2.52560581e-05 9.99928693e-01 -9.47348440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15592 meters Centerline goodness [0,1] 0.9976154992548435 Centerline is valid? [True, True] Translation: X:258.27, Y:10.47, Z:-0.95 [[ 8.65072346e-01 5.01536094e-01 1.05538208e-02 2.58274349e+02] [-5.01498223e-01 8.65136720e-01 -6.16335024e-03 1.04652229e+01] [-1.22216405e-02 3.90214627e-05 9.99925312e-01 -9.47255312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18591999999995 meters Centerline goodness [0,1] 0.9972238746777712 Centerline is valid? [True, True] Translation: X:258.30, Y:10.45, Z:-0.95 [[ 8.65898705e-01 5.00108688e-01 1.05229727e-02 2.58298425e+02] [-5.00071021e-01 8.65962642e-01 -6.13816299e-03 1.04517050e+01] [-1.21822499e-02 5.27936816e-05 9.99925792e-01 -9.45621687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21592 meters Centerline goodness [0,1] 0.9971233012597956 Centerline is valid? [True, True] Translation: X:258.32, Y:10.44, Z:-0.95 [[ 8.66075771e-01 4.99824288e-01 9.40423515e-03 2.58321810e+02] [-4.99794256e-01 8.66126826e-01 -5.47925923e-03 1.04373332e+01] [-1.08839272e-02 4.52709472e-05 9.99940767e-01 -9.45393148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24591999999996 meters Centerline goodness [0,1] 0.9971678425916725 Centerline is valid? [True, True] Translation: X:258.35, Y:10.42, Z:-0.95 [[ 8.65631120e-01 5.00584744e-01 9.88321538e-03 2.58345824e+02] [-5.00551702e-01 8.65687538e-01 -5.75156665e-03 1.04238106e+01] [-1.14349229e-02 3.16748008e-05 9.99934619e-01 -9.45053741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27592 meters Centerline goodness [0,1] 0.997124299667807 Centerline is valid? [True, True] Translation: X:258.37, Y:10.41, Z:-0.95 [[ 8.65404439e-01 5.00952528e-01 1.10327187e-02 2.58369890e+02] [-5.00911480e-01 8.65474762e-01 -6.41286356e-03 1.04093502e+01] [-1.27610798e-02 2.33051465e-05 9.99918574e-01 -9.45141882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30591999999996 meters Centerline goodness [0,1] 0.9972182206547117 Centerline is valid? [True, True] Translation: X:258.39, Y:10.39, Z:-0.95 [[ 8.65494713e-01 5.00741583e-01 1.32954114e-02 2.58394139e+02] [-5.00682071e-01 8.65596827e-01 -7.71995885e-03 1.03936556e+01] [-1.53741703e-02 2.48094738e-05 9.99881810e-01 -9.45549922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33592 meters Centerline goodness [0,1] 0.997367898291617 Centerline is valid? [True, True] Translation: X:258.42, Y:10.38, Z:-0.95 [[ 8.65988907e-01 4.99882860e-01 1.34290749e-02 2.58417841e+02] [-4.99822182e-01 8.66093024e-01 -7.78849775e-03 1.03789714e+01] [-1.55241646e-02 3.26031272e-05 9.99879492e-01 -9.45779090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36591999999996 meters Centerline goodness [0,1] 0.9970249900833003 Centerline is valid? [True, True] Translation: X:258.44, Y:10.36, Z:-0.94 [[ 8.66914864e-01 4.98305811e-01 1.22449112e-02 2.58441152e+02] [-4.98255323e-01 8.67001336e-01 -7.09339290e-03 1.03640721e+01] [-1.41510332e-02 4.82755644e-05 9.99899868e-01 -9.44340488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39592 meters Centerline goodness [0,1] 0.9969734557181841 Centerline is valid? [True, True] Translation: X:258.47, Y:10.35, Z:-0.94 [[ 8.67707272e-01 4.96922462e-01 1.23352090e-02 2.58465134e+02] [-4.96871207e-01 8.67794943e-01 -7.13725558e-03 1.03499832e+01] [-1.42510946e-02 6.40383608e-05 9.99898446e-01 -9.43897650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42591999999996 meters Centerline goodness [0,1] 0.9968179784219162 Centerline is valid? [True, True] Translation: X:258.49, Y:10.33, Z:-0.94 [[ 8.68704673e-01 4.95148727e-01 1.34137562e-02 2.58489744e+02] [-4.95088031e-01 8.68808223e-01 -7.75324523e-03 1.03342328e+01] [-1.54929912e-02 9.42902096e-05 9.99879972e-01 -9.43783764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45592 meters Centerline goodness [0,1] 0.997170935080405 Centerline is valid? [True, True] Translation: X:258.51, Y:10.32, Z:-0.94 [[ 8.69143357e-01 4.94378775e-01 1.33959350e-02 2.58512796e+02] [-4.94318288e-01 8.69246580e-01 -7.73392235e-03 1.03187895e+01] [-1.54678578e-02 1.00031568e-04 9.99880361e-01 -9.43349946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48591999999996 meters Centerline goodness [0,1] 0.9973146352379532 Centerline is valid? [True, True] Translation: X:258.53, Y:10.30, Z:-0.94 [[ 8.70688137e-01 4.91669502e-01 1.27776884e-02 2.58534612e+02] [-4.91614304e-01 8.70781880e-01 -7.36840792e-03 1.03006716e+01] [-1.47494010e-02 1.33890990e-04 9.99891213e-01 -9.44488653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51592 meters Centerline goodness [0,1] 0.9974716176689307 Centerline is valid? [True, True] Translation: X:258.56, Y:10.28, Z:-0.94 [[ 8.71421571e-01 4.90335286e-01 1.39911951e-02 2.58558108e+02] [-4.90269067e-01 8.71533866e-01 -8.05986650e-03 1.02834569e+01] [-1.61458373e-02 1.64091376e-04 9.99869634e-01 -9.44679800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54591999999997 meters Centerline goodness [0,1] 0.9981647735727395 Centerline is valid? [True, True] Translation: X:258.58, Y:10.26, Z:-0.94 [[ 8.73280128e-01 4.86997038e-01 1.46868032e-02 2.58580879e+02] [-4.86923743e-01 8.73403591e-01 -8.45201636e-03 1.02648878e+01] [-1.69436136e-02 2.29624743e-04 9.99856420e-01 -9.44681600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57592 meters Centerline goodness [0,1] 0.9986113177602539 Centerline is valid? [True, True] Translation: X:258.60, Y:10.25, Z:-0.94 [[ 8.74399863e-01 4.84997225e-01 1.42327597e-02 2.58604148e+02] [-4.84928262e-01 8.74515653e-01 -8.18250527e-03 1.02478108e+01] [-1.64152635e-02 2.52914053e-04 9.99865229e-01 -9.44181997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60591999999997 meters Centerline goodness [0,1] 0.9992553983618764 Centerline is valid? [True, True] Translation: X:258.63, Y:10.23, Z:-0.94 [[ 8.75554591e-01 4.82931996e-01 1.34478749e-02 2.58627265e+02] [-4.82870305e-01 8.75657819e-01 -7.72357566e-03 1.02306634e+01] [-1.55056986e-02 2.68832683e-04 9.99879743e-01 -9.44104829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63592 meters Centerline goodness [0,1] 0.9997516761857462 Centerline is valid? [True, True] Translation: X:258.65, Y:10.21, Z:-0.94 [[ 8.76569737e-01 4.81079818e-01 1.37005368e-02 2.58647494e+02] [-4.81015684e-01 8.76676747e-01 -7.86083843e-03 1.02086666e+01] [-1.57926328e-02 3.00399998e-04 9.99875243e-01 -9.43054802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.67, Y:10.19, Z:-0.94 [[ 8.76963330e-01 4.80369649e-01 1.34282978e-02 2.58667507e+02] [-4.80308091e-01 8.77066081e-01 -7.69587930e-03 1.01869430e+01] [-1.54743714e-02 2.99283840e-04 9.99880220e-01 -9.43859684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.69, Y:10.17, Z:-0.94 [[ 8.77306271e-01 4.79737667e-01 1.36190161e-02 2.58689737e+02] [-4.79674413e-01 8.77411919e-01 -7.79623001e-03 1.01690649e+01] [-1.56896323e-02 3.06987912e-04 9.99876863e-01 -9.43633987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.71, Y:10.15, Z:-0.94 [[ 8.77690617e-01 4.79028658e-01 1.38103807e-02 2.58711005e+02] [-4.78963661e-01 8.77799205e-01 -7.89723823e-03 1.01502304e+01] [-1.59057446e-02 3.16661407e-04 9.99873446e-01 -9.44266592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.73, Y:10.13, Z:-0.94 [[ 8.78918069e-01 4.76804871e-01 1.26547399e-02 2.58730298e+02] [-4.76750174e-01 8.79009108e-01 -7.22906665e-03 1.01261332e+01] [-1.45704858e-02 3.20607847e-04 9.99893793e-01 -9.44946460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.75, Y:10.11, Z:-0.95 [[ 8.79652539e-01 4.75396750e-01 1.44686358e-02 2.58752689e+02] [-4.75325197e-01 8.79771437e-01 -8.25685901e-03 1.01068776e+01] [-1.66543764e-02 3.85859856e-04 9.99861232e-01 -9.46008545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.77, Y:10.08, Z:-0.94 [[ 8.79890339e-01 4.74939885e-01 1.50032134e-02 2.58773569e+02] [-4.74862888e-01 8.80018147e-01 -8.56148018e-03 1.00817968e+01] [-1.72692884e-02 4.08694461e-04 9.99850791e-01 -9.44476205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:258.80, Y:10.06, Z:-0.94 [[ 8.79477323e-01 4.75682424e-01 1.56802038e-02 2.58798531e+02] [-4.75598395e-01 8.79616996e-01 -8.95027763e-03 1.00607657e+01] [-1.80500635e-02 4.14086478e-04 9.99836999e-01 -9.44888780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.82, Y:10.03, Z:-0.94 [[ 8.79534325e-01 4.75661020e-01 1.28827824e-02 2.58820492e+02] [-4.75604266e-01 8.79628602e-01 -7.35560940e-03 1.00344756e+01] [-1.48308406e-02 3.42404672e-04 9.99889958e-01 -9.44844850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.85, Y:10.01, Z:-0.94 [[ 8.79070533e-01 4.76539474e-01 1.20469010e-02 2.58845701e+02] [-4.76489901e-01 8.79153022e-01 -6.88033313e-03 1.00132813e+01] [-1.38698197e-02 3.08071474e-04 9.99903762e-01 -9.44912766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.87, Y:9.99, Z:-0.95 [[ 8.77274033e-01 4.79814571e-01 1.29710573e-02 2.58867583e+02] [-4.79757425e-01 8.77369877e-01 -7.41031943e-03 9.98688745e+00] [-1.49359942e-02 2.77919769e-04 9.99888413e-01 -9.45444801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.89, Y:9.96, Z:-0.95 [[ 8.75970577e-01 4.82162599e-01 1.39562246e-02 2.58892143e+02] [-4.82096702e-01 8.76081709e-01 -7.97549067e-03 9.96483755e+00] [-1.60722765e-02 2.58045281e-04 9.99870799e-01 -9.45039384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.91, Y:9.94, Z:-0.94 [[ 8.72376734e-01 4.88618198e-01 1.45289838e-02 2.58914479e+02] [-4.88547533e-01 8.72497698e-01 -8.31112308e-03 9.93887797e+00] [-1.67374709e-02 1.52331224e-04 9.99859907e-01 -9.43990785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.94, Y:9.92, Z:-0.94 [[ 8.70574545e-01 4.91827743e-01 1.43329075e-02 2.58940335e+02] [-4.91759264e-01 8.70692519e-01 -8.20758050e-03 9.91860713e+00] [-1.65162711e-02 9.69706253e-05 9.99863592e-01 -9.44503526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.96, Y:9.90, Z:-0.94 [[ 8.67604277e-01 4.97083661e-01 1.30633794e-02 2.58964468e+02] [-4.97027251e-01 8.67702618e-01 -7.48852084e-03 9.89543421e+00] [-1.50575498e-02 4.21718575e-06 9.99886629e-01 -9.43516638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.99, Y:9.88, Z:-0.94 [[ 8.66828435e-01 4.98405094e-01 1.41712990e-02 2.58991837e+02] [-4.98338723e-01 8.66944267e-01 -8.13359292e-03 9.87612717e+00] [-1.63395505e-02 -1.16774057e-05 9.99866501e-01 -9.42616460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.02, Y:9.85, Z:-0.94 [[ 8.65501125e-01 5.00718663e-01 1.37339808e-02 2.59017805e+02] [-5.00656463e-01 8.65610084e-01 -7.89226238e-03 9.85481472e+00] [-1.58400753e-02 -4.52442807e-05 9.99874537e-01 -9.43122808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.05, Y:9.84, Z:-0.94 [[ 8.64843482e-01 5.01846138e-01 1.40073101e-02 2.59045025e+02] [-5.01781425e-01 8.64956907e-01 -8.05924793e-03 9.83646699e+00] [-1.61602220e-02 -5.86199561e-05 9.99869413e-01 -9.43478190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.07, Y:9.82, Z:-0.94 [[ 8.64062038e-01 5.03185693e-01 1.41757891e-02 2.59070688e+02] [-5.03119429e-01 8.64178311e-01 -8.16627135e-03 9.81571598e+00] [-1.63595604e-02 -7.59498615e-05 9.99866171e-01 -9.43512337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.10, Y:9.80, Z:-0.94 [[ 8.63209037e-01 5.04648528e-01 1.41428911e-02 2.59098692e+02] [-5.04582603e-01 8.63324883e-01 -8.15735408e-03 9.79736959e+00] [-1.63265065e-02 -9.47550227e-05 9.99866709e-01 -9.42695085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.13, Y:9.78, Z:-0.94 [[ 8.61738002e-01 5.07122954e-01 1.52946259e-02 2.59125268e+02] [-5.07046073e-01 8.61873708e-01 -8.83130509e-03 9.77826534e+00] [-1.76605935e-02 -1.44808802e-04 9.99844029e-01 -9.41842699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.15, Y:9.76, Z:-0.94 [[ 8.60534009e-01 5.09122998e-01 1.65829065e-02 2.59152313e+02] [-5.09032791e-01 8.60693753e-01 -9.58549239e-03 9.76049565e+00] [-1.91529987e-02 -1.92601001e-04 9.99816546e-01 -9.42698721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.18, Y:9.74, Z:-0.94 [[ 8.59039442e-01 5.11653388e-01 1.61878486e-02 2.59179509e+02] [-5.11567664e-01 8.59191920e-01 -9.36854540e-03 9.74239170e+00] [-1.87019167e-02 -2.33229852e-04 9.99825077e-01 -9.42239160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.21, Y:9.73, Z:-0.94 [[ 8.57933575e-01 5.13503878e-01 1.62403175e-02 2.59207988e+02] [-5.13417711e-01 8.58087232e-01 -9.41048178e-03 9.72504393e+00] [-1.87679280e-02 -2.64498362e-04 9.99823832e-01 -9.42464999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.24, Y:9.71, Z:-0.94 [[ 8.56924280e-01 5.15182595e-01 1.63606762e-02 2.59236065e+02] [-5.15095231e-01 8.57080397e-01 -9.49185240e-03 9.70827074e+00] [-1.89124520e-02 -2.93507528e-04 9.99821101e-01 -9.42381376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.26, Y:9.69, Z:-0.94 [[ 8.55862202e-01 5.16973257e-01 1.54448159e-02 2.59263899e+02] [-5.16895498e-01 8.56001494e-01 -8.97140781e-03 9.69086996e+00] [-1.78587634e-02 -3.05066945e-04 9.99840473e-01 -9.41715384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.29, Y:9.67, Z:-0.94 [[ 8.55421360e-01 5.17691374e-01 1.58094355e-02 2.59291636e+02] [-5.17609817e-01 8.55567379e-01 -9.19442189e-03 9.67313784e+00] [-1.82859102e-02 -3.18014155e-04 9.99832748e-01 -9.41624477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.32, Y:9.66, Z:-0.94 [[ 8.55597881e-01 5.17406909e-01 1.55678327e-02 2.59319530e+02] [-5.17327605e-01 8.55739447e-01 -9.06353397e-03 9.65739420e+00] [-1.80115436e-02 -2.98929131e-04 9.99837734e-01 -9.41514730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.35, Y:9.64, Z:-0.94 [[ 8.55508980e-01 5.17550725e-01 1.56726855e-02 2.59347756e+02] [-5.17470172e-01 8.55652477e-01 -9.13565480e-03 9.64111923e+00] [-1.81385369e-02 -2.94512534e-04 9.99835440e-01 -9.41456588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.38, Y:9.63, Z:-0.94 [[ 8.55236575e-01 5.18000887e-01 1.56678741e-02 2.59376009e+02] [-5.17920259e-01 8.55380029e-01 -9.14390377e-03 9.62500124e+00] [-1.81385368e-02 -2.94508447e-04 9.99835440e-01 -9.41484670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53592 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:259.40, Y:9.61, Z:-0.94 [[ 8.55985845e-01 5.16712405e-01 1.72198652e-02 2.59404214e+02] [-5.16614506e-01 8.56158987e-01 -1.00618966e-02 9.60805627e+00] [-1.99420492e-02 -2.83191073e-04 9.99801097e-01 -9.42156963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56591999999995 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:259.43, Y:9.59, Z:-0.94 [[ 8.55703158e-01 5.17221245e-01 1.59464349e-02 2.59431174e+02] [-5.17137196e-01 8.55851689e-01 -9.32774359e-03 9.59116319e+00] [-1.84722904e-02 -2.64714949e-04 9.99829338e-01 -9.42364410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.46, Y:9.57, Z:-0.94 [[ 8.55846532e-01 5.16957793e-01 1.67735828e-02 2.59458045e+02] [-5.16864514e-01 8.56010848e-01 -9.82357760e-03 9.57137841e+00] [-1.94367438e-02 -2.62194880e-04 9.99811054e-01 -9.43718676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.49, Y:9.55, Z:-0.94 [[ 8.55735374e-01 5.17177810e-01 1.56231336e-02 2.59485055e+02] [-5.17096747e-01 8.55877944e-01 -9.15961192e-03 9.55425945e+00] [-1.81086435e-02 -2.40467610e-04 9.99835996e-01 -9.43789565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.51, Y:9.54, Z:-0.94 [[ 8.54113251e-01 5.19849142e-01 1.57297299e-02 2.59512160e+02] [-5.19767242e-01 8.54258032e-01 -9.23191050e-03 9.53726006e+00] [-1.82364489e-02 -2.90701256e-04 9.99833660e-01 -9.43142757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68591999999995 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:259.54, Y:9.52, Z:-0.94 [[ 8.53259010e-01 5.21220440e-01 1.66827892e-02 2.59539760e+02] [-5.21128374e-01 8.53422020e-01 -9.80172745e-03 9.52065544e+00] [-1.93463203e-02 -3.30462529e-04 9.99812788e-01 -9.43582199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.57, Y:9.50, Z:-0.94 [[ 8.51701868e-01 5.23754734e-01 1.68791748e-02 2.59566582e+02] [-5.23660779e-01 8.51869022e-01 -9.92758378e-03 9.50354052e+00] [-1.95784651e-02 -3.83620159e-04 9.99808250e-01 -9.42959558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.59, Y:9.49, Z:-0.94 [[ 8.50828637e-01 5.25145151e-01 1.76974897e-02 2.59594205e+02] [-5.25041941e-01 8.51012566e-01 -1.04197744e-02 9.48722040e+00] [-2.05326801e-02 -4.26481915e-04 9.99789091e-01 -9.42709029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.62, Y:9.47, Z:-0.94 [[ 8.49451983e-01 5.27346679e-01 1.83523498e-02 2.59621950e+02] [-5.27235960e-01 8.49650070e-01 -1.08166789e-02 9.47031625e+00] [-2.12972150e-02 -4.87769397e-04 9.99773070e-01 -9.42500796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.65, Y:9.45, Z:-0.94 [[ 8.48834708e-01 5.28337972e-01 1.84017975e-02 2.59650776e+02] [-5.28226617e-01 8.49034001e-01 -1.08585215e-02 9.45454129e+00] [-2.13607210e-02 -5.03229346e-04 9.99771707e-01 -9.42869919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.68, Y:9.44, Z:-0.94 [[ 8.48212893e-01 5.29332436e-01 1.84948782e-02 2.59680098e+02] [-5.29219911e-01 8.48414345e-01 -1.09263133e-02 9.43933156e+00] [-2.14749721e-02 -5.20017965e-04 9.99769251e-01 -9.42519814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.71, Y:9.43, Z:-0.94 [[ 8.47516340e-01 5.30415331e-01 1.93811739e-02 2.59709977e+02] [-5.30291776e-01 8.47737730e-01 -1.14618425e-02 9.42729747e+00] [-2.25096894e-02 -5.63578270e-04 9.99746466e-01 -9.42506788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.74, Y:9.41, Z:-0.94 [[ 8.47319412e-01 5.30770892e-01 1.82228869e-02 2.59738365e+02] [-5.30661510e-01 8.47515180e-01 -1.07880423e-02 9.41277670e+00] [-2.11701521e-02 -5.29267050e-04 9.99775747e-01 -9.40632881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.77, Y:9.40, Z:-0.94 [[ 8.48714859e-01 5.28496776e-01 1.93454643e-02 2.59767748e+02] [-5.28372804e-01 8.48935163e-01 -1.14572734e-02 9.39832225e+00] [-2.24781769e-02 -4.97659020e-04 9.99747210e-01 -9.40841084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.80, Y:9.38, Z:-0.94 [[ 8.48805400e-01 5.28315900e-01 2.02904564e-02 2.59796146e+02] [-5.28179133e-01 8.49047734e-01 -1.20311552e-02 9.38181583e+00] [-2.35838166e-02 -5.04886182e-04 9.99721736e-01 -9.41519399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98591999999996 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:259.83, Y:9.37, Z:-0.94 [[ 8.49344199e-01 5.27447875e-01 2.03266245e-02 2.59825518e+02] [-5.27310075e-01 8.49587263e-01 -1.20651268e-02 9.36735640e+00] [-2.36329667e-02 -4.70988386e-04 9.99720591e-01 -9.41228374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.85, Y:9.35, Z:-0.94 [[ 8.48977278e-01 5.28046137e-01 2.01210851e-02 2.59854503e+02] [-5.27910948e-01 8.49215553e-01 -1.19572331e-02 9.35209530e+00] [-2.34011092e-02 -4.70721927e-04 9.99726046e-01 -9.40701340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.88, Y:9.34, Z:-0.94 [[ 8.48373314e-01 5.29047570e-01 1.92714429e-02 2.59884697e+02] [-5.28923511e-01 8.48592041e-01 -1.14659332e-02 9.33750004e+00] [-2.24196171e-02 -4.65727502e-04 9.99748540e-01 -9.40546968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.91, Y:9.32, Z:-0.94 [[ 8.47862753e-01 5.29938257e-01 1.71521520e-02 2.59913051e+02] [-5.29839956e-01 8.48036121e-01 -1.02156228e-02 9.32277355e+00] [-1.99592938e-02 -4.26449402e-04 9.99800703e-01 -9.39428608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.94, Y:9.31, Z:-0.94 [[ 8.47334774e-01 5.30790913e-01 1.68756247e-02 2.59943271e+02] [-5.30695691e-01 8.47502697e-01 -1.00628585e-02 9.30837464e+00] [-1.96434113e-02 -4.29211426e-04 9.99806957e-01 -9.40475820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.97, Y:9.29, Z:-0.94 [[ 8.47206307e-01 5.31018776e-01 1.61410279e-02 2.59971592e+02] [-5.30931517e-01 8.47359956e-01 -9.63481099e-03 9.29287664e+00] [-1.87935262e-02 -4.07107786e-04 9.99823303e-01 -9.39312690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.00, Y:9.28, Z:-0.94 [[ 8.47594295e-01 5.30362675e-01 1.73015769e-02 2.60001346e+02] [-5.30262032e-01 8.47770762e-01 -1.03398527e-02 9.27757127e+00] [-2.01516430e-02 -4.10369204e-04 9.99796851e-01 -9.38732894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19592 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:260.03, Y:9.26, Z:-0.94 [[ 8.47841730e-01 5.29969179e-01 1.72357106e-02 2.60029542e+02] [-5.29869004e-01 8.48016814e-01 -1.03112627e-02 9.26252767e+00] [-2.00808239e-02 -3.90349985e-04 9.99798284e-01 -9.38559934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.06, Y:9.25, Z:-0.94 [[ 8.49081858e-01 5.27986071e-01 1.70501320e-02 2.60059548e+02] [-5.27887428e-01 8.49252966e-01 -1.02109485e-02 9.24964504e+00] [-1.98711138e-02 -3.30619204e-04 9.99802495e-01 -9.39484693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.09, Y:9.23, Z:-0.94 [[ 8.49971909e-01 5.26539766e-01 1.74249165e-02 2.60087931e+02] [-5.26436211e-01 8.50150450e-01 -1.04464267e-02 9.23455983e+00] [-2.03142597e-02 -2.93937757e-04 9.99793601e-01 -9.39854968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.12, Y:9.22, Z:-0.94 [[ 8.51008513e-01 5.24870896e-01 1.71771143e-02 2.60115857e+02] [-5.24769707e-01 8.51181816e-01 -1.03087473e-02 9.21942706e+00] [-2.00316088e-02 -2.41197514e-04 9.99799318e-01 -9.38539701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.14, Y:9.20, Z:-0.94 [[ 8.51378630e-01 5.24281850e-01 1.68217188e-02 2.60143510e+02] [-5.24184482e-01 8.51544770e-01 -1.01060662e-02 9.20301668e+00] [-1.96228738e-02 -2.13595121e-04 9.99807430e-01 -9.38852833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.17, Y:9.19, Z:-0.94 [[ 8.52414076e-01 5.22606752e-01 1.65053408e-02 2.60171694e+02] [-5.22512497e-01 8.52573842e-01 -9.92643180e-03 9.18714249e+00] [-1.92596421e-02 -1.62816664e-04 9.99814503e-01 -9.38232280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.20, Y:9.17, Z:-0.94 [[ 8.54264241e-01 5.19615155e-01 1.52544323e-02 2.60199817e+02] [-5.19533997e-01 8.54400424e-01 -9.18377914e-03 9.17065964e+00] [-1.78054242e-02 -7.98220530e-05 9.99841468e-01 -9.39181940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:260.23, Y:9.15, Z:-0.94 [[ 8.55093511e-01 5.18157892e-01 1.80966014e-02 2.60226872e+02] [-5.18043099e-01 8.55284980e-01 -1.09064633e-02 9.15350051e+00] [-2.11290214e-02 -4.87734793e-05 9.99776756e-01 -9.40687463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.25, Y:9.14, Z:-0.94 [[ 8.54546169e-01 5.19066834e-01 1.79015758e-02 2.60254453e+02] [-5.18954431e-01 8.54733653e-01 -1.08018848e-02 9.13609277e+00] [-2.09079794e-02 -5.93927995e-05 9.99781403e-01 -9.40398344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.28, Y:9.12, Z:-0.94 [[ 8.54655077e-01 5.18888290e-01 1.78785257e-02 2.60282196e+02] [-5.18775867e-01 8.54842056e-01 -1.08008740e-02 9.11897850e+00] [-2.08877628e-02 -4.39258561e-05 9.99781826e-01 -9.39990015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.31, Y:9.10, Z:-0.94 [[ 8.55039687e-01 5.18261301e-01 1.76736158e-02 2.60308810e+02] [-5.18151042e-01 8.55222324e-01 -1.06899175e-02 9.09968494e+00] [-2.06550413e-02 -1.72987203e-05 9.99786662e-01 -9.38839533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.34, Y:9.08, Z:-0.94 [[ 8.55168377e-01 5.18039536e-01 1.79467450e-02 2.60336266e+02] [-5.17925519e-01 8.55356674e-01 -1.08681627e-02 9.08135337e+00] [-2.09810061e-02 -9.68163492e-07 9.99779874e-01 -9.39283788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.36, Y:9.06, Z:-0.94 [[ 8.54901227e-01 5.18517240e-01 1.68453265e-02 2.60362415e+02] [-5.18416671e-01 8.55067174e-01 -1.02119009e-02 9.06213565e+00] [-1.96989324e-02 -2.73145584e-06 9.99805957e-01 -9.40375586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:260.39, Y:9.04, Z:-0.94 [[ 8.54413338e-01 5.19338941e-01 1.62761308e-02 2.60390207e+02] [-5.19244978e-01 8.54568349e-01 -9.87869930e-03 9.04392991e+00] [-1.90394595e-02 -1.08067355e-05 9.99818733e-01 -9.40462869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.42, Y:9.02, Z:-0.94 [[ 8.52541420e-01 5.22404934e-01 1.63159917e-02 2.60416906e+02] [-5.22310844e-01 8.52697532e-01 -9.91471796e-03 9.02420782e+00] [-1.90921034e-02 -6.93116476e-05 9.99817727e-01 -9.40237760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64592 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:260.44, Y:9.01, Z:-0.94 [[ 8.51409762e-01 5.24205845e-01 1.75968540e-02 2.60443855e+02] [-5.24096552e-01 8.51591580e-01 -1.07044261e-02 9.00706864e+00] [-2.05966554e-02 -1.08597622e-04 9.99787861e-01 -9.39346460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.47, Y:8.99, Z:-0.94 [[ 8.50138578e-01 5.26232266e-01 1.85472341e-02 2.60471031e+02] [-5.26111069e-01 8.50340860e-01 -1.12944997e-02 8.99008002e+00] [-2.17150011e-02 -1.56015282e-04 9.99764189e-01 -9.39504087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:260.50, Y:8.97, Z:-0.94 [[ 8.48063191e-01 5.29531324e-01 1.96316396e-02 2.60496720e+02] [-5.29396133e-01 8.48290350e-01 -1.19673352e-02 8.97109912e+00] [-2.29904093e-02 -2.43857552e-04 9.99735656e-01 -9.40012630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.52, Y:8.95, Z:-0.94 [[ 8.46605909e-01 5.31867194e-01 1.93835801e-02 2.60522855e+02] [-5.31735689e-01 8.46827729e-01 -1.18301862e-02 8.95036521e+00] [-2.27066411e-02 -2.91435762e-04 9.99742129e-01 -9.40348880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76592 meters Centerline goodness [0,1] 0.9999005964214712 Centerline is valid? [True, True] Translation: X:260.55, Y:8.93, Z:-0.94 [[ 8.46366043e-01 5.32259652e-01 1.90835899e-02 2.60550641e+02] [-5.32131975e-01 8.46581113e-01 -1.16610488e-02 8.93227956e+00] [-2.23625125e-02 -2.85472685e-04 9.99749887e-01 -9.40273263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79591999999997 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:260.58, Y:8.92, Z:-0.94 [[ 8.46046489e-01 5.32800638e-01 1.81333599e-02 2.60577787e+02] [-5.32685237e-01 8.46240749e-01 -1.10920675e-02 8.91505016e+00] [-2.12550487e-02 -2.74968317e-04 9.99774048e-01 -9.39699751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.60, Y:8.90, Z:-0.94 [[ 8.45350723e-01 5.33840356e-01 1.99155338e-02 2.60604830e+02] [-5.33701146e-01 8.45585224e-01 -1.21948811e-02 8.89717185e+00] [-2.33504008e-02 -3.19991643e-04 9.99727291e-01 -9.39840388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.63, Y:8.88, Z:-0.94 [[ 8.44471171e-01 5.35210051e-01 2.04607466e-02 2.60630906e+02] [-5.35063221e-01 8.44718932e-01 -1.25409743e-02 8.87904709e+00] [-2.39956355e-02 -3.57301709e-04 9.99711999e-01 -9.39687923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.66, Y:8.86, Z:-0.94 [[ 8.42816092e-01 5.37842084e-01 1.96704638e-02 2.60658023e+02] [-5.37706768e-01 8.43045509e-01 -1.20706922e-02 8.85933360e+00] [-2.30752224e-02 -4.03567877e-04 9.99733650e-01 -9.38344222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.69, Y:8.84, Z:-0.94 [[ 8.42035066e-01 5.39070775e-01 1.94845472e-02 2.60685614e+02] [-5.38938012e-01 8.42260365e-01 -1.19706678e-02 8.84173375e+00] [-2.28640990e-02 -4.21241140e-04 9.99738494e-01 -9.38567232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.71, Y:8.82, Z:-0.94 [[ 8.41083084e-01 5.40591332e-01 1.84461014e-02 2.60712269e+02] [-5.40472424e-01 8.41285225e-01 -1.13458652e-02 8.82281032e+00] [-2.16519089e-02 -4.26793883e-04 9.99765479e-01 -9.39690657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.74, Y:8.80, Z:-0.94 [[ 8.40842564e-01 5.40935843e-01 1.92923821e-02 2.60739911e+02] [-5.40805551e-01 8.41063741e-01 -1.18802174e-02 8.80428729e+00] [-2.26525584e-02 -4.44034847e-04 9.99743299e-01 -9.39816106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.77, Y:8.79, Z:-0.94 [[ 8.40261474e-01 5.41840938e-01 1.92107691e-02 2.60766890e+02] [-5.41711672e-01 8.40480928e-01 -1.18437303e-02 8.78584479e+00] [-2.25637030e-02 -4.54867605e-04 9.99745304e-01 -9.38905602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.79, Y:8.77, Z:-0.94 [[ 8.40241014e-01 5.41881874e-01 1.89492301e-02 2.60794572e+02] [-5.41755811e-01 8.40454545e-01 -1.16960867e-02 8.76799011e+00] [-2.22638639e-02 -4.38323815e-04 9.99752033e-01 -9.37494040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.82, Y:8.75, Z:-0.94 [[ 8.39884522e-01 5.42432753e-01 1.89920357e-02 2.60822161e+02] [-5.42305957e-01 8.40099109e-01 -1.17361227e-02 8.75038005e+00] [-2.23212496e-02 -4.42506322e-04 9.99750752e-01 -9.38766287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.85, Y:8.73, Z:-0.94 [[ 8.39177511e-01 5.43552354e-01 1.82192972e-02 2.60850188e+02] [-5.43435650e-01 8.39375150e-01 -1.12716859e-02 8.73278358e+00] [-2.14195767e-02 -4.42070316e-04 9.99770477e-01 -9.38497006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.88, Y:8.72, Z:-0.94 [[ 8.38847808e-01 5.44065008e-01 1.81003150e-02 2.60878288e+02] [-5.43949665e-01 8.39042950e-01 -1.12111567e-02 8.71636162e+00] [-2.12865397e-02 -4.41206046e-04 9.99773319e-01 -9.38806847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.91, Y:8.70, Z:-0.94 [[ 8.38532732e-01 5.44585214e-01 1.70235942e-02 2.60906368e+02] [-5.44483077e-01 8.38705413e-01 -1.05550330e-02 8.70001213e+00] [-2.00258955e-02 -4.18318250e-04 9.99799374e-01 -9.38396807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.93, Y:8.68, Z:-0.94 [[ 8.37879044e-01 5.45573862e-01 1.75461953e-02 2.60932849e+02] [-5.45465345e-01 8.38062624e-01 -1.08901287e-02 8.68249185e+00] [-2.06461800e-02 -4.46230880e-04 9.99786745e-01 -9.38018448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.96, Y:8.67, Z:-0.94 [[ 8.37527745e-01 5.46049131e-01 1.94325310e-02 2.60959825e+02] [-5.45915870e-01 8.37753006e-01 -1.20732507e-02 8.66551480e+00] [-2.28722493e-02 -4.96844634e-04 9.99738272e-01 -9.38670771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.99, Y:8.65, Z:-0.94 [[ 8.38178300e-01 5.45060401e-01 1.91388516e-02 2.60989189e+02] [-5.44930610e-01 8.38396657e-01 -1.19027957e-02 8.65124916e+00] [-2.25336917e-02 -4.52681028e-04 9.99745982e-01 -9.37881194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.02, Y:8.64, Z:-0.94 [[ 8.38358182e-01 5.44793956e-01 1.88442225e-02 2.61017585e+02] [-5.44667799e-01 8.38569831e-01 -1.17314629e-02 8.63625918e+00] [-2.21934266e-02 -4.28673271e-04 9.99753604e-01 -9.38880783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.04, Y:8.62, Z:-0.94 [[ 8.39266404e-01 5.43405450e-01 1.85045997e-02 2.61044666e+02] [-5.43283204e-01 8.39470295e-01 -1.15318783e-02 8.61965887e+00] [-2.18005473e-02 -3.74920211e-04 9.99762270e-01 -9.40343449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.07, Y:8.60, Z:-0.94 [[ 8.39609621e-01 5.42934603e-01 1.66643623e-02 2.61071721e+02] [-5.42835164e-01 8.39774920e-01 -1.03956008e-02 8.60179967e+00] [-1.96384449e-02 -3.17755442e-04 9.99807097e-01 -9.39164346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.10, Y:8.59, Z:-0.94 [[ 8.40965933e-01 5.40823379e-01 1.69225460e-02 2.61099141e+02] [-5.40720190e-01 8.41136138e-01 -1.05675813e-02 8.58522926e+00] [-1.99493600e-02 -2.63386427e-04 9.99800957e-01 -9.38200571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.13, Y:8.57, Z:-0.94 [[ 8.40680578e-01 5.41267014e-01 1.69169979e-02 2.61126883e+02] [-5.41163736e-01 8.40850730e-01 -1.05764604e-02 8.56826635e+00] [-1.99493592e-02 -2.63440927e-04 9.99800957e-01 -9.38228652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.15, Y:8.55, Z:-0.94 [[ 8.41118964e-01 5.40554088e-01 1.78931746e-02 2.61154695e+02] [-5.40438105e-01 8.41309227e-01 -1.11999446e-02 8.55139162e+00] [-2.11078687e-02 -2.49667581e-04 9.99777173e-01 -9.39127799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.18, Y:8.53, Z:-0.94 [[ 8.41931464e-01 5.39313117e-01 1.71105968e-02 2.61181146e+02] [-5.39206578e-01 8.42105292e-01 -1.07211931e-02 8.53297072e+00] [-2.01910042e-02 -1.99636616e-04 9.99796121e-01 -9.39494206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.21, Y:8.51, Z:-0.94 [[ 8.41884563e-01 5.39364442e-01 1.77871095e-02 2.61208365e+02] [-5.39249047e-01 8.42072419e-01 -1.11582363e-02 8.51438735e+00] [-2.09963902e-02 -1.97734938e-04 9.99779532e-01 -9.39991720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.24, Y:8.50, Z:-0.94 [[ 8.41526325e-01 5.39917667e-01 1.79543055e-02 2.61235768e+02] [-5.39799934e-01 8.41717810e-01 -1.12764970e-02 8.49562373e+00] [-2.12008386e-02 -2.02263834e-04 9.99775217e-01 -9.40019615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.26, Y:8.47, Z:-0.94 [[ 8.39324272e-01 5.43286393e-01 1.93562064e-02 2.61260795e+02] [-5.43150157e-01 8.39547382e-01 -1.21696716e-02 8.47478846e+00] [-2.28620694e-02 -2.99025835e-04 9.99738584e-01 -9.39528847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.29, Y:8.46, Z:-0.94 [[ 8.38148200e-01 5.45098211e-01 1.93787313e-02 2.61287944e+02] [-5.44961818e-01 8.38372129e-01 -1.21979359e-02 8.45576505e+00] [-2.28956613e-02 -3.36990686e-04 9.99737803e-01 -9.39144670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.31, Y:8.44, Z:-0.94 [[ 8.35414523e-01 5.49338439e-01 1.76026710e-02 2.61313442e+02] [-5.49226609e-01 8.35599855e-01 -1.10911834e-02 8.43626692e+00] [-2.08016027e-02 -4.02119605e-04 9.99783542e-01 -9.39185386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.34, Y:8.42, Z:-0.94 [[ 8.33672885e-01 5.51966122e-01 1.79700132e-02 2.61340054e+02] [-5.51849958e-01 8.33866405e-01 -1.13332463e-02 8.41910861e+00] [-2.12401583e-02 -4.68530936e-04 9.99774293e-01 -9.39691486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.37, Y:8.40, Z:-0.94 [[ 8.31784335e-01 5.54812928e-01 1.78167104e-02 2.61367272e+02] [-5.54699152e-01 8.31974962e-01 -1.12477941e-02 8.40200897e+00] [-2.10634786e-02 -5.27175241e-04 9.99778001e-01 -9.38851673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.39, Y:8.39, Z:-0.94 [[ 8.29141164e-01 5.58726338e-01 1.87032156e-02 2.61394122e+02] [-5.58601707e-01 8.29351831e-01 -1.18183774e-02 8.38531856e+00] [-2.21147848e-02 -6.48544988e-04 9.99755228e-01 -9.39057056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.42, Y:8.37, Z:-0.94 [[ 8.26881181e-01 5.62044427e-01 1.93280923e-02 2.61421528e+02] [-5.61911960e-01 8.27106702e-01 -1.22250965e-02 8.36828997e+00] [-2.28574420e-02 -7.51983981e-04 9.99738452e-01 -9.39367778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.45, Y:8.35, Z:-0.94 [[ 8.25508527e-01 5.64053649e-01 1.94718346e-02 2.61449085e+02] [-5.63919505e-01 8.25737751e-01 -1.23271189e-02 8.35260732e+00] [-2.30317853e-02 -8.04405514e-04 9.99734410e-01 -9.39469234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.48, Y:8.34, Z:-0.94 [[ 8.24436903e-01 5.65652490e-01 1.84676272e-02 2.61477070e+02] [-5.65531981e-01 8.24643333e-01 -1.17026158e-02 8.33751754e+00] [-2.18488194e-02 -7.95965479e-04 9.99760969e-01 -9.39441839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.51, Y:8.33, Z:-0.94 [[ 8.22502167e-01 5.68431107e-01 1.93974747e-02 2.61507365e+02] [-5.68298840e-01 8.22730361e-01 -1.22955572e-02 8.32503065e+00] [-2.29480685e-02 -9.10439980e-04 9.99736244e-01 -9.40161124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.54, Y:8.31, Z:-0.94 [[ 8.20400024e-01 5.71458411e-01 1.94701169e-02 2.61536760e+02] [-5.71325921e-01 8.20630424e-01 -1.23449855e-02 8.31094324e+00] [-2.30324161e-02 -9.95956108e-04 9.99734223e-01 -9.39186248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.57, Y:8.30, Z:-0.94 [[ 8.19103866e-01 5.73304145e-01 1.97791286e-02 2.61566096e+02] [-5.73167681e-01 8.19341958e-01 -1.25524823e-02 8.29671140e+00] [-2.34022601e-02 -1.05497047e-03 9.99725573e-01 -9.39282551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90592 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:261.60, Y:8.28, Z:-0.94 [[ 8.18021119e-01 5.74867087e-01 1.92166962e-02 2.61595489e+02] [-5.74738442e-01 8.18246119e-01 -1.22070391e-02 8.28307404e+00] [-2.27414121e-02 -1.05895823e-03 9.99740820e-01 -9.39548796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.63, Y:8.27, Z:-0.94 [[ 8.16147037e-01 5.77513242e-01 1.95568174e-02 2.61626596e+02] [-5.77380507e-01 8.16380516e-01 -1.24339443e-02 8.27304560e+00] [-2.31465722e-02 -1.14379828e-03 9.99731428e-01 -9.40066986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.66, Y:8.26, Z:-0.94 [[ 8.15187146e-01 5.78899767e-01 1.85735567e-02 2.61655244e+02] [-5.78780177e-01 8.15397950e-01 -1.18190862e-02 8.25902476e+00] [-2.19869062e-02 -1.11523927e-03 9.99757637e-01 -9.38092714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99591999999996 meters Centerline goodness [0,1] 0.9997021889115004 Centerline is valid? [True, True] Translation: X:261.69, Y:8.25, Z:-0.94 [[ 8.15540425e-01 5.78393365e-01 1.88396218e-02 2.61687057e+02] [-5.78269937e-01 8.15757248e-01 -1.19996648e-02 8.24916124e+00] [-2.23090846e-02 -1.10817522e-03 9.99750507e-01 -9.37639690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.72, Y:8.24, Z:-0.94 [[ 8.15536910e-01 5.78434140e-01 1.77057552e-02 2.61716400e+02] [-5.78324911e-01 8.15728433e-01 -1.12880792e-02 8.23576581e+00] [-2.09724983e-02 -1.03383407e-03 9.99779518e-01 -9.37543941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05591999999996 meters Centerline goodness [0,1] 0.9998509983113142 Centerline is valid? [True, True] Translation: X:261.75, Y:8.22, Z:-0.94 [[ 8.17322869e-01 5.75874737e-01 1.87514211e-02 2.61747952e+02] [-5.75751454e-01 8.17537304e-01 -1.19590886e-02 8.22435902e+00] [-2.22169233e-02 -1.02172136e-03 9.99752652e-01 -9.37785177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.78, Y:8.21, Z:-0.94 [[ 8.17833537e-01 5.75093762e-01 2.03830896e-02 2.61777530e+02] [-5.74947554e-01 8.18086795e-01 -1.30117873e-02 8.21099362e+00] [-2.41581341e-02 -1.07773147e-03 9.99707569e-01 -9.37869994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11591999999996 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:261.81, Y:8.20, Z:-0.94 [[ 8.18591907e-01 5.74079618e-01 1.84358774e-02 2.61807015e+02] [-5.73959510e-01 8.18798945e-01 -1.17800261e-02 8.19786245e+00] [-2.18579498e-02 -9.38413084e-04 9.99760646e-01 -9.37033720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.84, Y:8.19, Z:-0.94 [[ 8.19968909e-01 5.72112933e-01 1.83787665e-02 2.61839137e+02] [-5.71992828e-01 8.20174389e-01 -1.17548640e-02 8.18839928e+00] [-2.17989033e-02 -8.73899674e-04 9.99761994e-01 -9.37148914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17591999999996 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:261.87, Y:8.17, Z:-0.94 [[ 8.20532978e-01 5.71291547e-01 1.87510247e-02 2.61868442e+02] [-5.71166166e-01 8.20746746e-01 -1.19995596e-02 8.17360260e+00] [-2.22450895e-02 -8.63916482e-04 9.99752174e-01 -9.37608547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.90, Y:8.16, Z:-0.94 [[ 8.21370716e-01 5.70109610e-01 1.80327529e-02 2.61900141e+02] [-5.69993279e-01 8.21568255e-01 -1.15439905e-02 8.16248826e+00] [-2.13964772e-02 -7.96652212e-04 9.99770752e-01 -9.36834399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.93, Y:8.15, Z:-0.94 [[ 8.22362540e-01 5.68702332e-01 1.72485122e-02 2.61929528e+02] [-5.68595511e-01 8.22543090e-01 -1.10458212e-02 8.14768062e+00] [-2.04694287e-02 -7.23757026e-04 9.99790217e-01 -9.36824964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.96, Y:8.13, Z:-0.94 [[ 8.22436172e-01 5.68535683e-01 1.91290235e-02 2.61959356e+02] [-5.68403947e-01 8.22658227e-01 -1.22635917e-02 8.13248119e+00] [-2.27089380e-02 -7.86991057e-04 9.99741809e-01 -9.37071662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.99, Y:8.12, Z:-0.94 [[ 8.23790979e-01 5.66545822e-01 1.98558425e-02 2.61989943e+02] [-5.66403006e-01 8.24029896e-01 -1.27422339e-02 8.12120954e+00] [-2.35808672e-02 -7.49471533e-04 9.99721652e-01 -9.37694021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.02, Y:8.11, Z:-0.94 [[ 8.24473683e-01 5.65524061e-01 2.06320804e-02 2.62020147e+02] [-5.65369213e-01 8.24731467e-01 -1.32536754e-02 8.10917373e+00] [-2.45111983e-02 -7.37436493e-04 9.99699283e-01 -9.37045841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.05, Y:8.09, Z:-0.94 [[ 8.24632023e-01 5.65341713e-01 1.92555011e-02 2.62048770e+02] [-5.65206510e-01 8.24856530e-01 -1.23817104e-02 8.09463545e+00] [-2.28829232e-02 -6.72979719e-04 9.99737925e-01 -9.36453978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.08, Y:8.08, Z:-0.94 [[ 8.24338675e-01 5.65766324e-01 1.93446529e-02 2.62078619e+02] [-5.65629656e-01 8.24565346e-01 -1.24532448e-02 8.07929276e+00] [-2.29965569e-02 -6.76218049e-04 9.99735316e-01 -9.36189632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.11, Y:8.06, Z:-0.94 [[ 8.24956390e-01 5.64875960e-01 1.90290469e-02 2.62107030e+02] [-5.64743389e-01 8.25175584e-01 -1.22540251e-02 8.06426875e+00] [-2.26243091e-02 -6.37492136e-04 9.99743834e-01 -9.36110931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.14, Y:8.05, Z:-0.94 [[ 8.25837930e-01 5.63587058e-01 1.90089676e-02 2.62138077e+02] [-5.63454345e-01 8.26056456e-01 -1.22446428e-02 8.05259000e+00] [-2.26034026e-02 -5.98594984e-04 9.99744331e-01 -9.35251038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.17, Y:8.04, Z:-0.93 [[ 8.27137257e-01 5.61669084e-01 1.92820491e-02 2.62169219e+02] [-5.61531926e-01 8.27361793e-01 -1.24241842e-02 8.04132692e+00] [-2.29315108e-02 -5.50980548e-04 9.99736887e-01 -9.34753281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.20, Y:8.03, Z:-0.94 [[ 8.27955797e-01 5.60418198e-01 2.05095533e-02 2.62198696e+02] [-5.60262493e-01 8.28209603e-01 -1.32208893e-02 8.02641441e+00] [-2.43954360e-02 -5.44421503e-04 9.99702239e-01 -9.35301409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.23, Y:8.01, Z:-0.94 [[ 8.28763261e-01 5.59244070e-01 1.99381064e-02 2.62227012e+02] [-5.59096492e-01 8.29002912e-01 -1.28563168e-02 8.01174072e+00] [-2.37185672e-02 -4.92482333e-04 9.99718554e-01 -9.35577591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.26, Y:8.00, Z:-0.94 [[ 8.31199285e-01 5.55613348e-01 2.00388852e-02 2.62256584e+02] [-5.55463128e-01 8.31440712e-01 -1.29250410e-02 7.99889670e+00] [-2.38424703e-02 -3.87576998e-04 9.99715653e-01 -9.35293956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.29, Y:7.98, Z:-0.94 [[ 8.32513288e-01 5.53665190e-01 1.94031679e-02 2.62285295e+02] [-5.53523738e-01 8.32739309e-01 -1.25186014e-02 7.98360042e+00] [-2.30888945e-02 -3.18212033e-04 9.99733365e-01 -9.35033814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.31, Y:7.97, Z:-0.93 [[ 8.35156018e-01 5.49692590e-01 1.87745268e-02 2.62314790e+02] [-5.49559071e-01 8.35366996e-01 -1.21165289e-02 7.96976626e+00] [-2.23439862e-02 -1.98519478e-04 9.99750322e-01 -9.34794408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.34, Y:7.95, Z:-0.94 [[ 8.36137537e-01 5.48168542e-01 1.96282784e-02 2.62342349e+02] [-5.48022096e-01 8.36367876e-01 -1.26711546e-02 7.95367594e+00] [-2.33623899e-02 -1.61902260e-04 9.99727049e-01 -9.35685987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.37, Y:7.94, Z:-0.94 [[ 8.37399062e-01 5.46268203e-01 1.88111865e-02 2.62369971e+02] [-5.46133139e-01 8.37610315e-01 -1.21471842e-02 7.93697587e+00] [-2.23920643e-02 -1.01371677e-04 9.99749261e-01 -9.36597314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.40, Y:7.92, Z:-0.94 [[ 8.37365237e-01 5.46242905e-01 2.09319875e-02 2.62396987e+02] [-5.46075560e-01 8.37626813e-01 -1.35205634e-02 7.91983878e+00] [-2.49187058e-02 -1.08797029e-04 9.99689475e-01 -9.37257198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.42, Y:7.90, Z:-0.94 [[ 8.36926047e-01 5.46948534e-01 2.00522634e-02 2.62423972e+02] [-5.46795076e-01 8.37166224e-01 -1.29560299e-02 7.90278842e+00] [-2.38733592e-02 -1.21240009e-04 9.99714983e-01 -9.36858435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.45, Y:7.89, Z:-0.94 [[ 8.36238461e-01 5.48060631e-01 1.82970026e-02 2.62451551e+02] [-5.47933058e-01 8.36438596e-01 -1.18253330e-02 7.88589276e+00] [-2.17853187e-02 -1.36734278e-04 9.99762662e-01 -9.36897611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.48, Y:7.87, Z:-0.94 [[ 8.35641710e-01 5.49005857e-01 1.71901451e-02 2.62477834e+02] [-5.48893420e-01 8.35818489e-01 -1.11116081e-02 7.86876009e+00] [-2.04681790e-02 -1.50234399e-04 9.99790494e-01 -9.36138308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.50, Y:7.85, Z:-0.94 [[ 8.34201700e-01 5.51209524e-01 1.66007289e-02 2.62503828e+02] [-5.51105070e-01 8.34366839e-01 -1.07321414e-02 7.85108002e+00] [-1.97667562e-02 -1.95975306e-04 9.99804599e-01 -9.36100860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.53, Y:7.83, Z:-0.94 [[ 8.33370019e-01 5.52466473e-01 1.65894014e-02 2.62530418e+02] [-5.52362380e-01 8.33535090e-01 -1.07263561e-02 7.83445819e+00] [-1.97538002e-02 -2.24337677e-04 9.99804849e-01 -9.36147762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.56, Y:7.82, Z:-0.94 [[ 8.32798215e-01 5.53330255e-01 1.65155067e-02 2.62556587e+02] [-5.53227257e-01 8.32961925e-01 -1.06786442e-02 7.81866093e+00] [-1.96656052e-02 -2.43672599e-04 9.99806584e-01 -9.36483806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.58, Y:7.80, Z:-0.94 [[ 8.32527081e-01 5.53683200e-01 1.82639834e-02 2.62584029e+02] [-5.53557321e-01 8.32727348e-01 -1.18091794e-02 7.80426749e+00] [-2.17474627e-02 -2.78700080e-04 9.99763457e-01 -9.37696559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.61, Y:7.79, Z:-0.94 [[ 8.31483517e-01 5.55239176e-01 1.85639079e-02 2.62611414e+02] [-5.55109515e-01 8.31690659e-01 -1.20031054e-02 7.79039010e+00] [-2.21040231e-02 -3.24617589e-04 9.99755624e-01 -9.37664069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.64, Y:7.78, Z:-0.94 [[ 8.31018571e-01 5.55964334e-01 1.76576773e-02 2.62637432e+02] [-5.55847221e-01 8.31206082e-01 -1.14155826e-02 7.77582163e+00] [-2.10238255e-02 -3.28409667e-04 9.99778921e-01 -9.37034880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.66, Y:7.76, Z:-0.94 [[ 8.30752994e-01 5.56306034e-01 1.93147360e-02 2.62662505e+02] [-5.56166277e-01 8.30977408e-01 -1.24747718e-02 7.76201479e+00] [-2.29899001e-02 -3.78750838e-04 9.99735626e-01 -9.36303551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.69, Y:7.75, Z:-0.94 [[ 8.30729401e-01 5.56310282e-01 2.01874224e-02 2.62688856e+02] [-5.56157927e-01 8.30974551e-01 -1.30251647e-02 7.75001454e+00] [-2.40212673e-02 -4.07007733e-04 9.99711365e-01 -9.36752896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.72, Y:7.74, Z:-0.94 [[ 8.31356214e-01 5.55392149e-01 1.96571994e-02 2.62715015e+02] [-5.55247733e-01 8.31588489e-01 -1.26704036e-02 7.73670207e+00] [-2.33837434e-02 -3.80996693e-04 9.99726490e-01 -9.35690395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.74, Y:7.73, Z:-0.94 [[ 8.33040983e-01 5.52894193e-01 1.87278405e-02 2.62742429e+02] [-5.52762748e-01 8.33251413e-01 -1.20592935e-02 7.72553188e+00] [-2.22725129e-02 -3.06166835e-04 9.99751890e-01 -9.36707911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.77, Y:7.71, Z:-0.94 [[ 8.34385468e-01 5.50902043e-01 1.75450648e-02 2.62767520e+02] [-5.50786472e-01 8.34569876e-01 -1.12864454e-02 7.71126385e+00] [-2.08603084e-02 -2.46338319e-04 9.99782370e-01 -9.36552246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.79, Y:7.70, Z:-0.94 [[ 8.35455602e-01 5.49209759e-01 1.95595956e-02 2.62792413e+02] [-5.49065949e-01 8.35684501e-01 -1.25697775e-02 7.69735494e+00] [-2.32490953e-02 -2.38016911e-04 9.99729675e-01 -9.37519113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.82, Y:7.68, Z:-0.94 [[ 8.37274193e-01 5.46451410e-01 1.90468524e-02 2.62818733e+02] [-5.46314602e-01 8.37490793e-01 -1.22281267e-02 7.68472674e+00] [-2.26336406e-02 -1.67278672e-04 9.99743812e-01 -9.37002670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.84, Y:7.67, Z:-0.94 [[ 8.38408304e-01 5.44694497e-01 1.94787146e-02 2.62843207e+02] [-5.44551268e-01 8.38634537e-01 -1.24912128e-02 7.67160798e+00] [-2.31394176e-02 -1.34422195e-04 9.99732239e-01 -9.37433083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.87, Y:7.66, Z:-0.94 [[ 8.39003112e-01 5.43825339e-01 1.81046877e-02 2.62868462e+02] [-5.43701651e-01 8.39198420e-01 -1.15985398e-02 7.65791809e+00] [-2.15010051e-02 -1.12337665e-04 9.99768820e-01 -9.36941094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28592 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:262.89, Y:7.64, Z:-0.94 [[ 8.39238045e-01 5.43502855e-01 1.68567759e-02 2.62892006e+02] [-5.43395782e-01 8.39407312e-01 -1.07883952e-02 7.64195272e+00] [-2.00132246e-02 -1.05869237e-04 9.99799710e-01 -9.36880849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31591999999995 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:262.91, Y:7.63, Z:-0.94 [[ 8.39520354e-01 5.43066512e-01 1.68623487e-02 2.62914926e+02] [-5.42959526e-01 8.39689676e-01 -1.07796827e-02 7.62690443e+00] [-2.00132248e-02 -1.05809838e-04 9.99799710e-01 -9.36904573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34592 meters Centerline goodness [0,1] 0.999900823167708 Centerline is valid? [True, True] Translation: X:262.94, Y:7.61, Z:-0.94 [[ 8.40469298e-01 5.41561191e-01 1.79676263e-02 2.62938912e+02] [-5.41439621e-01 8.40661329e-01 -1.14746444e-02 7.61095861e+00] [-2.13189107e-02 -8.42984014e-05 9.99772723e-01 -9.37176941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37591999999995 meters Centerline goodness [0,1] 0.9999007394907936 Centerline is valid? [True, True] Translation: X:262.96, Y:7.60, Z:-0.94 [[ 8.41134946e-01 5.40517019e-01 1.82580271e-02 2.62962832e+02] [-5.40391528e-01 8.41333078e-01 -1.16468324e-02 7.59631922e+00] [-2.16563932e-02 -6.99253659e-05 9.99765470e-01 -9.36297697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40592 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:262.99, Y:7.58, Z:-0.94 [[ 8.41235916e-01 5.40397435e-01 1.71098319e-02 2.62985665e+02] [-5.40287431e-01 8.41409893e-01 -1.09034360e-02 7.57893915e+00] [-2.02885707e-02 -7.18651879e-05 9.99794163e-01 -9.36542315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43591999999995 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:263.01, Y:7.56, Z:-0.94 [[ 8.41761450e-01 5.39559730e-01 1.76906510e-02 2.63008204e+02] [-5.39442214e-01 8.41947322e-01 -1.12607026e-02 7.56209125e+00] [-2.09704179e-02 -6.42585559e-05 9.99780095e-01 -9.37808076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.03, Y:7.55, Z:-0.94 [[ 8.42099463e-01 5.39092378e-01 1.57449244e-02 2.63032130e+02] [-5.38999399e-01 8.42246642e-01 -1.00121254e-02 7.54558301e+00] [-1.86585702e-02 -5.52993632e-05 9.99825912e-01 -9.35937286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.06, Y:7.53, Z:-0.94 [[ 8.41689112e-01 5.39734839e-01 1.56761675e-02 2.63055969e+02] [-5.39642993e-01 8.41835077e-01 -9.95703905e-03 7.53063150e+00] [-1.85709085e-02 -7.88025952e-05 9.99827543e-01 -9.35522875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:263.08, Y:7.52, Z:-0.94 [[ 8.42404747e-01 5.38625633e-01 1.53840453e-02 2.63079840e+02] [-5.38537199e-01 8.42545206e-01 -9.76023099e-03 7.51558982e+00] [-1.82188642e-02 -6.28157547e-05 9.99834021e-01 -9.35498558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55591999999996 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:263.10, Y:7.50, Z:-0.94 [[ 8.43233094e-01 5.37321797e-01 1.55960228e-02 2.63102777e+02] [-5.37230897e-01 8.43377308e-01 -9.88329406e-03 7.49951514e+00] [-1.84638411e-02 -4.47447121e-05 9.99829528e-01 -9.35457984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.13, Y:7.48, Z:-0.94 [[ 8.43655272e-01 5.36624476e-01 1.67318066e-02 2.63127172e+02] [-5.36519927e-01 8.43821172e-01 -1.05923265e-02 7.48376970e+00] [-1.98027543e-02 -4.06756097e-05 9.99803905e-01 -9.35567168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.15, Y:7.47, Z:-0.94 [[ 8.44663011e-01 5.35031017e-01 1.69176714e-02 2.63151207e+02] [-5.34924057e-01 8.44832415e-01 -1.06978291e-02 7.46990307e+00] [-2.00162676e-02 -1.36088879e-05 9.99799654e-01 -9.35671856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.18, Y:7.45, Z:-0.93 [[ 8.45061414e-01 5.34464539e-01 1.47940360e-02 2.63175556e+02] [-5.34382825e-01 8.45190899e-01 -9.34561247e-03 7.45389450e+00] [-1.74986831e-02 -8.06226617e-06 9.99846886e-01 -9.34794920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.20, Y:7.44, Z:-0.93 [[ 8.45338021e-01 5.34020299e-01 1.50316308e-02 2.63198584e+02] [-5.33936061e-01 8.45471655e-01 -9.48485476e-03 7.43860542e+00] [-1.77739227e-02 -8.02136039e-06 9.99842031e-01 -9.34507931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.22, Y:7.42, Z:-0.93 [[ 8.45789340e-01 5.33275884e-01 1.60381750e-02 2.63223948e+02] [-5.33180049e-01 8.45941388e-01 -1.01095701e-02 7.42485486e+00] [-1.89585460e-02 -6.68353484e-07 9.99820271e-01 -9.34889484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.25, Y:7.41, Z:-0.93 [[ 8.45971964e-01 5.32993733e-01 1.57834196e-02 2.63247860e+02] [-5.32901083e-01 8.46119188e-01 -9.93760114e-03 7.40998698e+00] [-1.86513333e-02 -4.06945839e-06 9.99826049e-01 -9.34490268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.27, Y:7.39, Z:-0.93 [[ 8.47092524e-01 5.31182242e-01 1.67236631e-02 2.63271465e+02] [-5.31078079e-01 8.47257591e-01 -1.05190118e-02 7.39286517e+00] [-1.97567628e-02 2.90054104e-05 9.99804816e-01 -9.34373655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.29, Y:7.38, Z:-0.93 [[ 8.47396898e-01 5.30670292e-01 1.75367996e-02 2.63294435e+02] [-5.30555872e-01 8.47578339e-01 -1.10193735e-02 7.37584290e+00] [-2.07114656e-02 3.35309192e-05 9.99785494e-01 -9.33932655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.32, Y:7.36, Z:-0.93 [[ 8.47995153e-01 5.29707165e-01 1.77352658e-02 2.63318195e+02] [-5.29590198e-01 8.48180592e-01 -1.11312916e-02 7.36094993e+00] [-2.09390331e-02 4.68584183e-05 9.99780753e-01 -9.33050587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.34, Y:7.35, Z:-0.93 [[ 8.47898376e-01 5.29852243e-01 1.80262272e-02 2.63340726e+02] [-5.29731714e-01 8.48089971e-01 -1.13009743e-02 7.34521320e+00] [-2.12757091e-02 3.30135593e-05 9.99773646e-01 -9.33305752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.36, Y:7.33, Z:-0.93 [[ 8.47806723e-01 5.29972843e-01 1.87762003e-02 2.63363945e+02] [-5.29842367e-01 8.48014614e-01 -1.17593105e-02 7.32789853e+00] [-2.21546075e-02 2.11961199e-05 9.99754556e-01 -9.33479344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.39, Y:7.31, Z:-0.93 [[ 8.46820251e-01 5.31516919e-01 1.96272280e-02 2.63385975e+02] [-5.31375045e-01 8.47047675e-01 -1.22799713e-02 7.30881973e+00] [-2.31522103e-02 -3.04908126e-05 9.99731951e-01 -9.33766362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.41, Y:7.29, Z:-0.93 [[ 8.45989901e-01 5.32887690e-01 1.82153246e-02 2.63409224e+02] [-5.32766059e-01 8.46185975e-01 -1.13851712e-02 7.29235258e+00] [-2.14805698e-02 -7.27668671e-05 9.99769263e-01 -9.33830977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97592 meters Centerline goodness [0,1] 0.999950411583854 Centerline is valid? [True, True] Translation: X:263.43, Y:7.28, Z:-0.93 [[ 8.45540178e-01 5.33615658e-01 1.77802449e-02 2.63432068e+02] [-5.33500196e-01 8.45727095e-01 -1.11005119e-02 7.27654392e+00] [-2.09606418e-02 -9.98352854e-05 9.99780297e-01 -9.34080922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.46, Y:7.26, Z:-0.93 [[ 8.45844965e-01 5.33086605e-01 1.91040834e-02 2.63455994e+02] [-5.32953447e-01 8.46060672e-01 -1.19148021e-02 7.25995621e+00] [-2.25148351e-02 -1.03511720e-04 9.99746504e-01 -9.34235062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.48, Y:7.24, Z:-0.93 [[ 8.45742183e-01 5.33186896e-01 2.07820288e-02 2.63479981e+02] [-5.33029670e-01 8.45997469e-01 -1.29481063e-02 7.24472650e+00] [-2.44853043e-02 -1.26678225e-04 9.99700182e-01 -9.34507498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.50, Y:7.23, Z:-0.93 [[ 8.45586242e-01 5.33446866e-01 2.04535713e-02 2.63504380e+02] [-5.33294998e-01 8.45833565e-01 -1.27289074e-02 7.23047620e+00] [-2.40905129e-02 -1.44398287e-04 9.99709771e-01 -9.34607921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.53, Y:7.22, Z:-0.93 [[ 8.44736228e-01 5.34836958e-01 1.92388337e-02 2.63529668e+02] [-5.34703267e-01 8.44955262e-01 -1.19591901e-02 7.21861289e+00] [-2.26521706e-02 -1.84706143e-04 9.99743390e-01 -9.34624420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.55, Y:7.20, Z:-0.94 [[ 8.44539374e-01 5.35136638e-01 1.95454263e-02 2.63554092e+02] [-5.34999017e-01 8.44765492e-01 -1.21373952e-02 7.20399298e+00] [-2.30064666e-02 -2.06275664e-04 9.99735295e-01 -9.35476596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15592 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:263.58, Y:7.19, Z:-0.93 [[ 8.44626809e-01 5.35020541e-01 1.89360678e-02 2.63578716e+02] [-5.34891638e-01 8.44839025e-01 -1.17455446e-02 7.19041416e+00] [-2.22820366e-02 -2.08142503e-04 9.99751703e-01 -9.34792417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.60, Y:7.18, Z:-0.93 [[ 8.45197725e-01 5.34145214e-01 1.81575228e-02 2.63604556e+02] [-5.34026738e-01 8.45392722e-01 -1.12511055e-02 7.17693302e+00] [-2.13599618e-02 -1.87193890e-04 9.99771832e-01 -9.33262493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.63, Y:7.17, Z:-0.93 [[ 8.48462342e-01 5.28930479e-01 1.85526813e-02 2.63630647e+02] [-5.28805795e-01 8.48665154e-01 -1.14842128e-02 7.16510093e+00] [-2.18193643e-02 -6.68433496e-05 9.99761927e-01 -9.33058586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24591999999996 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:263.65, Y:7.15, Z:-0.93 [[ 8.49904988e-01 5.26623088e-01 1.81558107e-02 2.63654801e+02] [-5.26503431e-01 8.50098890e-01 -1.12256408e-02 7.15064631e+00] [-2.13459161e-02 -1.83684927e-05 9.99772150e-01 -9.33470729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:263.68, Y:7.14, Z:-0.93 [[ 8.51852979e-01 5.23449975e-01 1.86178779e-02 2.63679179e+02] [-5.23323679e-01 8.52056407e-01 -1.14981216e-02 7.13643725e+00] [-2.18821736e-02 5.15328230e-05 9.99760555e-01 -9.34088783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.70, Y:7.12, Z:-0.93 [[ 8.52964931e-01 5.21602660e-01 1.95318164e-02 2.63703688e+02] [-5.21463451e-01 8.53188523e-01 -1.20504046e-02 7.12188624e+00] [-2.29498447e-02 9.34441020e-05 9.99736613e-01 -9.34331936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.73, Y:7.11, Z:-0.93 [[ 8.54713401e-01 5.18703740e-01 2.02838016e-02 2.63728824e+02] [-5.18553084e-01 8.54954035e-01 -1.25018465e-02 7.10854447e+00] [-2.38264726e-02 1.67267889e-04 9.99716095e-01 -9.33973731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.75, Y:7.09, Z:-0.93 [[ 8.55200165e-01 5.17928024e-01 1.95765375e-02 2.63752124e+02] [-5.17787801e-01 8.55424183e-01 -1.20523728e-02 7.09274498e+00] [-2.29885053e-02 1.70698884e-04 9.99735715e-01 -9.33135011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.78, Y:7.08, Z:-0.93 [[ 8.55459831e-01 5.17522700e-01 1.89402551e-02 2.63775746e+02] [-5.17391622e-01 8.55669462e-01 -1.16482608e-02 7.07689993e+00] [-2.22348373e-02 1.65089930e-04 9.99752762e-01 -9.32429632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.80, Y:7.06, Z:-0.93 [[ 8.55275388e-01 5.17829552e-01 1.88829194e-02 2.63799216e+02] [-5.17699635e-01 8.55483801e-01 -1.15997534e-02 7.06131544e+00] [-2.21607267e-02 1.45303124e-04 9.99754410e-01 -9.32897437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.82, Y:7.05, Z:-0.93 [[ 8.55106137e-01 5.18089348e-01 1.94144920e-02 2.63822470e+02] [-5.17952389e-01 8.55326494e-01 -1.19127082e-02 7.04543829e+00] [-2.27775766e-02 1.30847404e-04 9.99740549e-01 -9.32852479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.85, Y:7.03, Z:-0.93 [[ 8.54972675e-01 5.18274519e-01 2.03285176e-02 2.63846289e+02] [-5.18124710e-01 8.55214306e-01 -1.24610049e-02 7.02940316e+00] [-2.38434604e-02 1.21111387e-04 9.99715697e-01 -9.33353148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.87, Y:7.01, Z:-0.93 [[ 8.54961122e-01 5.18289643e-01 2.04285666e-02 2.63869411e+02] [-5.18138703e-01 8.55205141e-01 -1.25080103e-02 7.01390424e+00] [-2.39533874e-02 1.09031543e-04 9.99713071e-01 -9.32518997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.89, Y:7.00, Z:-0.93 [[ 8.55056522e-01 5.18175324e-01 1.93048814e-02 2.63894350e+02] [-5.18040775e-01 8.55274415e-01 -1.18080996e-02 6.99948143e+00] [-2.26296370e-02 9.58768332e-05 9.99743912e-01 -9.32221288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.92, Y:6.99, Z:-0.93 [[ 8.55441834e-01 5.17554551e-01 1.88826828e-02 2.63918988e+02] [-5.17425962e-01 8.55650207e-01 -1.15367660e-02 6.98588391e+00] [-2.21278772e-02 9.86419565e-05 9.99755144e-01 -9.32212572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60591999999997 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:263.94, Y:6.97, Z:-0.93 [[ 8.55591157e-01 5.17321793e-01 1.84914508e-02 2.63941823e+02] [-5.17198704e-01 8.55790952e-01 -1.12848161e-02 6.97062460e+00] [-2.16626976e-02 9.14344602e-05 9.99765332e-01 -9.32408607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.97, Y:6.96, Z:-0.93 [[ 8.56138114e-01 5.16407390e-01 1.87333558e-02 2.63965719e+02] [-5.16280937e-01 8.56343036e-01 -1.14279837e-02 6.95542594e+00] [-2.19436740e-02 1.12257971e-04 9.99759202e-01 -9.32482077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.99, Y:6.94, Z:-0.93 [[ 8.56981945e-01 5.15019333e-01 1.83584298e-02 2.63989965e+02] [-5.14897844e-01 8.57178551e-01 -1.11866800e-02 6.94120334e+00] [-2.14978088e-02 1.34066850e-04 9.99768886e-01 -9.31945398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.01, Y:6.93, Z:-0.93 [[ 8.57650699e-01 5.13911702e-01 1.81670441e-02 2.64013429e+02] [-5.13792752e-01 8.57843075e-01 -1.10574513e-02 6.92694009e+00] [-2.12670266e-02 1.49335263e-04 9.99773820e-01 -9.32230074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.04, Y:6.91, Z:-0.93 [[ 8.58623881e-01 5.12366225e-01 1.56806195e-02 2.64037087e+02] [-5.12277527e-01 8.58767039e-01 -9.53456104e-03 6.90979104e+00] [-1.83511863e-02 1.53772815e-04 9.99831591e-01 -9.32101832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.06, Y:6.89, Z:-0.93 [[ 8.58958025e-01 5.11832447e-01 1.47870608e-02 2.64059156e+02] [-5.11753667e-01 8.59085284e-01 -8.98106926e-03 6.89318882e+00] [-1.73001490e-02 1.47028933e-04 9.99850330e-01 -9.31494185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.08, Y:6.88, Z:-0.93 [[ 8.59525578e-01 5.10854992e-01 1.55871046e-02 2.64082954e+02] [-5.10767470e-01 8.59666883e-01 -9.45740370e-03 6.87655749e+00] [-1.82310795e-02 1.67494381e-04 9.99833786e-01 -9.32804322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.10, Y:6.86, Z:-0.93 [[ 8.59709990e-01 5.10522681e-01 1.62888142e-02 2.64104911e+02] [-5.10427254e-01 8.59864270e-01 -9.87199879e-03 6.85852357e+00] [-1.90460486e-02 1.72801280e-04 9.99818593e-01 -9.31926352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.13, Y:6.84, Z:-0.93 [[ 8.60401986e-01 5.09319804e-01 1.73712339e-02 2.64126469e+02] [-5.09211241e-01 8.60577304e-01 -1.05174146e-02 6.83857816e+00] [-2.03060172e-02 2.03576786e-04 9.99793791e-01 -9.32696391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.15, Y:6.82, Z:-0.93 [[ 8.61053542e-01 5.08186018e-01 1.82693573e-02 2.64149983e+02] [-5.08065920e-01 8.61247303e-01 -1.10500756e-02 6.82149204e+00] [-2.13499286e-02 2.32668943e-04 9.99772037e-01 -9.33942881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.17, Y:6.80, Z:-0.93 [[ 8.61488410e-01 5.07510578e-01 1.64539508e-02 2.64173046e+02] [-5.07413230e-01 8.61645499e-01 -9.94224290e-03 6.80477247e+00] [-1.92232661e-02 2.16174723e-04 9.99815193e-01 -9.32923617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.20, Y:6.79, Z:-0.93 [[ 8.61733343e-01 5.07053805e-01 1.76659133e-02 2.64195252e+02] [-5.06941710e-01 8.61914372e-01 -1.06638936e-02 6.78504666e+00] [-2.06336723e-02 2.33844371e-04 9.99787076e-01 -9.33534343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.22, Y:6.77, Z:-0.93 [[ 8.61466258e-01 5.07555468e-01 1.62275556e-02 2.64217323e+02] [-5.07461159e-01 8.61619063e-01 -9.78584320e-03 6.76564486e+00] [-1.89488294e-02 1.95319572e-04 9.99820436e-01 -9.32531525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.24, Y:6.75, Z:-0.93 [[ 8.61023441e-01 5.08295746e-01 1.65549919e-02 2.64240650e+02] [-5.08197924e-01 8.61182561e-01 -9.97325028e-03 6.74854605e+00] [-1.93262310e-02 1.73989760e-04 9.99813216e-01 -9.31667647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.26, Y:6.73, Z:-0.93 [[ 8.61068536e-01 5.08275496e-01 1.47308004e-02 2.64264518e+02] [-5.08198197e-01 8.61194518e-01 -8.86533597e-03 6.73214964e+00] [-1.71921176e-02 1.47495640e-04 9.99852194e-01 -9.31445124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05591999999996 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:264.29, Y:6.71, Z:-0.93 [[ 8.60472647e-01 5.09296808e-01 1.42683062e-02 2.64287456e+02] [-5.09224454e-01 8.60590929e-01 -8.58538726e-03 6.71351734e+00] [-1.66516853e-02 1.21720445e-04 9.99861344e-01 -9.31441365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.31, Y:6.70, Z:-0.93 [[ 8.60378844e-01 5.09475828e-01 1.35139376e-02 2.64312454e+02] [-5.09410963e-01 8.60484961e-01 -8.13029916e-03 6.69670811e+00] [-1.57707310e-02 1.10989411e-04 9.99875628e-01 -9.30537922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11591999999996 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:264.34, Y:6.68, Z:-0.93 [[ 8.60432814e-01 5.09343742e-01 1.49774773e-02 2.64336640e+02] [-5.09264069e-01 8.60563151e-01 -9.00948128e-03 6.67856838e+00] [-1.74779879e-02 1.24562310e-04 9.99847241e-01 -9.31115648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.36, Y:6.66, Z:-0.93 [[ 8.60744432e-01 5.08809314e-01 1.52349716e-02 2.64362541e+02] [-5.08726795e-01 8.60879238e-01 -9.16430739e-03 6.66193834e+00] [-1.77783557e-02 1.37688277e-04 9.99841943e-01 -9.31569287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.39, Y:6.65, Z:-0.93 [[ 8.60870644e-01 5.08606757e-01 1.48627186e-02 2.64388153e+02] [-5.08528192e-01 8.60998924e-01 -8.94038566e-03 6.64548629e+00] [-1.73439253e-02 1.38404150e-04 9.99849573e-01 -9.30622488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.41, Y:6.63, Z:-0.93 [[ 8.60870644e-01 5.08606757e-01 1.48627186e-02 2.64413864e+02] [-5.08528192e-01 8.60998924e-01 -8.94038566e-03 6.63001990e+00] [-1.73439253e-02 1.38404150e-04 9.99849573e-01 -9.30648391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23591999999996 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:264.44, Y:6.61, Z:-0.93 [[ 8.61112061e-01 5.08196181e-01 1.49217552e-02 2.64439167e+02] [-5.08116908e-01 8.61241325e-01 -8.97712698e-03 6.61197376e+00] [-1.74133739e-02 1.48316197e-04 9.99848365e-01 -9.29474762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.47, Y:6.59, Z:-0.93 [[ 8.61133381e-01 5.08158108e-01 1.49878998e-02 2.64465402e+02] [-5.08078101e-01 8.61263789e-01 -9.01822471e-03 6.59432361e+00] [-1.74912194e-02 1.50870660e-04 9.99847006e-01 -9.29419220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.49, Y:6.58, Z:-0.93 [[ 8.61269175e-01 5.07907137e-01 1.56763494e-02 2.64491474e+02] [-5.07819520e-01 8.61411814e-01 -9.43515881e-03 6.57575443e+00] [-1.82959771e-02 1.65455206e-04 9.99832601e-01 -9.28909284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.52, Y:6.56, Z:-0.93 [[ 8.61095307e-01 5.08216609e-01 1.51904570e-02 2.64518779e+02] [-5.08134341e-01 8.61229269e-01 -9.14538299e-03 6.55828500e+00] [-1.77303017e-02 1.56253505e-04 9.99842794e-01 -9.29249218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.55, Y:6.54, Z:-0.93 [[ 8.60278198e-01 5.09626901e-01 1.42071403e-02 2.64545074e+02] [-5.09555091e-01 8.60395494e-01 -8.55587335e-03 6.53908046e+00] [-1.65840628e-02 1.21110619e-04 9.99862468e-01 -9.29667902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.57, Y:6.52, Z:-0.93 [[ 8.60195918e-01 5.09778724e-01 1.37344645e-02 2.64571806e+02] [-5.09711593e-01 8.60305550e-01 -8.27363105e-03 6.52018010e+00] [-1.60335572e-02 1.16327860e-04 9.99871448e-01 -9.29037702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.60, Y:6.50, Z:-0.93 [[ 8.60321505e-01 5.09589132e-01 1.28772760e-02 2.64597620e+02] [-5.09530064e-01 8.60417866e-01 -7.75953865e-03 6.50011987e+00] [-1.50340149e-02 1.14338683e-04 9.99886976e-01 -9.27832954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44592 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:264.62, Y:6.48, Z:-0.93 [[ 8.60366117e-01 5.09518016e-01 1.27097018e-02 2.64624438e+02] [-5.09460434e-01 8.60459980e-01 -7.66081209e-03 6.48308318e+00] [-1.48395115e-02 1.16012954e-04 9.99889882e-01 -9.27625652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.65, Y:6.47, Z:-0.93 [[ 8.60555424e-01 5.09185955e-01 1.31918644e-02 2.64651821e+02] [-5.09123846e-01 8.60656521e-01 -7.95377339e-03 6.46558307e+00] [-1.54036138e-02 1.28370097e-04 9.99881349e-01 -9.27719184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50592 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:264.68, Y:6.44, Z:-0.93 [[ 8.60206851e-01 5.09770990e-01 1.33308252e-02 2.64677401e+02] [-5.09707582e-01 8.60310132e-01 -8.04103046e-03 6.44402517e+00] [-1.55677280e-02 1.22126842e-04 9.99878808e-01 -9.28407986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:264.70, Y:6.43, Z:-0.93 [[ 8.60167130e-01 5.09834495e-01 1.34646306e-02 2.64704527e+02] [-5.09769758e-01 8.60272499e-01 -8.12533414e-03 6.42511921e+00] [-1.57258270e-02 1.25283885e-04 9.99876334e-01 -9.27541934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56591999999995 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:264.73, Y:6.41, Z:-0.93 [[ 8.59816035e-01 5.10423661e-01 1.35673437e-02 2.64731605e+02] [-5.10357949e-01 8.59923062e-01 -8.19094468e-03 6.40519820e+00] [-1.58477237e-02 1.18503843e-04 9.99874410e-01 -9.26307378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59592 meters Centerline goodness [0,1] 0.9996028396961724 Centerline is valid? [True, True] Translation: X:264.76, Y:6.39, Z:-0.93 [[ 8.59784282e-01 5.10477691e-01 1.35467989e-02 2.64758743e+02] [-5.10412127e-01 8.59890989e-01 -8.18216337e-03 6.38599684e+00] [-1.58255822e-02 1.20445017e-04 9.99874760e-01 -9.26596206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62591999999995 meters Centerline goodness [0,1] 0.999652743327711 Centerline is valid? [True, True] Translation: X:264.78, Y:6.37, Z:-0.93 [[ 8.59729869e-01 5.10585392e-01 1.29270803e-02 2.64784333e+02] [-5.10525667e-01 8.59827043e-01 -7.81020681e-03 6.36651270e+00] [-1.51028307e-02 1.15061796e-04 9.99885939e-01 -9.26378359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65592 meters Centerline goodness [0,1] 0.9996527261001141 Centerline is valid? [True, True] Translation: X:264.81, Y:6.34, Z:-0.93 [[ 8.60034781e-01 5.10047889e-01 1.38320475e-02 2.64808583e+02] [-5.09979399e-01 8.60145995e-01 -8.35942918e-03 6.34407458e+00] [-1.61612895e-02 1.35340561e-04 9.99869389e-01 -9.26533219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68591999999995 meters Centerline goodness [0,1] 0.9996524674808858 Centerline is valid? [True, True] Translation: X:264.83, Y:6.33, Z:-0.93 [[ 8.60257823e-01 5.09651183e-01 1.45653832e-02 2.64834812e+02] [-5.09575136e-01 8.60381107e-01 -8.80519963e-03 6.32600403e+00] [-1.70193609e-02 1.52584742e-04 9.99855149e-01 -9.26383478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71592 meters Centerline goodness [0,1] 0.999701922599235 Centerline is valid? [True, True] Translation: X:264.86, Y:6.31, Z:-0.93 [[ 8.61093962e-01 5.08217368e-01 1.52412165e-02 2.64859968e+02] [-5.08133828e-01 8.61228814e-01 -9.21646999e-03 6.30614235e+00] [-1.78101449e-02 1.91668990e-04 9.99841368e-01 -9.26522947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74591999999996 meters Centerline goodness [0,1] 0.9997516145057128 Centerline is valid? [True, True] Translation: X:264.89, Y:6.29, Z:-0.93 [[ 8.61107113e-01 5.08187185e-01 1.55024153e-02 2.64887012e+02] [-5.08100561e-01 8.61246622e-01 -9.38493932e-03 6.28740213e+00] [-1.81207087e-02 2.04652107e-04 9.99835786e-01 -9.26089194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77592 meters Centerline goodness [0,1] 0.9997020706092656 Centerline is valid? [True, True] Translation: X:264.91, Y:6.27, Z:-0.93 [[ 8.60923806e-01 5.08528953e-01 1.44396997e-02 2.64913679e+02] [-5.08453697e-01 8.61044870e-01 -8.75046627e-03 6.26870959e+00] [-1.68830948e-02 1.91566001e-04 9.99857452e-01 -9.25213036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80591999999996 meters Centerline goodness [0,1] 0.9996525192355423 Centerline is valid? [True, True] Translation: X:264.94, Y:6.25, Z:-0.93 [[ 8.60327325e-01 5.09527563e-01 1.47836503e-02 2.64940261e+02] [-5.09448647e-01 8.60454315e-01 -8.96925270e-03 6.24954349e+00] [-1.72907371e-02 1.84982561e-04 9.99850487e-01 -9.25135842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83592 meters Centerline goodness [0,1] 0.9994538774699633 Centerline is valid? [True, True] Translation: X:264.97, Y:6.23, Z:-0.92 [[ 8.59681755e-01 5.10638691e-01 1.39788467e-02 2.64966461e+02] [-5.10568139e-01 8.59795384e-01 -8.48960875e-03 6.23140323e+00] [-1.63540706e-02 1.61207995e-04 9.99866250e-01 -9.24855100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86591999999996 meters Centerline goodness [0,1] 0.9996027016289233 Centerline is valid? [True, True] Translation: X:264.99, Y:6.21, Z:-0.92 [[ 8.58660348e-01 5.12358123e-01 1.38405720e-02 2.64991847e+02] [-5.12289025e-01 8.58771876e-01 -8.41540902e-03 6.21017983e+00] [-1.61975972e-02 1.35604875e-04 9.99868801e-01 -9.24555623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89592 meters Centerline goodness [0,1] 0.9997018633540372 Centerline is valid? [True, True] Translation: X:265.02, Y:6.19, Z:-0.92 [[ 8.57375257e-01 5.14517767e-01 1.33842082e-02 2.65017939e+02] [-5.14453282e-01 8.57479713e-01 -8.14631976e-03 6.19101306e+00] [-1.56681133e-02 9.89031634e-05 9.99877243e-01 -9.23835661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92591999999996 meters Centerline goodness [0,1] 0.9999006754072308 Centerline is valid? [True, True] Translation: X:265.04, Y:6.17, Z:-0.92 [[ 8.55239855e-01 5.18042564e-01 1.40247320e-02 2.65043271e+02] [-5.17972066e-01 8.55354839e-01 -8.54624252e-03 6.16998922e+00] [-1.64234398e-02 4.46677795e-05 9.99865125e-01 -9.23466447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:265.07, Y:6.15, Z:-0.92 [[ 8.53616894e-01 5.20713714e-01 1.39795238e-02 2.65070302e+02] [-5.20643860e-01 8.53731356e-01 -8.52890462e-03 6.15071830e+00] [-1.63758754e-02 2.06385454e-06 9.99865906e-01 -9.22621727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98591999999996 meters Centerline goodness [0,1] 0.999602721358693 Centerline is valid? [True, True] Translation: X:265.10, Y:6.13, Z:-0.92 [[ 8.52791976e-01 5.22072989e-01 1.36249840e-02 2.65097530e+02] [-5.22006649e-01 8.52900811e-01 -8.32256155e-03 6.13127886e+00] [-1.59657445e-02 -1.49185507e-05 9.99872539e-01 -9.21803359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01592 meters Centerline goodness [0,1] 0.9996027016289233 Centerline is valid? [True, True] Translation: X:265.12, Y:6.11, Z:-0.92 [[ 8.51216355e-01 5.24664398e-01 1.25692328e-02 2.65123532e+02] [-5.24608088e-01 8.51309149e-01 -7.68679897e-03 6.11054345e+00] [-1.47332926e-02 -5.07921712e-05 9.99891458e-01 -9.22355823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04591999999997 meters Centerline goodness [0,1] 0.9997516145057128 Centerline is valid? [True, True] Translation: X:265.15, Y:6.09, Z:-0.92 [[ 8.49941164e-01 5.26710250e-01 1.32789238e-02 2.65151013e+02] [-5.26647499e-01 8.50044884e-01 -8.13055028e-03 6.09133067e+00] [-1.55701255e-02 -8.28226670e-05 9.99878775e-01 -9.23022194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07592 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:265.18, Y:6.07, Z:-0.92 [[ 8.48760132e-01 5.28575950e-01 1.46186020e-02 2.65176740e+02] [-5.28500013e-01 8.48886006e-01 -8.96026182e-03 6.07119416e+00] [-1.71457056e-02 -1.20818329e-04 9.99852994e-01 -9.22878756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.20, Y:6.05, Z:-0.92 [[ 8.47978133e-01 5.29829141e-01 1.46344799e-02 2.65203565e+02] [-5.29753041e-01 8.48104394e-01 -8.98071295e-03 6.05238736e+00] [-1.71698101e-02 -1.37212036e-04 9.99852579e-01 -9.23090051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13592 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:265.23, Y:6.03, Z:-0.92 [[ 8.47575449e-01 5.30434916e-01 1.59579970e-02 2.65230308e+02] [-5.30344341e-01 8.47725649e-01 -9.80325549e-03 6.03351915e+00] [-1.87279924e-02 -1.54234749e-04 9.99824604e-01 -9.22671431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16591999999997 meters Centerline goodness [0,1] 0.9999006754072308 Centerline is valid? [True, True] Translation: X:265.26, Y:6.01, Z:-0.92 [[ 8.47025273e-01 5.31313873e-01 1.59296843e-02 2.65256665e+02] [-5.31223556e-01 8.47175036e-01 -9.79753850e-03 6.01405854e+00] [-1.87007990e-02 -1.63460813e-04 9.99825111e-01 -9.21873894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19592 meters Centerline goodness [0,1] 0.999351879549307 Centerline is valid? [True, True] Translation: X:265.28, Y:6.00, Z:-0.92 [[ 8.47185726e-01 5.31055912e-01 1.59988928e-02 2.65284017e+02] [-5.30964540e-01 8.47336767e-01 -9.85196670e-03 5.99575755e+00] [-1.87883953e-02 -1.48399185e-04 9.99823472e-01 -9.21977643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22592 meters Centerline goodness [0,1] 0.9989074294795391 Centerline is valid? [True, True] Translation: X:265.31, Y:5.98, Z:-0.92 [[ 8.46904977e-01 5.31551984e-01 1.42985502e-02 2.65311043e+02] [-5.31478916e-01 8.47025661e-01 -8.81429161e-03 5.97756528e+00] [-1.67964931e-02 -1.34510513e-04 9.99858920e-01 -9.21722854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25592 meters Centerline goodness [0,1] 0.9993540372670807 Centerline is valid? [True, True] Translation: X:265.34, Y:5.96, Z:-0.92 [[ 8.46560912e-01 5.32068264e-01 1.54267235e-02 2.65338656e+02] [-5.31983088e-01 8.46701447e-01 -9.52121674e-03 5.95897569e+00] [-1.81277663e-02 -1.46466041e-04 9.99835668e-01 -9.22395117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28592 meters Centerline goodness [0,1] 0.9994530084535057 Centerline is valid? [True, True] Translation: X:265.37, Y:5.94, Z:-0.92 [[ 8.46329774e-01 5.32435208e-01 1.54486925e-02 2.65365528e+02] [-5.32349640e-01 8.46470749e-01 -9.54632886e-03 5.93937520e+00] [-1.81596679e-02 -1.44763561e-04 9.99835089e-01 -9.23745853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31591999999995 meters Centerline goodness [0,1] 0.9996028002581798 Centerline is valid? [True, True] Translation: X:265.39, Y:5.92, Z:-0.92 [[ 8.45868981e-01 5.33127229e-01 1.67637756e-02 2.65392411e+02] [-5.33026391e-01 8.46035065e-01 -1.03699459e-02 5.92114995e+00] [-1.97112425e-02 -1.63919248e-04 9.99805701e-01 -9.24596674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34592 meters Centerline goodness [0,1] 0.9996027805362463 Centerline is valid? [True, True] Translation: X:265.42, Y:5.90, Z:-0.92 [[ 8.45706250e-01 5.33410491e-01 1.59432432e-02 2.65418672e+02] [-5.33319140e-01 8.45856504e-01 -9.87267890e-03 5.90176081e+00] [-1.87518864e-02 -1.53450482e-04 9.99824156e-01 -9.24739012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37591999999995 meters Centerline goodness [0,1] 0.9992058370973346 Centerline is valid? [True, True] Translation: X:265.45, Y:5.88, Z:-0.92 [[ 8.45072365e-01 5.34434130e-01 1.52597059e-02 2.65446182e+02] [-5.34350412e-01 8.45210113e-01 -9.46056645e-03 5.88439723e+00] [-1.79537074e-02 -1.59166877e-04 9.99838807e-01 -9.23915424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40592 meters Centerline goodness [0,1] 0.9997021149836163 Centerline is valid? [True, True] Translation: X:265.47, Y:5.87, Z:-0.93 [[ 8.44327222e-01 5.35545806e-01 1.73848053e-02 2.65472868e+02] [-5.35437147e-01 8.44506157e-01 -1.07894348e-02 5.86604027e+00] [-2.04598117e-02 -1.98657052e-04 9.99790656e-01 -9.25957871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43591999999995 meters Centerline goodness [0,1] 0.9998510205095098 Centerline is valid? [True, True] Translation: X:265.50, Y:5.85, Z:-0.93 [[ 8.43889310e-01 5.36189740e-01 1.87455380e-02 2.65499698e+02] [-5.36063292e-01 8.44097455e-01 -1.16461432e-02 5.84770853e+00] [-2.20676034e-02 -2.20739053e-04 9.99756456e-01 -9.26673559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46592 meters Centerline goodness [0,1] 0.9998510870644297 Centerline is valid? [True, True] Translation: X:265.53, Y:5.83, Z:-0.93 [[ 8.43611706e-01 5.36627028e-01 1.87275704e-02 2.65527303e+02] [-5.36500628e-01 8.43819521e-01 -1.16487080e-02 5.82884390e+00] [-2.20537010e-02 -2.20366862e-04 9.99756763e-01 -9.26218277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49591999999996 meters Centerline goodness [0,1] 0.9997518979804496 Centerline is valid? [True, True] Translation: X:265.55, Y:5.81, Z:-0.93 [[ 8.43976813e-01 5.35999032e-01 2.02033906e-02 2.65554920e+02] [-5.35851430e-01 8.44218570e-01 -1.25798016e-02 5.81214118e+00] [-2.37988390e-02 -2.08954858e-04 9.99716746e-01 -9.26881718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52592 meters Centerline goodness [0,1] 0.999702469503124 Centerline is valid? [True, True] Translation: X:265.58, Y:5.80, Z:-0.93 [[ 8.43903665e-01 5.36106228e-01 2.04136377e-02 2.65583802e+02] [-5.35955206e-01 8.44150503e-01 -1.27257562e-02 5.79518438e+00] [-2.40545397e-02 -2.01483140e-04 9.99710627e-01 -9.26971502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55591999999996 meters Centerline goodness [0,1] 0.9993533946779408 Centerline is valid? [True, True] Translation: X:265.61, Y:5.78, Z:-0.93 [[ 8.44101324e-01 5.35769374e-01 2.10744333e-02 2.65611620e+02] [-5.35607922e-01 8.44364343e-01 -1.31533244e-02 5.77776932e+00] [-2.48416484e-02 -1.84894906e-04 9.99691382e-01 -9.26578024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58592 meters Centerline goodness [0,1] 0.9994537418682028 Centerline is valid? [True, True] Translation: X:265.64, Y:5.76, Z:-0.93 [[ 8.43928594e-01 5.36016250e-01 2.17050174e-02 2.65639665e+02] [-5.35844658e-01 8.44207644e-01 -1.35630432e-02 5.76055303e+00] [-2.55935531e-02 -1.84277635e-04 9.99672414e-01 -9.26896581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61591999999996 meters Centerline goodness [0,1] 0.9995533720410897 Centerline is valid? [True, True] Translation: X:265.67, Y:5.74, Z:-0.93 [[ 8.44178548e-01 5.35619931e-01 2.17685343e-02 2.65667891e+02] [-5.35446789e-01 8.44459155e-01 -1.36188077e-02 5.74369720e+00] [-2.56771429e-02 -1.59186486e-04 9.99670275e-01 -9.27528276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64592 meters Centerline goodness [0,1] 0.999105678938739 Centerline is valid? [True, True] Translation: X:265.70, Y:5.73, Z:-0.93 [[ 8.44965211e-01 5.34396793e-01 2.13039803e-02 2.65695810e+02] [-5.34230228e-01 8.45233729e-01 -1.33419545e-02 5.72799011e+00] [-2.51367404e-02 -1.07742833e-04 9.99684016e-01 -9.27297392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67591999999996 meters Centerline goodness [0,1] 0.9994534433071649 Centerline is valid? [True, True] Translation: X:265.72, Y:5.71, Z:-0.93 [[ 8.47206998e-01 5.30774240e-01 2.27817810e-02 2.65723543e+02] [-5.30582048e-01 8.47513248e-01 -1.42822814e-02 5.71243517e+00] [-2.68885282e-02 1.24446876e-05 9.99638438e-01 -9.29076620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70592 meters Centerline goodness [0,1] 0.9992056793923447 Centerline is valid? [True, True] Translation: X:265.75, Y:5.70, Z:-0.93 [[ 8.47517574e-01 5.30296182e-01 2.23589213e-02 2.65751900e+02] [-5.30110458e-01 8.47812454e-01 -1.40337252e-02 5.69627041e+00] [-2.63982028e-02 4.11306917e-05 9.99651506e-01 -9.29388369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73591999999996 meters Centerline goodness [0,1] 0.9995036974539679 Centerline is valid? [True, True] Translation: X:265.78, Y:5.68, Z:-0.93 [[ 8.47993269e-01 5.29518724e-01 2.27450212e-02 2.65780911e+02] [-5.29325800e-01 8.48298246e-01 -1.42927688e-02 5.67992848e+00] [-2.68628503e-02 8.06451834e-05 9.99639125e-01 -9.29550161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76592 meters Centerline goodness [0,1] 0.9996524157108099 Centerline is valid? [True, True] Translation: X:265.81, Y:5.66, Z:-0.93 [[ 8.48767297e-01 5.28257603e-01 2.31944136e-02 2.65808890e+02] [-5.28056039e-01 8.49084146e-01 -1.45922241e-02 5.66251173e+00] [-2.74024622e-02 1.37452420e-04 9.99624473e-01 -9.30613087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79591999999997 meters Centerline goodness [0,1] 0.9996523811888564 Centerline is valid? [True, True] Translation: X:265.84, Y:5.64, Z:-0.93 [[ 8.49183044e-01 5.27605370e-01 2.28195402e-02 2.65836716e+02] [-5.27409588e-01 8.49489579e-01 -1.43729665e-02 5.64416949e+00] [-2.69682159e-02 1.70035171e-04 9.99636277e-01 -9.30299523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82592 meters Centerline goodness [0,1] 0.9997018929795797 Centerline is valid? [True, True] Translation: X:265.87, Y:5.63, Z:-0.93 [[ 8.50402918e-01 5.25637666e-01 2.28017539e-02 2.65865175e+02] [-5.25441031e-01 8.50708518e-01 -1.43784400e-02 5.62760604e+00] [-2.69554959e-02 2.46490267e-04 9.99636604e-01 -9.31807263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85591999999997 meters Centerline goodness [0,1] 0.9998508723964806 Centerline is valid? [True, True] Translation: X:265.89, Y:5.61, Z:-0.93 [[ 8.50603348e-01 5.25352112e-01 2.18884403e-02 2.65892576e+02] [-5.25170464e-01 8.50884888e-01 -1.38163188e-02 5.61074511e+00] [-2.58829753e-02 2.57044676e-04 9.99664947e-01 -9.31566028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:265.92, Y:5.59, Z:-0.93 [[ 8.51139489e-01 5.24430130e-01 2.31216189e-02 2.65918076e+02] [-5.24226692e-01 8.51453428e-01 -1.46094257e-02 5.59068299e+00] [-2.73486047e-02 3.13689287e-04 9.99625908e-01 -9.33112254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91591999999997 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:265.94, Y:5.57, Z:-0.93 [[ 8.51559517e-01 5.23750544e-01 2.30598412e-02 2.65943780e+02] [-5.23547793e-01 8.51871617e-01 -1.45758919e-02 5.57121467e+00] [-2.72781555e-02 3.39310478e-04 9.99627824e-01 -9.32791579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94592 meters Centerline goodness [0,1] 0.9998511757118762 Centerline is valid? [True, True] Translation: X:265.97, Y:5.55, Z:-0.93 [[ 8.51742054e-01 5.23462116e-01 2.28667271e-02 2.65971523e+02] [-5.23262200e-01 8.52048874e-01 -1.44701828e-02 5.55245231e+00] [-2.70581616e-02 3.59569287e-04 9.99633796e-01 -9.32294303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.00, Y:5.53, Z:-0.93 [[ 8.52687873e-01 5.21898090e-01 2.33618301e-02 2.65996970e+02] [-5.21688426e-01 8.53007736e-01 -1.47982331e-02 5.53316115e+00] [-2.76509914e-02 4.30677561e-04 9.99617545e-01 -9.32769844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:266.02, Y:5.51, Z:-0.93 [[ 8.53009742e-01 5.21375473e-01 2.32808066e-02 2.66022972e+02] [-5.21166609e-01 8.53327255e-01 -1.47634804e-02 5.51309013e+00] [-2.75634634e-02 4.60213588e-04 9.99619950e-01 -9.33877569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03592 meters Centerline goodness [0,1] 0.9998509612996175 Centerline is valid? [True, True] Translation: X:266.05, Y:5.49, Z:-0.93 [[ 8.53823213e-01 5.20119735e-01 2.14797957e-02 2.66045962e+02] [-5.19941203e-01 8.54093225e-01 -1.36348054e-02 5.49011334e+00] [-2.54374793e-02 4.73482531e-04 9.99676303e-01 -9.33831759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06591999999995 meters Centerline goodness [0,1] 0.9998511461744567 Centerline is valid? [True, True] Translation: X:266.07, Y:5.47, Z:-0.93 [[ 8.54031134e-01 5.19752435e-01 2.20958958e-02 2.66071899e+02] [-5.19563029e-01 8.54316772e-01 -1.40396963e-02 5.47173446e+00] [-2.61740607e-02 5.10127223e-04 9.99657270e-01 -9.34043693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:266.10, Y:5.45, Z:-0.93 [[ 8.53872108e-01 5.20017937e-01 2.19947451e-02 2.66098791e+02] [-5.19829943e-01 8.54155186e-01 -1.39910274e-02 5.45280811e+00] [-2.60625108e-02 5.13020921e-04 9.99660183e-01 -9.34320836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12591999999995 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:266.13, Y:5.44, Z:-0.93 [[ 8.53607646e-01 5.20452236e-01 2.19876278e-02 2.66126395e+02] [-5.20264098e-01 8.53890629e-01 -1.40022097e-02 5.43561627e+00] [-2.60625107e-02 5.13019855e-04 9.99660183e-01 -9.34348924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15592 meters Centerline goodness [0,1] 0.9997021297721292 Centerline is valid? [True, True] Translation: X:266.15, Y:5.41, Z:-0.93 [[ 8.52632748e-01 5.22021041e-01 2.26148104e-02 2.66150590e+02] [-5.21822131e-01 8.52932465e-01 -1.44178119e-02 5.41238224e+00] [-2.68153071e-02 4.92190017e-04 9.99640284e-01 -9.34084539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18591999999995 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:266.17, Y:5.39, Z:-0.93 [[ 8.51299800e-01 5.24190491e-01 2.26490598e-02 2.66174884e+02] [-5.23991358e-01 8.51600926e-01 -1.44540396e-02 5.39098539e+00] [-2.68646304e-02 4.36809387e-04 9.99638985e-01 -9.34452051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21592 meters Centerline goodness [0,1] 0.999950357426529 Centerline is valid? [True, True] Translation: X:266.20, Y:5.37, Z:-0.93 [[ 8.50711846e-01 5.25131167e-01 2.29480334e-02 2.66202172e+02] [-5.24926631e-01 8.51021196e-01 -1.46614134e-02 5.37213225e+00] [-2.72284280e-02 4.26604259e-04 9.99629147e-01 -9.34701460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.23, Y:5.35, Z:-0.94 [[ 8.50096177e-01 5.26136714e-01 2.27298676e-02 2.66228923e+02] [-5.25935963e-01 8.50399902e-01 -1.45385205e-02 5.35318969e+00] [-2.69787266e-02 4.04685847e-04 9.99635926e-01 -9.35675478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27592 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:266.25, Y:5.33, Z:-0.94 [[ 8.49565864e-01 5.27017453e-01 2.21460197e-02 2.66253567e+02] [-5.26826809e-01 8.49854376e-01 -1.41793174e-02 5.33189224e+00] [-2.62936395e-02 3.79147178e-04 9.99654191e-01 -9.36337453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.28, Y:5.31, Z:-0.94 [[ 8.49517544e-01 5.27075209e-01 2.26200371e-02 2.66280232e+02] [-5.26875890e-01 8.49818548e-01 -1.44993974e-02 5.31268077e+00] [-2.68652000e-02 3.99540339e-04 9.99638986e-01 -9.37113808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:266.31, Y:5.29, Z:-0.94 [[ 8.49303866e-01 5.27491940e-01 2.08613528e-02 2.66305488e+02] [-5.27322209e-01 8.49559956e-01 -1.33854209e-02 5.29318015e+00] [-2.47836716e-02 3.67635079e-04 9.99692770e-01 -9.35924932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36591999999996 meters Centerline goodness [0,1] 0.9999503968253968 Centerline is valid? [True, True] Translation: X:266.33, Y:5.27, Z:-0.94 [[ 8.48906003e-01 5.28123916e-01 2.10648414e-02 2.66332550e+02] [-5.27950663e-01 8.49167236e-01 -1.35315508e-02 5.27498217e+00] [-2.50339088e-02 3.65817716e-04 9.99686536e-01 -9.37187201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39592 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:266.36, Y:5.26, Z:-0.94 [[ 8.48670767e-01 5.28556946e-01 1.96337331e-02 2.66359212e+02] [-5.28406439e-01 8.48897782e-01 -1.26171033e-02 5.25602256e+00] [-2.33358900e-02 3.33175761e-04 9.99727626e-01 -9.36683521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42591999999996 meters Centerline goodness [0,1] 0.999900700064545 Centerline is valid? [True, True] Translation: X:266.38, Y:5.24, Z:-0.94 [[ 8.47837441e-01 5.29877625e-01 2.00343815e-02 2.66384581e+02] [-5.29720939e-01 8.48074055e-01 -1.28889067e-02 5.23521322e+00] [-2.38201824e-02 3.15066255e-04 9.99716210e-01 -9.36846557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.41, Y:5.22, Z:-0.94 [[ 8.47340451e-01 5.30676196e-01 1.99232297e-02 2.66411373e+02] [-5.30521116e-01 8.47574588e-01 -1.28320862e-02 5.21507844e+00] [-2.36961059e-02 3.03451640e-04 9.99719162e-01 -9.36973761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48591999999996 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:266.44, Y:5.20, Z:-0.94 [[ 8.47143973e-01 5.31014537e-01 1.92523058e-02 2.66438140e+02] [-5.30869488e-01 8.47362658e-01 -1.24142308e-02 5.19646664e+00] [-2.29058220e-02 2.96179033e-04 9.99737583e-01 -9.36616443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.46, Y:5.18, Z:-0.94 [[ 8.46789486e-01 5.31566460e-01 1.96128618e-02 2.66464612e+02] [-5.31415735e-01 8.47016534e-01 -1.26612684e-02 5.17738619e+00] [-2.33427239e-02 2.98845608e-04 9.99727477e-01 -9.36500046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.49, Y:5.16, Z:-0.94 [[ 8.47054179e-01 5.31133310e-01 1.99154384e-02 2.66489932e+02] [-5.30977424e-01 8.47288203e-01 -1.28715280e-02 5.15663717e+00] [-2.37106133e-02 3.28233382e-04 9.99718810e-01 -9.36402086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.52, Y:5.14, Z:-0.94 [[ 8.47498268e-01 5.30454142e-01 1.91073204e-02 2.66516798e+02] [-5.30310156e-01 8.47713563e-01 -1.23633894e-02 5.13749040e+00] [-2.27557457e-02 3.45145027e-04 9.99740995e-01 -9.35775534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60591999999997 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:266.54, Y:5.12, Z:-0.94 [[ 8.48153597e-01 5.29394852e-01 1.94053040e-02 2.66543141e+02] [-5.29245772e-01 8.48375470e-01 -1.25688117e-02 5.11831179e+00] [-2.31168481e-02 3.90107828e-04 9.99732694e-01 -9.35887207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.57, Y:5.10, Z:-0.94 [[ 8.49980482e-01 5.26442973e-01 1.97731123e-02 2.66567690e+02] [-5.26287087e-01 8.50210301e-01 -1.28197533e-02 5.09706495e+00] [-2.35601728e-02 4.90206373e-04 9.99722300e-01 -9.35609705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.59, Y:5.08, Z:-0.94 [[ 8.50350946e-01 5.25855628e-01 1.94711822e-02 2.66594500e+02] [-5.25703983e-01 8.50573687e-01 -1.26382558e-02 5.07703931e+00] [-2.32075732e-02 5.10874772e-04 9.99730537e-01 -9.35485116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69592 meters Centerline goodness [0,1] 0.999652501985703 Centerline is valid? [True, True] Translation: X:266.62, Y:5.06, Z:-0.93 [[ 8.50850489e-01 5.25009021e-01 2.04688267e-02 2.66619322e+02] [-5.24840868e-01 8.51096469e-01 -1.32990084e-02 5.05609453e+00] [-2.44030455e-02 5.72591039e-04 9.99702037e-01 -9.34861341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72592 meters Centerline goodness [0,1] 0.9998511683286203 Centerline is valid? [True, True] Translation: X:266.65, Y:5.04, Z:-0.93 [[ 8.50866701e-01 5.25034995e-01 1.90816829e-02 2.66645492e+02] [-5.24888591e-01 8.51080466e-01 -1.24099987e-02 5.03682682e+00] [-2.27557312e-02 5.43497002e-04 9.99740907e-01 -9.34485590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75592 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:266.67, Y:5.01, Z:-0.93 [[ 8.50404916e-01 5.25765961e-01 1.95354344e-02 2.66670583e+02] [-5.25612371e-01 8.50629093e-01 -1.27193479e-02 5.01468806e+00] [-2.33048090e-02 5.48530002e-04 9.99728256e-01 -9.34138887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78592 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:266.70, Y:5.00, Z:-0.93 [[ 8.50263465e-01 5.26032420e-01 1.84914476e-02 2.66696473e+02] [-5.25894611e-01 8.50464356e-01 -1.20514594e-02 4.99588409e+00] [-2.20657755e-02 5.22363005e-04 9.99756385e-01 -9.34425405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.72, Y:4.97, Z:-0.93 [[ 8.49205181e-01 5.27728235e-01 1.88007949e-02 2.66720554e+02] [-5.27585921e-01 8.49413129e-01 -1.22651136e-02 4.97437766e+00] [-2.24422888e-02 4.96563318e-04 9.99748017e-01 -9.33787341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84592 meters Centerline goodness [0,1] 0.9997512932749701 Centerline is valid? [True, True] Translation: X:266.75, Y:4.96, Z:-0.93 [[ 8.48385468e-01 5.29019761e-01 1.94984522e-02 2.66747401e+02] [-5.28866692e-01 8.48609363e-01 -1.27346528e-02 4.95557908e+00] [-2.32834521e-02 4.91812493e-04 9.99728783e-01 -9.33121064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87591999999995 meters Centerline goodness [0,1] 0.9994530084535057 Centerline is valid? [True, True] Translation: X:266.77, Y:4.94, Z:-0.93 [[ 8.47297131e-01 5.30723941e-01 2.04858581e-02 2.66774788e+02] [-5.30555097e-01 8.47544611e-01 -1.33948379e-02 4.93644437e+00] [-2.44716398e-02 4.80531297e-04 9.99700409e-01 -9.34741219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90592 meters Centerline goodness [0,1] 0.9992046923153395 Centerline is valid? [True, True] Translation: X:266.80, Y:4.92, Z:-0.93 [[ 8.46780883e-01 5.31547985e-01 2.04664568e-02 2.66801949e+02] [-5.31379328e-01 8.47028051e-01 -1.33974157e-02 4.91789423e+00] [-2.44570324e-02 4.69223437e-04 9.99700772e-01 -9.34642939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93591999999995 meters Centerline goodness [0,1] 0.9990555251777103 Centerline is valid? [True, True] Translation: X:266.83, Y:4.90, Z:-0.93 [[ 8.46523847e-01 5.32025866e-01 1.85971587e-02 2.66828071e+02] [-5.31886460e-01 8.46727996e-01 -1.21858818e-02 4.89994459e+00] [-2.22299392e-02 4.24062624e-04 9.99752794e-01 -9.34717563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96592 meters Centerline goodness [0,1] 0.9990551024467873 Centerline is valid? [True, True] Translation: X:266.86, Y:4.88, Z:-0.94 [[ 8.46165674e-01 5.32569885e-01 1.93124155e-02 2.66856565e+02] [-5.32419358e-01 8.46385920e-01 -1.26689404e-02 4.88275613e+00] [-2.30928527e-02 4.37718626e-04 9.99733229e-01 -9.35392996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99591999999996 meters Centerline goodness [0,1] 0.9987093571605857 Centerline is valid? [True, True] Translation: X:266.88, Y:4.87, Z:-0.94 [[ 8.47102003e-01 5.31068254e-01 1.96139176e-02 2.66883622e+02] [-5.30912284e-01 8.47328899e-01 -1.28795718e-02 4.86572584e+00] [-2.34593710e-02 4.97041264e-04 9.99724668e-01 -9.36027027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02592 meters Centerline goodness [0,1] 0.9988593533029161 Centerline is valid? [True, True] Translation: X:266.91, Y:4.85, Z:-0.94 [[ 8.47793580e-01 5.29932858e-01 2.04257513e-02 2.66909509e+02] [-5.29763053e-01 8.48039416e-01 -1.34259633e-02 4.84694591e+00] [-2.44367013e-02 5.61637083e-04 9.99701221e-01 -9.35923277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05591999999996 meters Centerline goodness [0,1] 0.9984070091596974 Centerline is valid? [True, True] Translation: X:266.94, Y:4.83, Z:-0.94 [[ 8.49012082e-01 5.27975702e-01 2.04973857e-02 2.66935325e+02] [-5.27803954e-01 8.49259245e-01 -1.34803849e-02 4.82736740e+00] [-2.45249100e-02 6.26408411e-04 9.99699023e-01 -9.35538268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08592 meters Centerline goodness [0,1] 0.9986107665591665 Centerline is valid? [True, True] Translation: X:266.96, Y:4.81, Z:-0.94 [[ 8.50172865e-01 5.26121823e-01 2.00480957e-02 2.66962428e+02] [-5.25956698e-01 8.50408943e-01 -1.31978006e-02 4.80988930e+00] [-2.39927308e-02 6.75981770e-04 9.99711904e-01 -9.36149432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11591999999996 meters Centerline goodness [0,1] 0.998114985862394 Centerline is valid? [True, True] Translation: X:266.99, Y:4.79, Z:-0.94 [[ 8.50221439e-01 5.26131231e-01 1.75907089e-02 2.66987977e+02] [-5.26004021e-01 8.50403182e-01 -1.15843698e-02 4.78937076e+00] [-2.10540935e-02 5.96495955e-04 9.99778160e-01 -9.35716934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14592 meters Centerline goodness [0,1] 0.9984578648890657 Centerline is valid? [True, True] Translation: X:267.01, Y:4.77, Z:-0.94 [[ 8.50217845e-01 5.26097886e-01 1.87251289e-02 2.67013323e+02] [-5.25953466e-01 8.50423775e-01 -1.23431842e-02 4.76963297e+00] [-2.24180179e-02 6.45849009e-04 9.99748476e-01 -9.36271632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17591999999996 meters Centerline goodness [0,1] 0.9984617674787872 Centerline is valid? [True, True] Translation: X:267.04, Y:4.75, Z:-0.94 [[ 8.50080713e-01 5.26338466e-01 1.81824227e-02 2.67039779e+02] [-5.26202061e-01 8.50274908e-01 -1.19987879e-02 4.74951167e+00] [-2.17754814e-02 6.32309851e-04 9.99762686e-01 -9.37026522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20592 meters Centerline goodness [0,1] 0.9986598501017521 Centerline is valid? [True, True] Translation: X:267.06, Y:4.73, Z:-0.94 [[ 8.49363781e-01 5.27507015e-01 1.78189751e-02 2.67064417e+02] [-5.27376019e-01 8.49550463e-01 -1.17705631e-02 4.72872556e+00] [-2.13471731e-02 6.00189881e-04 9.99771943e-01 -9.36925477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23591999999996 meters Centerline goodness [0,1] 0.9987593667808049 Centerline is valid? [True, True] Translation: X:267.09, Y:4.71, Z:-0.94 [[ 8.48788256e-01 5.28432186e-01 1.78303586e-02 2.67089736e+02] [-5.28300979e-01 8.48975312e-01 -1.17896298e-02 4.70883620e+00] [-2.13675541e-02 5.87103421e-04 9.99771515e-01 -9.36635391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26592 meters Centerline goodness [0,1] 0.998313241057697 Centerline is valid? [True, True] Translation: X:267.11, Y:4.69, Z:-0.94 [[ 8.48023441e-01 5.29659692e-01 1.78004091e-02 2.67114494e+02] [-5.29528947e-01 8.48210052e-01 -1.17814691e-02 4.68794967e+00] [-2.13386552e-02 5.65130042e-04 9.99772145e-01 -9.36213333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29591999999997 meters Centerline goodness [0,1] 0.9984111221449851 Centerline is valid? [True, True] Translation: X:267.14, Y:4.67, Z:-0.94 [[ 8.47460195e-01 5.30576612e-01 1.73111640e-02 2.67141016e+02] [-5.30452912e-01 8.47636816e-01 -1.14689403e-02 4.66913644e+00] [-2.07587314e-02 5.36713050e-04 9.99784370e-01 -9.37300526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32592 meters Centerline goodness [0,1] 0.9987078819202863 Centerline is valid? [True, True] Translation: X:267.17, Y:4.65, Z:-0.94 [[ 8.46505191e-01 5.32079917e-01 1.78864124e-02 2.67166227e+02] [-5.31947941e-01 8.46693974e-01 -1.18618357e-02 4.64859746e+00] [-2.14557621e-02 5.26465245e-04 9.99769660e-01 -9.38217900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35591999999997 meters Centerline goodness [0,1] 0.9984607745779543 Centerline is valid? [True, True] Translation: X:267.19, Y:4.63, Z:-0.94 [[ 8.45804867e-01 5.33237608e-01 1.64857507e-02 2.67191639e+02] [-5.33125501e-01 8.45965386e-01 -1.09437356e-02 4.62916740e+00] [-1.97819859e-02 4.67290767e-04 9.99804208e-01 -9.37724026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38592 meters Centerline goodness [0,1] 0.9984608510004469 Centerline is valid? [True, True] Translation: X:267.22, Y:4.61, Z:-0.94 [[ 8.45177751e-01 5.34249798e-01 1.58657394e-02 2.67217294e+02] [-5.34145944e-01 8.45326542e-01 -1.05426345e-02 4.61051513e+00] [-1.90441310e-02 4.35779783e-04 9.99818549e-01 -9.37507446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41591999999997 meters Centerline goodness [0,1] 0.9980647082175467 Centerline is valid? [True, True] Translation: X:267.24, Y:4.59, Z:-0.94 [[ 8.43409641e-01 5.36975916e-01 1.78056858e-02 2.67244015e+02] [-5.36845425e-01 8.43597463e-01 -1.18452760e-02 4.59090968e+00] [-2.13814593e-02 4.31519063e-04 9.99771297e-01 -9.38271729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44592 meters Centerline goodness [0,1] 0.9985123475156203 Centerline is valid? [True, True] Translation: X:267.27, Y:4.57, Z:-0.94 [[ 8.42222396e-01 5.38852245e-01 1.73116968e-02 2.67269829e+02] [-5.38729049e-01 8.42400209e-01 -1.15282033e-02 4.57192859e+00] [-2.07953752e-02 3.82997031e-04 9.99783679e-01 -9.37115100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47592 meters Centerline goodness [0,1] 0.9984112010327193 Centerline is valid? [True, True] Translation: X:267.30, Y:4.55, Z:-0.94 [[ 8.39730834e-01 5.42670355e-01 1.90003249e-02 2.67295183e+02] [-5.42522633e-01 8.39945700e-01 -1.26654665e-02 4.55214105e+00] [-2.28324144e-02 3.27476457e-04 9.99739253e-01 -9.37413344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50592 meters Centerline goodness [0,1] 0.9983616324098897 Centerline is valid? [True, True] Translation: X:267.32, Y:4.53, Z:-0.94 [[ 8.38214648e-01 5.45030816e-01 1.83742677e-02 2.67321499e+02] [-5.44892961e-01 8.38415971e-01 -1.22605646e-02 4.53438468e+00] [-2.20876650e-02 2.64975687e-04 9.99756003e-01 -9.38455257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53592 meters Centerline goodness [0,1] 0.9990071485305798 Centerline is valid? [True, True] Translation: X:267.35, Y:4.52, Z:-0.94 [[ 8.34657711e-01 5.50478650e-01 1.78818780e-02 2.67347521e+02] [-5.50349070e-01 8.34849231e-01 -1.19441281e-02 4.51582825e+00] [-2.15036596e-02 1.27983697e-04 9.99768761e-01 -9.38042954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56591999999995 meters Centerline goodness [0,1] 0.998908459439345 Centerline is valid? [True, True] Translation: X:267.37, Y:4.50, Z:-0.94 [[ 8.32941646e-01 5.53100605e-01 1.69686318e-02 2.67373412e+02] [-5.52984234e-01 8.33114467e-01 -1.13455223e-02 4.49642835e+00] [-2.04120279e-02 6.67721528e-05 9.99791651e-01 -9.38318558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59592 meters Centerline goodness [0,1] 0.9991550275858642 Centerline is valid? [True, True] Translation: X:267.40, Y:4.48, Z:-0.94 [[ 8.30189689e-01 5.57232189e-01 1.66543591e-02 2.67399457e+02] [-5.57120662e-01 8.30356723e-01 -1.11481674e-02 4.47655141e+00] [-2.00411768e-02 -2.33939728e-05 9.99799155e-01 -9.37763478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62591999999995 meters Centerline goodness [0,1] 0.9991567878577452 Centerline is valid? [True, True] Translation: X:267.43, Y:4.46, Z:-0.94 [[ 8.28404191e-01 5.59887400e-01 1.65104441e-02 2.67427147e+02] [-5.59778067e-01 8.28568702e-01 -1.10644562e-02 4.45888948e+00] [-1.98748869e-02 -7.63426514e-05 9.99802472e-01 -9.37885334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65592 meters Centerline goodness [0,1] 0.999454040103236 Centerline is valid? [True, True] Translation: X:267.45, Y:4.44, Z:-0.94 [[ 8.26278138e-01 5.63060527e-01 1.50758426e-02 2.67454812e+02] [-5.62969690e-01 8.26415650e-01 -1.01144509e-02 4.44054496e+00] [-1.81539603e-02 -1.29892803e-04 9.99835195e-01 -9.37911796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68591999999995 meters Centerline goodness [0,1] 0.9997019522130048 Centerline is valid? [True, True] Translation: X:267.48, Y:4.42, Z:-0.94 [[ 8.22543014e-01 5.68461979e-01 1.65519901e-02 2.67481528e+02] [-5.68353350e-01 8.22709492e-01 -1.11158011e-02 4.42234759e+00] [-1.99363896e-02 -2.64154499e-04 9.99801216e-01 -9.39502879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71592 meters Centerline goodness [0,1] 0.9998015774591994 Centerline is valid? [True, True] Translation: X:267.51, Y:4.40, Z:-0.94 [[ 8.20387959e-01 5.71559756e-01 1.68238466e-02 2.67508294e+02] [-5.71447956e-01 8.20560377e-01 -1.13093477e-02 4.40441347e+00] [-2.02689500e-02 -3.35900095e-04 9.99794507e-01 -9.38948225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74591999999996 meters Centerline goodness [0,1] 0.9997515034044033 Centerline is valid? [True, True] Translation: X:267.54, Y:4.39, Z:-0.94 [[ 8.16907178e-01 5.76486995e-01 1.80390384e-02 2.67536867e+02] [-5.76359524e-01 8.17106179e-01 -1.21322348e-02 4.38866001e+00] [-2.17338853e-02 -4.86061897e-04 9.99763673e-01 -9.38568919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77592 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:267.56, Y:4.37, Z:-0.94 [[ 8.15126435e-01 5.79037280e-01 1.68737203e-02 2.67564084e+02] [-5.78926094e-01 8.15300906e-01 -1.13582699e-02 4.37243355e+00] [-2.03340212e-02 -5.10210883e-04 9.99793112e-01 -9.38524641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80591999999996 meters Centerline goodness [0,1] 0.9998510500968174 Centerline is valid? [True, True] Translation: X:267.59, Y:4.36, Z:-0.94 [[ 8.12531589e-01 5.82652722e-01 1.75562893e-02 2.67591663e+02] [-5.82532979e-01 8.12721001e-01 -1.18280480e-02 4.35688831e+00] [-2.11600093e-02 -6.16454882e-04 9.99775912e-01 -9.40382296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83592 meters Centerline goodness [0,1] 0.9997021149836163 Centerline is valid? [True, True] Translation: X:267.62, Y:4.34, Z:-0.94 [[ 8.11501795e-01 5.84100224e-01 1.70811499e-02 2.67618883e+02] [-5.83986975e-01 8.11681301e-01 -1.15186167e-02 4.34007725e+00] [-2.05924765e-02 -6.27790946e-04 9.99787755e-01 -9.39326320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86591999999996 meters Centerline goodness [0,1] 0.9996023461576697 Centerline is valid? [True, True] Translation: X:267.65, Y:4.32, Z:-0.94 [[ 8.10765438e-01 5.85078113e-01 1.85204381e-02 2.67646905e+02] [-5.84944968e-01 8.10976642e-01 -1.25007906e-02 4.32483838e+00] [-2.23335817e-02 -6.98228098e-04 9.99750331e-01 -9.39291442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89592 meters Centerline goodness [0,1] 0.9997515898251192 Centerline is valid? [True, True] Translation: X:267.68, Y:4.31, Z:-0.94 [[ 8.10083959e-01 5.85993089e-01 1.93927340e-02 2.67675859e+02] [-5.85847101e-01 8.10315703e-01 -1.31009374e-02 4.31122562e+00] [-2.33912957e-02 -7.48317771e-04 9.99726106e-01 -9.38793042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92591999999996 meters Centerline goodness [0,1] 0.9995527505839089 Centerline is valid? [True, True] Translation: X:267.70, Y:4.29, Z:-0.94 [[ 8.09942524e-01 5.86182328e-01 1.95802527e-02 2.67704894e+02] [-5.86033227e-01 8.10178818e-01 -1.32415939e-02 4.29473882e+00] [-2.36254943e-02 -7.49748702e-04 9.99720598e-01 -9.38584799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95592 meters Centerline goodness [0,1] 0.9997513056453619 Centerline is valid? [True, True] Translation: X:267.73, Y:4.28, Z:-0.94 [[ 8.09459763e-01 5.86874484e-01 1.87944421e-02 2.67734024e+02] [-5.86736992e-01 8.09677596e-01 -1.27236833e-02 4.27960975e+00] [-2.26846438e-02 -7.28084754e-04 9.99742405e-01 -9.39476495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98591999999996 meters Centerline goodness [0,1] 0.9994530900412668 Centerline is valid? [True, True] Translation: X:267.76, Y:4.26, Z:-0.94 [[ 8.08670560e-01 5.87979794e-01 1.82122563e-02 2.67762405e+02] [-5.87850680e-01 8.08875291e-01 -1.23426659e-02 4.26269983e+00] [-2.19886823e-02 -7.24936642e-04 9.99757957e-01 -9.39207301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01592 meters Centerline goodness [0,1] 0.9994530900412668 Centerline is valid? [True, True] Translation: X:267.79, Y:4.24, Z:-0.94 [[ 8.08380668e-01 5.88378476e-01 1.82061687e-02 2.67789464e+02] [-5.88249261e-01 8.08585335e-01 -1.23516435e-02 4.24473417e+00] [-2.19886822e-02 -7.24935452e-04 9.99757957e-01 -9.39235396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04591999999997 meters Centerline goodness [0,1] 0.9994025094602669 Centerline is valid? [True, True] Translation: X:267.82, Y:4.23, Z:-0.94 [[ 8.07925035e-01 5.88972777e-01 1.91886766e-02 2.67817358e+02] [-5.88829124e-01 8.08152506e-01 -1.30303555e-02 4.22884393e+00] [-2.31819018e-02 -7.71301235e-04 9.99730966e-01 -9.39150952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07592 meters Centerline goodness [0,1] 0.9997517255077213 Centerline is valid? [True, True] Translation: X:267.85, Y:4.21, Z:-0.94 [[ 8.06559129e-01 5.90814870e-01 2.00040254e-02 2.67845873e+02] [-5.90659007e-01 8.06806711e-01 -1.35966513e-02 4.21388483e+00] [-2.41724857e-02 -8.49054547e-04 9.99707442e-01 -9.39080877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10591999999997 meters Centerline goodness [0,1] 0.9996523811888564 Centerline is valid? [True, True] Translation: X:267.87, Y:4.20, Z:-0.94 [[ 8.04697871e-01 5.93374803e-01 1.91749814e-02 2.67874411e+02] [-5.93232042e-01 8.04925818e-01 -1.30450209e-02 4.19924742e+00] [-2.31750243e-02 -8.77912822e-04 9.99731038e-01 -9.38997137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13592 meters Centerline goodness [0,1] 0.9996026226902444 Centerline is valid? [True, True] Translation: X:267.90, Y:4.18, Z:-0.94 [[ 8.03299080e-01 5.95302373e-01 1.80464388e-02 2.67902853e+02] [-5.95176164e-01 8.03501294e-01 -1.22884039e-02 4.18314384e+00] [-2.18156529e-02 -8.69546616e-04 9.99761632e-01 -9.40388156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16591999999997 meters Centerline goodness [0,1] 0.9997020114228955 Centerline is valid? [True, True] Translation: X:267.93, Y:4.17, Z:-0.94 [[ 8.02225415e-01 5.96736392e-01 1.84407722e-02 2.67931398e+02] [-5.96604729e-01 8.02436810e-01 -1.25683514e-02 4.16806561e+00] [-2.22975470e-02 -9.19200994e-04 9.99750956e-01 -9.40839556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19592 meters Centerline goodness [0,1] 0.9999006902030886 Centerline is valid? [True, True] Translation: X:267.96, Y:4.15, Z:-0.94 [[ 7.99478515e-01 6.00348694e-01 2.03850312e-02 2.67961314e+02] [-6.00188886e-01 7.99737570e-01 -1.38967970e-02 4.15492670e+00] [-2.46455992e-02 -1.12467849e-03 9.99695618e-01 -9.41137106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.99, Y:4.14, Z:-0.94 [[ 7.97759186e-01 6.02617682e-01 2.07896815e-02 2.67990922e+02] [-6.02452140e-01 7.98029105e-01 -1.41762718e-02 4.14137973e+00] [-2.51336430e-02 -1.21553705e-03 9.99683361e-01 -9.39068330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.02, Y:4.12, Z:-0.94 [[ 7.97058798e-01 6.03560155e-01 2.03079140e-02 2.68019624e+02] [-6.03402160e-01 7.97316554e-01 -1.38616735e-02 4.12461561e+00] [-2.45581898e-02 -1.20527033e-03 9.99697676e-01 -9.39271969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.05, Y:4.11, Z:-0.94 [[ 7.96627712e-01 6.04142490e-01 1.99032602e-02 2.68049020e+02] [-6.03990577e-01 7.96875424e-01 -1.35993448e-02 4.10856356e+00] [-2.40763609e-02 -1.18776665e-03 9.99709417e-01 -9.40038817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31591999999995 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:268.08, Y:4.09, Z:-0.94 [[ 7.95610212e-01 6.05482291e-01 1.98893477e-02 2.68078577e+02] [-6.05330713e-01 7.95857847e-01 -1.36020561e-02 4.09415219e+00] [-2.40648975e-02 -1.21769833e-03 9.99709657e-01 -9.41538833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34592 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:268.11, Y:4.08, Z:-0.94 [[ 7.94928449e-01 6.06320464e-01 2.15465687e-02 2.68106429e+02] [-6.06142533e-01 7.95219284e-01 -1.47485761e-02 4.07810975e+00] [-2.60766104e-02 -1.33622900e-03 9.99659054e-01 -9.41798208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37591999999995 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:268.14, Y:4.06, Z:-0.94 [[ 7.94133124e-01 6.07371925e-01 2.12585486e-02 2.68135209e+02] [-6.07198784e-01 7.94416479e-01 -1.45634903e-02 4.06414443e+00] [-2.57335965e-02 -1.34281477e-03 9.99667934e-01 -9.41679359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40592 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:268.17, Y:4.05, Z:-0.94 [[ 7.93511629e-01 6.08208956e-01 2.05221990e-02 2.68165490e+02] [-6.08047528e-01 7.93775880e-01 -1.40732654e-02 4.04947579e+00] [-2.48495126e-02 -1.31117267e-03 9.99690343e-01 -9.41778380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.19, Y:4.03, Z:-0.94 [[ 7.92986364e-01 6.08893475e-01 2.05270992e-02 2.68193266e+02] [-6.08731885e-01 7.93250897e-01 -1.40892296e-02 4.03361878e+00] [-2.48619798e-02 -1.32293281e-03 9.99690018e-01 -9.42143420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.22, Y:4.02, Z:-0.94 [[ 7.92242852e-01 6.09854705e-01 2.07002986e-02 2.68221842e+02] [-6.09690386e-01 7.92512085e-01 -1.42207255e-02 4.01781965e+00] [-2.50778131e-02 -1.35450493e-03 9.99684585e-01 -9.42644466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49591999999996 meters Centerline goodness [0,1] 0.9998011829613798 Centerline is valid? [True, True] Translation: X:268.25, Y:4.00, Z:-0.94 [[ 7.91103339e-01 6.11316851e-01 2.11474541e-02 2.68252012e+02] [-6.11145544e-01 7.91384666e-01 -1.45407997e-02 4.00422028e+00] [-2.56248067e-02 -1.42089714e-03 9.99670621e-01 -9.42539559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.28, Y:3.99, Z:-0.94 [[ 7.90617381e-01 6.11923854e-01 2.17566791e-02 2.68280309e+02] [-6.11742413e-01 7.90915312e-01 -1.49729505e-02 3.98868318e+00] [-2.63699963e-02 -1.47160841e-03 9.99651168e-01 -9.42214138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55591999999996 meters Centerline goodness [0,1] 0.9999006754072308 Centerline is valid? [True, True] Translation: X:268.31, Y:3.97, Z:-0.94 [[ 7.90522093e-01 6.12058135e-01 2.14396805e-02 2.68310024e+02] [-6.11881651e-01 7.90811453e-01 -1.47678977e-02 3.97493183e+00] [-2.59935568e-02 -1.44419775e-03 9.99661067e-01 -9.43043611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58592 meters Centerline goodness [0,1] 0.9999502537060989 Centerline is valid? [True, True] Translation: X:268.34, Y:3.96, Z:-0.94 [[ 7.90201945e-01 6.12440023e-01 2.23182473e-02 2.68338779e+02] [-6.12248562e-01 7.90515623e-01 -1.53866081e-02 3.95955123e+00] [-2.70662978e-02 -1.50578720e-03 9.99632507e-01 -9.43922219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61591999999996 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:268.37, Y:3.95, Z:-0.94 [[ 7.90427145e-01 6.12207131e-01 2.06726231e-02 2.68369486e+02] [-6.12042474e-01 7.90696232e-01 -1.42645752e-02 3.94681184e+00] [-2.50786399e-02 -1.37741598e-03 9.99684533e-01 -9.43266213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64592 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:268.40, Y:3.93, Z:-0.94 [[ 7.90785048e-01 6.11767900e-01 1.99761059e-02 2.68398146e+02] [-6.11613718e-01 7.91036235e-01 -1.37961785e-02 3.93179195e+00] [-2.42418828e-02 -1.30784877e-03 9.99705267e-01 -9.42994430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.43, Y:3.92, Z:-0.94 [[ 7.91105396e-01 6.11333510e-01 2.05813342e-02 2.68426325e+02] [-6.11169376e-01 7.91371965e-01 -1.42269540e-02 3.91536995e+00] [-2.49849047e-02 -1.32366107e-03 9.99686952e-01 -9.43572254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.46, Y:3.90, Z:-0.94 [[ 7.92400559e-01 6.09659723e-01 2.04052744e-02 2.68456520e+02] [-6.09497655e-01 7.92662254e-01 -1.41124094e-02 3.90153062e+00] [-2.47782584e-02 -1.25428577e-03 9.99692185e-01 -9.43363082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.49, Y:3.89, Z:-0.94 [[ 7.92960815e-01 6.08967868e-01 1.92686473e-02 2.68485864e+02] [-6.08822872e-01 7.93194051e-01 -1.33381876e-02 3.88756340e+00] [-2.34063041e-02 -1.15453314e-03 9.99725368e-01 -9.43220308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:268.51, Y:3.87, Z:-0.94 [[ 7.93210151e-01 6.08648482e-01 1.90966330e-02 2.68513723e+02] [-6.08505694e-01 7.93439196e-01 -1.32311122e-02 3.87078894e+00] [-2.32051135e-02 -1.12535744e-03 9.99730092e-01 -9.42662173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79591999999997 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:268.54, Y:3.85, Z:-0.94 [[ 7.93214373e-01 6.08658791e-01 1.85858710e-02 2.68540572e+02] [-6.08523279e-01 7.93431343e-01 -1.28888709e-02 3.85372130e+00] [-2.25915371e-02 -1.08629750e-03 9.99744188e-01 -9.44085457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82592 meters Centerline goodness [0,1] 0.9998012817328233 Centerline is valid? [True, True] Translation: X:268.57, Y:3.84, Z:-0.94 [[ 7.93204903e-01 6.08679235e-01 1.83185777e-02 2.68568102e+02] [-6.08547343e-01 7.93415692e-01 -1.27149888e-02 3.83721244e+00] [-2.22735967e-02 -1.06213035e-03 9.99751348e-01 -9.43901906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85591999999997 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:268.60, Y:3.82, Z:-0.94 [[ 7.93023494e-01 6.08886013e-01 1.92759272e-02 2.68596409e+02] [-6.08739707e-01 7.93256948e-01 -1.33934403e-02 3.81957185e+00] [-2.34458416e-02 -1.11270942e-03 9.99724489e-01 -9.44637764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88592 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:268.63, Y:3.81, Z:-0.95 [[ 7.92917071e-01 6.08981535e-01 2.05914878e-02 2.68626631e+02] [-6.08814232e-01 7.93183521e-01 -1.43224461e-02 3.80522434e+00] [-2.50549340e-02 -1.17987881e-03 9.99685380e-01 -9.45039968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91591999999997 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:268.65, Y:3.79, Z:-0.94 [[ 7.92978318e-01 6.08914182e-01 2.02214425e-02 2.68653905e+02] [-6.08752501e-01 7.93235277e-01 -1.40779076e-02 3.78877134e+00] [-2.46125992e-02 -1.14637819e-03 9.99696407e-01 -9.44152314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94592 meters Centerline goodness [0,1] 0.999751577482983 Centerline is valid? [True, True] Translation: X:268.68, Y:3.77, Z:-0.94 [[ 7.94068698e-01 6.07510495e-01 1.96443735e-02 2.68681711e+02] [-6.07357184e-01 7.94310942e-01 -1.36886187e-02 3.77274438e+00] [-2.39197204e-02 -1.06144777e-03 9.99713319e-01 -9.44839537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97592 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:268.71, Y:3.76, Z:-0.94 [[ 7.94554591e-01 6.06893509e-01 1.90596813e-02 2.68709027e+02] [-6.06748732e-01 7.94782527e-01 -1.32933112e-02 3.75559694e+00] [-2.32159260e-02 -1.00217600e-03 9.99729972e-01 -9.44178525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.74, Y:3.74, Z:-0.94 [[ 7.94507064e-01 6.06941585e-01 1.95048116e-02 2.68737354e+02] [-6.06789643e-01 7.94745796e-01 -1.36179463e-02 3.73804450e+00] [-2.37666649e-02 -1.01576319e-03 9.99717017e-01 -9.43582664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.76, Y:3.72, Z:-0.94 [[ 7.94618315e-01 6.06790830e-01 1.96626850e-02 2.68764714e+02] [-6.06636067e-01 7.94860912e-01 -1.37408970e-02 3.72160891e+00] [-2.39669501e-02 -1.00932546e-03 9.99712242e-01 -9.44196618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06591999999995 meters Centerline goodness [0,1] 0.9999005272058092 Centerline is valid? [True, True] Translation: X:268.79, Y:3.70, Z:-0.94 [[ 7.93951730e-01 6.07681674e-01 1.90691770e-02 2.68792591e+02] [-6.07536046e-01 7.94180077e-01 -1.33400602e-02 3.70339670e+00] [-2.32508705e-02 -9.93848516e-04 9.99729168e-01 -9.44447689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09592 meters Centerline goodness [0,1] 0.999602602950673 Centerline is valid? [True, True] Translation: X:268.82, Y:3.69, Z:-0.94 [[ 7.92115678e-01 6.10074059e-01 1.90366795e-02 2.68820340e+02] [-6.09929349e-01 7.92343697e-01 -1.33287423e-02 3.68781106e+00] [-2.32151129e-02 -1.05312376e-03 9.99729938e-01 -9.44587000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12591999999995 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:268.85, Y:3.67, Z:-0.95 [[ 7.90708232e-01 6.11879645e-01 1.95906068e-02 2.68848346e+02] [-6.11726645e-01 7.90950078e-01 -1.37290159e-02 3.67122502e+00] [-2.38956974e-02 -1.12845031e-03 9.99713820e-01 -9.45113706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15592 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:268.88, Y:3.66, Z:-0.94 [[ 7.87562451e-01 6.15943662e-01 1.89417918e-02 2.68875089e+02] [-6.15801766e-01 7.87789276e-01 -1.32755890e-02 3.65537088e+00] [-2.30991554e-02 -1.20903346e-03 9.99732448e-01 -9.44191476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18591999999995 meters Centerline goodness [0,1] 0.999800945508833 Centerline is valid? [True, True] Translation: X:268.90, Y:3.64, Z:-0.94 [[ 7.85690169e-01 6.18322432e-01 1.91918702e-02 2.68902625e+02] [-6.18177391e-01 7.85923468e-01 -1.34542177e-02 3.63849596e+00] [-2.34023858e-02 -1.29313363e-03 9.99725290e-01 -9.43635477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21592 meters Centerline goodness [0,1] 0.9995029821073559 Centerline is valid? [True, True] Translation: X:268.93, Y:3.62, Z:-0.94 [[ 7.84265813e-01 6.20103767e-01 1.99612905e-02 2.68930185e+02] [-6.19947141e-01 7.84518569e-01 -1.40056313e-02 3.62187301e+00] [-2.43449478e-02 -1.39080710e-03 9.99702650e-01 -9.44409010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24591999999996 meters Centerline goodness [0,1] 0.9997018189046815 Centerline is valid? [True, True] Translation: X:268.96, Y:3.61, Z:-0.94 [[ 7.83361103e-01 6.21228892e-01 2.04950296e-02 2.68960699e+02] [-6.21063841e-01 7.83627813e-01 -1.43928899e-02 3.60934420e+00] [-2.50017543e-02 -1.45389174e-03 9.99686350e-01 -9.44712716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27592 meters Centerline goodness [0,1] 0.9998013113451222 Centerline is valid? [True, True] Translation: X:268.99, Y:3.60, Z:-0.94 [[ 7.84433211e-01 6.19884163e-01 2.02030194e-02 2.68990865e+02] [-6.19723221e-01 7.84692105e-01 -1.41925999e-02 3.59544045e+00] [-2.46509177e-02 -1.38713348e-03 9.99695158e-01 -9.44406959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30591999999996 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:269.02, Y:3.58, Z:-0.94 [[ 7.84854481e-01 6.19370206e-01 1.95957151e-02 2.69019355e+02] [-6.19218530e-01 7.85097949e-01 -1.37703639e-02 3.58042313e+00] [-2.39135089e-02 -1.32629805e-03 9.99713151e-01 -9.44990075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33592 meters Centerline goodness [0,1] 0.9998510205095098 Centerline is valid? [True, True] Translation: X:269.05, Y:3.57, Z:-0.94 [[ 7.85397278e-01 6.18669298e-01 1.99853891e-02 2.69048183e+02] [-6.18511000e-01 7.85650402e-01 -1.40566230e-02 3.56512247e+00] [-2.43979301e-02 -1.32114957e-03 9.99701453e-01 -9.44575699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.08, Y:3.55, Z:-0.95 [[ 7.86094212e-01 6.17799557e-01 1.94832383e-02 2.69079801e+02] [-6.17648554e-01 7.86334623e-01 -1.37157955e-02 3.55367835e+00] [-2.37939572e-02 -1.25188651e-03 9.99716100e-01 -9.45640704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39592 meters Centerline goodness [0,1] 0.9998508279051266 Centerline is valid? [True, True] Translation: X:269.11, Y:3.54, Z:-0.94 [[ 7.86128481e-01 6.17749630e-01 1.96826372e-02 2.69108561e+02] [-6.17595204e-01 7.86373845e-01 -1.38686980e-02 3.53841161e+00] [-2.40452942e-02 -1.25332383e-03 9.99710084e-01 -9.44932299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42591999999996 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:269.14, Y:3.52, Z:-0.95 [[ 7.87819969e-01 6.15566018e-01 2.04493179e-02 2.69138708e+02] [-6.15398466e-01 7.88084366e-01 -1.44139239e-02 3.52459805e+00] [-2.49885095e-02 -1.22890176e-03 9.99686983e-01 -9.45424535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45592 meters Centerline goodness [0,1] 0.9998507759649821 Centerline is valid? [True, True] Translation: X:269.17, Y:3.51, Z:-0.94 [[ 7.88722276e-01 6.14382835e-01 2.12345043e-02 2.69167974e+02] [-6.14201586e-01 7.89007106e-01 -1.49732530e-02 3.50951404e+00] [-2.59534844e-02 -1.23252803e-03 9.99662392e-01 -9.44788961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48591999999996 meters Centerline goodness [0,1] 0.9999502462809094 Centerline is valid? [True, True] Translation: X:269.20, Y:3.50, Z:-0.94 [[ 7.89969509e-01 6.12787831e-01 2.09582642e-02 2.69198005e+02] [-6.12610580e-01 7.90246624e-01 -1.47834420e-02 3.49535226e+00] [-2.56213109e-02 -1.16078595e-03 9.99671046e-01 -9.44867555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.23, Y:3.48, Z:-0.94 [[ 7.90475786e-01 6.12125596e-01 2.12199633e-02 2.69225687e+02] [-6.11943300e-01 7.90759729e-01 -1.49816117e-02 3.47940591e+00] [-2.59505204e-02 -1.14281315e-03 9.99662575e-01 -9.44912250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54591999999997 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:269.26, Y:3.47, Z:-0.94 [[ 7.91999394e-01 6.10163152e-01 2.09257789e-02 2.69255758e+02] [-6.09985059e-01 7.92275082e-01 -1.47791201e-02 3.46515314e+00] [-2.55966477e-02 -1.05935835e-03 9.99671791e-01 -9.44721864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57592 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:269.28, Y:3.45, Z:-0.94 [[ 7.92356266e-01 6.09683062e-01 2.14035496e-02 2.69284674e+02] [-6.09496206e-01 7.92644591e-01 -1.51303555e-02 3.44956089e+00] [-2.61901292e-02 -1.05675031e-03 9.99656421e-01 -9.44842376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.31, Y:3.44, Z:-0.95 [[ 7.95222054e-01 6.05944707e-01 2.12813759e-02 2.69314413e+02] [-6.05758575e-01 7.95506225e-01 -1.50464335e-02 3.43755748e+00] [-2.60467737e-02 -9.26120181e-04 9.99660296e-01 -9.46314272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.34, Y:3.42, Z:-0.95 [[ 7.96168980e-01 6.04672361e-01 2.20519980e-02 2.69342630e+02] [-6.04471627e-01 7.96473802e-01 -1.56056109e-02 3.42206547e+00] [-2.70001203e-02 -9.05103836e-04 9.99635021e-01 -9.47059341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.37, Y:3.41, Z:-0.95 [[ 7.99913053e-01 5.99771190e-01 2.03378346e-02 2.69372968e+02] [-5.99598783e-01 8.00171268e-01 -1.43958450e-02 3.41082380e+00] [-2.49079640e-02 -6.79116570e-04 9.99689518e-01 -9.46277650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69592 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:269.40, Y:3.39, Z:-0.95 [[ 8.01766696e-01 5.97280455e-01 2.06451522e-02 2.69400919e+02] [-5.97101869e-01 8.02032224e-01 -1.46174217e-02 3.39411049e+00] [-2.52887776e-02 -6.07497071e-04 9.99680003e-01 -9.46652060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72592 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:269.43, Y:3.38, Z:-0.95 [[ 8.04048121e-01 5.94263907e-01 1.88952065e-02 2.69428797e+02] [-5.94113189e-01 8.04269979e-01 -1.33910285e-02 3.37750520e+00] [-2.31546522e-02 -4.58860123e-04 9.99731790e-01 -9.46109911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75591999999995 meters Centerline goodness [0,1] 0.9998016561709724 Centerline is valid? [True, True] Translation: X:269.46, Y:3.36, Z:-0.95 [[ 8.08503187e-01 5.88197358e-01 1.86135595e-02 2.69456930e+02] [-5.88049393e-01 8.08717374e-01 -1.31954507e-02 3.36211163e+00] [-2.28146381e-02 -2.77128436e-04 9.99739674e-01 -9.45913709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78592 meters Centerline goodness [0,1] 0.9998016364988842 Centerline is valid? [True, True] Translation: X:269.48, Y:3.34, Z:-0.95 [[ 8.10203083e-01 5.85851810e-01 1.86714020e-02 2.69484298e+02] [-5.85702196e-01 8.10418172e-01 -1.32410070e-02 3.34422445e+00] [-2.28889114e-02 -2.07976407e-04 9.99737993e-01 -9.46507447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.51, Y:3.33, Z:-0.95 [[ 8.14540598e-01 5.79822140e-01 1.81631786e-02 2.69511683e+02] [-5.79678973e-01 8.14743079e-01 -1.28842193e-02 3.32692128e+00] [-2.22688796e-02 -3.40930492e-05 9.99752017e-01 -9.47606976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84592 meters Centerline goodness [0,1] 0.9998012224817373 Centerline is valid? [True, True] Translation: X:269.54, Y:3.31, Z:-0.95 [[ 8.16183333e-01 5.77518376e-01 1.78126925e-02 2.69537686e+02] [-5.77380055e-01 8.16377685e-01 -1.26391164e-02 3.30818385e+00] [-2.18412066e-02 3.11427562e-05 9.99761452e-01 -9.47567995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87591999999995 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:269.56, Y:3.29, Z:-0.95 [[ 8.17704615e-01 5.75339315e-01 1.85428009e-02 2.69561993e+02] [-5.75188777e-01 8.17914826e-01 -1.31608202e-02 3.28744172e+00] [-2.27383690e-02 9.60524685e-05 9.99741445e-01 -9.47049116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:269.59, Y:3.27, Z:-0.95 [[ 8.18720992e-01 5.73917849e-01 1.77268302e-02 2.69586140e+02] [-5.73779862e-01 8.18912868e-01 -1.25851222e-02 3.26516940e+00] [-2.17395556e-02 1.32405545e-04 9.99763659e-01 -9.46784050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93591999999995 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:269.61, Y:3.25, Z:-0.95 [[ 8.18608288e-01 5.74078668e-01 1.77243917e-02 2.69612699e+02] [-5.73940644e-01 8.18800138e-01 -1.25885561e-02 3.24638618e+00] [-2.17395559e-02 1.32347547e-04 9.99763659e-01 -9.46812124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.64, Y:3.23, Z:-0.95 [[ 8.18605852e-01 5.74113354e-01 1.66827808e-02 2.69637286e+02] [-5.73991017e-01 8.18775818e-01 -1.18520886e-02 3.22538442e+00] [-2.04638998e-02 1.26422793e-04 9.99790584e-01 -9.46480130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.66, Y:3.20, Z:-0.95 [[ 8.18274519e-01 5.74592631e-01 1.64353563e-02 2.69662010e+02] [-5.74473928e-01 8.18439549e-01 -1.16795134e-02 3.20413154e+00] [-2.01623079e-02 1.15364485e-04 9.99796713e-01 -9.46461919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.69, Y:3.18, Z:-0.95 [[ 8.17227199e-01 5.76016255e-01 1.85736177e-02 2.69685497e+02] [-5.75864736e-01 8.17438233e-01 -1.32114285e-02 3.18143365e+00] [-2.27927828e-02 1.00847241e-04 9.99740206e-01 -9.46589485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.71, Y:3.16, Z:-0.95 [[ 8.16046577e-01 5.77694486e-01 1.83593282e-02 2.69711200e+02] [-5.77546545e-01 8.16253071e-01 -1.30733221e-02 3.16016804e+00] [-2.25382441e-02 6.50731291e-05 9.99745979e-01 -9.46042703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.74, Y:3.14, Z:-0.95 [[ 8.14927446e-01 5.79227255e-01 1.97242193e-02 2.69735484e+02] [-5.79056638e-01 8.15166110e-01 -1.40578583e-02 3.13963724e+00] [-2.42212098e-02 3.46944557e-05 9.99706623e-01 -9.46092115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11591999999996 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:269.76, Y:3.12, Z:-0.95 [[ 8.12724297e-01 5.82340746e-01 1.89333859e-02 2.69758697e+02] [-5.82184079e-01 8.12944803e-01 -1.35072057e-02 3.11697882e+00] [-2.32575940e-02 -4.50815921e-05 9.99729505e-01 -9.46527854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:269.78, Y:3.09, Z:-0.95 [[ 8.11131838e-01 5.84548803e-01 1.91791114e-02 2.69783727e+02] [-5.84388304e-01 8.11358545e-01 -1.36975188e-02 3.09448071e+00] [-2.35680041e-02 -9.75547870e-05 9.99722231e-01 -9.45186607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.81, Y:3.07, Z:-0.94 [[ 8.10371333e-01 5.85610657e-01 1.89330640e-02 2.69809726e+02] [-5.85454190e-01 8.10592465e-01 -1.35368809e-02 3.07384317e+00] [-2.32743407e-02 -1.14541437e-04 9.99729109e-01 -9.44840428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.84, Y:3.05, Z:-0.94 [[ 8.09751083e-01 5.86490023e-01 1.82383264e-02 2.69836107e+02] [-5.86344726e-01 8.09956442e-01 -1.30546428e-02 3.05395047e+00] [-2.24286677e-02 -1.22935388e-04 9.99748438e-01 -9.43742226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23591999999996 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:269.86, Y:3.03, Z:-0.94 [[ 8.08687439e-01 5.87975950e-01 1.75757783e-02 2.69862368e+02] [-5.87841069e-01 8.08878396e-01 -1.25943415e-02 3.03350867e+00] [-2.16218373e-02 -1.46878570e-04 9.99766210e-01 -9.43646456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26592 meters Centerline goodness [0,1] 0.9996030958523516 Centerline is valid? [True, True] Translation: X:269.89, Y:3.01, Z:-0.94 [[ 8.08894459e-01 5.87663624e-01 1.84721156e-02 2.69888605e+02] [-5.87514215e-01 8.09105337e-01 -1.32514321e-02 3.01405452e+00] [-2.27332719e-02 -1.33620547e-04 9.99741557e-01 -9.43673847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29591999999997 meters Centerline goodness [0,1] 0.9995034016983662 Centerline is valid? [True, True] Translation: X:269.91, Y:2.99, Z:-0.94 [[ 8.08391357e-01 5.88323539e-01 1.94634969e-02 2.69913939e+02] [-5.88157524e-01 8.08625619e-01 -1.39762678e-02 2.99426206e+00] [-2.39612495e-02 -1.49308021e-04 9.99712877e-01 -9.43237116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32592 meters Centerline goodness [0,1] 0.9991065667345014 Centerline is valid? [True, True] Translation: X:269.94, Y:2.97, Z:-0.94 [[ 8.08466451e-01 5.88215489e-01 1.96096133e-02 2.69940356e+02] [-5.88046563e-01 8.08704223e-01 -1.40967816e-02 2.97411354e+00] [-2.41503224e-02 -1.34590659e-04 9.99708329e-01 -9.43934363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35591999999997 meters Centerline goodness [0,1] 0.9987080745341614 Centerline is valid? [True, True] Translation: X:269.97, Y:2.95, Z:-0.94 [[ 8.08353464e-01 5.88369982e-01 1.96326516e-02 2.69965952e+02] [-5.88200327e-01 8.08591830e-01 -1.41289508e-02 2.95252854e+00] [-2.41878522e-02 -1.26745757e-04 9.99707423e-01 -9.43894882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38592 meters Centerline goodness [0,1] 0.9993052109181142 Centerline is valid? [True, True] Translation: X:269.99, Y:2.93, Z:-0.94 [[ 8.07639469e-01 5.89348707e-01 1.96618911e-02 2.69991563e+02] [-5.89178456e-01 8.07878754e-01 -1.41656641e-02 2.93219079e+00] [-2.42329399e-02 -1.43613216e-04 9.99706329e-01 -9.44536468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41591999999997 meters Centerline goodness [0,1] 0.9993541656316757 Centerline is valid? [True, True] Translation: X:270.02, Y:2.91, Z:-0.94 [[ 8.06012475e-01 5.91573869e-01 1.96022497e-02 2.70016305e+02] [-5.91404928e-01 8.06250779e-01 -1.41383042e-02 2.91052093e+00] [-2.41681804e-02 -1.97217491e-04 9.99707887e-01 -9.44191011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44592 meters Centerline goodness [0,1] 0.9994039340353665 Centerline is valid? [True, True] Translation: X:270.04, Y:2.89, Z:-0.94 [[ 8.05166894e-01 5.92730283e-01 1.94186788e-02 2.70042681e+02] [-5.92564453e-01 8.05400996e-01 -1.40215758e-02 2.89044201e+00] [-2.39508359e-02 -2.17110192e-04 9.99713114e-01 -9.42923449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47592 meters Centerline goodness [0,1] 0.9996027016289233 Centerline is valid? [True, True] Translation: X:270.07, Y:2.87, Z:-0.94 [[ 8.03916975e-01 5.94487247e-01 1.73899654e-02 2.70066979e+02] [-5.94354570e-01 8.04105004e-01 -1.25613891e-02 2.86824310e+00] [-2.14509438e-02 -2.37491430e-04 9.99769874e-01 -9.42157909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50591999999995 meters Centerline goodness [0,1] 0.9992541766109785 Centerline is valid? [True, True] Translation: X:270.09, Y:2.85, Z:-0.94 [[ 8.03189982e-01 5.95483240e-01 1.68986330e-02 2.70092836e+02] [-5.95357898e-01 8.03367693e-01 -1.22197452e-02 2.84680347e+00] [-2.08524693e-02 -2.45957674e-04 9.99782533e-01 -9.41822342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53592 meters Centerline goodness [0,1] 0.9994537961169869 Centerline is valid? [True, True] Translation: X:270.12, Y:2.83, Z:-0.94 [[ 8.02321411e-01 5.96643682e-01 1.72241161e-02 2.70118112e+02] [-5.96513435e-01 8.02506227e-01 -1.24690793e-02 2.82589666e+00] [-2.12620578e-02 -2.70207358e-04 9.99773900e-01 -9.42433671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56591999999995 meters Centerline goodness [0,1] 0.9997516638521903 Centerline is valid? [True, True] Translation: X:270.14, Y:2.81, Z:-0.94 [[ 8.01956352e-01 5.97074706e-01 1.91782428e-02 2.70143389e+02] [-5.96913020e-01 8.02185580e-01 -1.38975534e-02 2.80579418e+00] [-2.36823874e-02 -3.02511567e-04 9.99719487e-01 -9.41690601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59592 meters Centerline goodness [0,1] 0.9996525882177776 Centerline is valid? [True, True] Translation: X:270.17, Y:2.78, Z:-0.94 [[ 8.01049845e-01 5.98267260e-01 1.98854509e-02 2.70168081e+02] [-5.98093451e-01 8.01296556e-01 -1.44240471e-02 2.78480710e+00] [-2.45635785e-02 -3.38977267e-04 9.99698212e-01 -9.41478586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62591999999995 meters Centerline goodness [0,1] 0.9990563226383232 Centerline is valid? [True, True] Translation: X:270.19, Y:2.76, Z:-0.94 [[ 8.00163378e-01 5.99449043e-01 1.99853235e-02 2.70193399e+02] [-5.99273453e-01 8.00412839e-01 -1.45125964e-02 2.76382897e+00] [-2.46960715e-02 -3.64225698e-04 9.99694939e-01 -9.42724487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65592 meters Centerline goodness [0,1] 0.9997018781675445 Centerline is valid? [True, True] Translation: X:270.22, Y:2.74, Z:-0.94 [[ 7.97523618e-01 6.03013799e-01 1.81779207e-02 2.70218012e+02] [-6.02869130e-01 7.97730645e-01 -1.32147795e-02 2.74177156e+00] [-2.24697788e-02 -4.19808474e-04 9.99747435e-01 -9.41421679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68591999999995 meters Centerline goodness [0,1] 0.9994041708043694 Centerline is valid? [True, True] Translation: X:270.24, Y:2.72, Z:-0.94 [[ 7.95901008e-01 6.05115413e-01 1.94144912e-02 2.70243074e+02] [-6.04950701e-01 7.96137604e-01 -1.41267041e-02 2.72240015e+00] [-2.40048929e-02 -5.01352083e-04 9.99711715e-01 -9.41731454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71592 meters Centerline goodness [0,1] 0.9997017892644136 Centerline is valid? [True, True] Translation: X:270.27, Y:2.70, Z:-0.94 [[ 7.93708503e-01 6.08015545e-01 1.85447876e-02 2.70269007e+02] [-6.07865755e-01 7.93924928e-01 -1.35067600e-02 2.70280130e+00] [-2.29354893e-02 -5.52311070e-04 9.99736795e-01 -9.40603950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74591999999996 meters Centerline goodness [0,1] 0.9999005469915465 Centerline is valid? [True, True] Translation: X:270.29, Y:2.68, Z:-0.94 [[ 7.90248252e-01 6.12540968e-01 1.73568858e-02 2.70294272e+02] [-6.12410600e-01 7.90438590e-01 -1.26527604e-02 2.68360767e+00] [-2.14698865e-02 -6.30719120e-04 9.99769296e-01 -9.40205347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77592 meters Centerline goodness [0,1] 0.9998014001290899 Centerline is valid? [True, True] Translation: X:270.32, Y:2.67, Z:-0.94 [[ 7.87817577e-01 6.15667361e-01 1.72385316e-02 2.70320502e+02] [-6.15539256e-01 7.88005843e-01 -1.25783540e-02 2.66525195e+00] [-2.13281456e-02 -7.01544590e-04 9.99772283e-01 -9.40283962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80591999999996 meters Centerline goodness [0,1] 0.9998013113451222 Centerline is valid? [True, True] Translation: X:270.35, Y:2.65, Z:-0.94 [[ 7.86126922e-01 6.17822002e-01 1.73331272e-02 2.70346519e+02] [-6.17692753e-01 7.86317623e-01 -1.26593028e-02 2.64631116e+00] [-2.14505392e-02 -7.54728284e-04 9.99769626e-01 -9.40073223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83592 meters Centerline goodness [0,1] 0.9993537161322397 Centerline is valid? [True, True] Translation: X:270.37, Y:2.63, Z:-0.94 [[ 7.85174444e-01 6.19011265e-01 1.80595484e-02 2.70373490e+02] [-6.18870993e-01 7.85381689e-01 -1.32021462e-02 2.62808216e+00] [-2.23559158e-02 -8.10542882e-04 9.99749747e-01 -9.39875819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86591999999996 meters Centerline goodness [0,1] 0.9996526054590571 Centerline is valid? [True, True] Translation: X:270.40, Y:2.61, Z:-0.94 [[ 7.83511557e-01 6.21155417e-01 1.66008380e-02 2.70401890e+02] [-6.21037142e-01 7.83687004e-01 -1.21469564e-02 2.61275903e+00] [-2.05550088e-02 -7.92456269e-04 9.99788409e-01 -9.39490715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89592 meters Centerline goodness [0,1] 0.9997020854021847 Centerline is valid? [True, True] Translation: X:270.43, Y:2.60, Z:-0.94 [[ 7.82550916e-01 6.22399254e-01 1.52719421e-02 2.70429686e+02] [-6.22299171e-01 7.82699563e-01 -1.11863663e-02 2.59501860e+00] [-1.89157285e-02 -7.49815708e-04 9.99820800e-01 -9.38911869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92591999999996 meters Centerline goodness [0,1] 0.9995029079882686 Centerline is valid? [True, True] Translation: X:270.46, Y:2.58, Z:-0.94 [[ 7.81761657e-01 6.23374148e-01 1.59180016e-02 2.70458722e+02] [-6.23265405e-01 7.81923293e-01 -1.16704594e-02 2.58000139e+00] [-1.97217189e-02 -7.97622037e-04 9.99805190e-01 -9.40162686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95592 meters Centerline goodness [0,1] 0.9993538125062134 Centerline is valid? [True, True] Translation: X:270.49, Y:2.56, Z:-0.94 [[ 7.81053225e-01 6.24264848e-01 1.57879605e-02 2.70485910e+02] [-6.24157847e-01 7.81212360e-01 -1.15857917e-02 2.56303839e+00] [-1.95663524e-02 -8.05059432e-04 9.99808236e-01 -9.40541102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98591999999996 meters Centerline goodness [0,1] 0.9989564698867024 Centerline is valid? [True, True] Translation: X:270.52, Y:2.55, Z:-0.94 [[ 7.80762893e-01 6.24573812e-01 1.78005358e-02 2.70515396e+02] [-6.24437601e-01 7.80965256e-01 -1.30748508e-02 2.54846923e+00] [-2.20678094e-02 -9.06965573e-04 9.99756065e-01 -9.41330304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01592 meters Centerline goodness [0,1] 0.999553128103277 Centerline is valid? [True, True] Translation: X:270.54, Y:2.53, Z:-0.94 [[ 7.80476017e-01 6.24943915e-01 1.73865109e-02 2.70543579e+02] [-6.24813768e-01 7.80669148e-01 -1.27842124e-02 2.53179524e+00] [-2.15625284e-02 -8.85560232e-04 9.99767109e-01 -9.40552624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04591999999997 meters Centerline goodness [0,1] 0.9993537803847492 Centerline is valid? [True, True] Translation: X:270.57, Y:2.51, Z:-0.94 [[ 7.81003683e-01 6.24286557e-01 1.73072542e-02 2.70571661e+02] [-6.24157335e-01 7.81194953e-01 -1.27305419e-02 2.51481954e+00] [-2.14678458e-02 -8.59849503e-04 9.99769169e-01 -9.40069266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07592 meters Centerline goodness [0,1] 0.9993051764355552 Centerline is valid? [True, True] Translation: X:270.60, Y:2.50, Z:-0.94 [[ 7.81254412e-01 6.24001773e-01 1.62274811e-02 2.70600385e+02] [-6.23887894e-01 7.81422525e-01 -1.19470965e-02 2.49908618e+00] [-2.01355287e-02 -7.90407204e-04 9.99796947e-01 -9.40740559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10591999999997 meters Centerline goodness [0,1] 0.9993548707260186 Centerline is valid? [True, True] Translation: X:270.63, Y:2.49, Z:-0.94 [[ 7.81994216e-01 6.23082434e-01 1.59162063e-02 2.70630711e+02] [-6.22972610e-01 7.82155815e-01 -1.17221146e-02 2.48510288e+00] [-1.97527970e-02 -7.48734717e-04 9.99804614e-01 -9.39788414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13592 meters Centerline goodness [0,1] 0.9990053709966182 Centerline is valid? [True, True] Translation: X:270.66, Y:2.47, Z:-0.94 [[ 7.81903403e-01 6.23191468e-01 1.61078102e-02 2.70659167e+02] [-6.23078760e-01 7.82068942e-01 -1.18755593e-02 2.46835224e+00] [-1.99981653e-02 -7.50894204e-04 9.99799735e-01 -9.40201616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16591999999997 meters Centerline goodness [0,1] 0.9992056793923447 Centerline is valid? [True, True] Translation: X:270.69, Y:2.45, Z:-0.94 [[ 7.82497110e-01 6.22443109e-01 1.62125987e-02 2.70686689e+02] [-6.22328543e-01 7.82664709e-01 -1.19640560e-02 2.45126943e+00] [-2.01359731e-02 -7.27723684e-04 9.99796986e-01 -9.40702319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19592 meters Centerline goodness [0,1] 0.9991560762509929 Centerline is valid? [True, True] Translation: X:270.71, Y:2.43, Z:-0.94 [[ 7.84080557e-01 6.20443793e-01 1.63456469e-02 2.70714579e+02] [-6.20326673e-01 7.84250627e-01 -1.20736064e-02 2.43429330e+00] [-2.03100780e-02 -6.72960737e-04 9.99793503e-01 -9.40897954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22592 meters Centerline goodness [0,1] 0.9996522084761763 Centerline is valid? [True, True] Translation: X:270.74, Y:2.42, Z:-0.94 [[ 7.87054562e-01 6.16677984e-01 1.59179440e-02 2.70742761e+02] [-6.16566087e-01 7.87215315e-01 -1.17604622e-02 2.41894963e+00] [-1.97832674e-02 -5.58338985e-04 9.99804136e-01 -9.39898709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25591999999995 meters Centerline goodness [0,1] 0.9994038155802861 Centerline is valid? [True, True] Translation: X:270.77, Y:2.40, Z:-0.94 [[ 7.87953189e-01 6.15471117e-01 1.80298614e-02 2.70770337e+02] [-6.15326918e-01 7.88159222e-01 -1.33350654e-02 2.40013307e+00] [-2.24177492e-02 -5.86851741e-04 9.99748518e-01 -9.41258431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28592 meters Centerline goodness [0,1] 0.9991066554171423 Centerline is valid? [True, True] Translation: X:270.80, Y:2.38, Z:-0.94 [[ 7.89976100e-01 6.12878250e-01 1.78329200e-02 2.70796726e+02] [-6.12736414e-01 7.90177194e-01 -1.31943062e-02 2.38101905e+00] [-2.21776700e-02 -5.03692903e-04 9.99753918e-01 -9.40163422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31591999999995 meters Centerline goodness [0,1] 0.9993536518669517 Centerline is valid? [True, True] Translation: X:270.82, Y:2.36, Z:-0.94 [[ 7.90785536e-01 6.11833564e-01 1.78304685e-02 2.70823103e+02] [-6.11691226e-01 7.90986393e-01 -1.32049143e-02 2.36245676e+00] [-2.21828678e-02 -4.64485962e-04 9.99753822e-01 -9.39621643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34592 meters Centerline goodness [0,1] 0.9991070985663971 Centerline is valid? [True, True] Translation: X:270.85, Y:2.34, Z:-0.94 [[ 7.91229514e-01 6.11272332e-01 1.73779299e-02 2.70849104e+02] [-6.11136724e-01 7.91420213e-01 -1.28822018e-02 2.34375090e+00] [-2.16277785e-02 -4.27512858e-04 9.99766001e-01 -9.39740283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37591999999995 meters Centerline goodness [0,1] 0.9990573994145954 Centerline is valid? [True, True] Translation: X:270.87, Y:2.32, Z:-0.94 [[ 7.92017194e-01 6.10304716e-01 1.53921370e-02 2.70874454e+02] [-6.10198068e-01 7.92166668e-01 -1.14143484e-02 2.32309909e+00] [-1.91593685e-02 -3.51892053e-04 9.99816381e-01 -9.40159774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40592 meters Centerline goodness [0,1] 0.9986585850556439 Centerline is valid? [True, True] Translation: X:270.90, Y:2.30, Z:-0.94 [[ 7.91463109e-01 6.11002662e-01 1.61831128e-02 2.70899605e+02] [-6.10884690e-01 7.91628450e-01 -1.20121679e-02 2.30369795e+00] [-2.01504791e-02 -3.78828102e-04 9.99796887e-01 -9.40281002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43591999999995 meters Centerline goodness [0,1] 0.9984595507851322 Centerline is valid? [True, True] Translation: X:270.93, Y:2.29, Z:-0.94 [[ 7.90531116e-01 6.12196612e-01 1.66091134e-02 2.70925794e+02] [-6.12072362e-01 7.90705470e-01 -1.23403204e-02 2.28522004e+00] [-2.06876191e-02 -4.10572005e-04 9.99785904e-01 -9.39410866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46592 meters Centerline goodness [0,1] 0.9987564045167387 Centerline is valid? [True, True] Translation: X:270.95, Y:2.26, Z:-0.94 [[ 7.88372685e-01 6.14966353e-01 1.68787882e-02 2.70950290e+02] [-6.14838432e-01 7.88553202e-01 -1.25519240e-02 2.26498270e+00] [-2.10288334e-02 -4.82133672e-04 9.99778753e-01 -9.39450821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49591999999996 meters Centerline goodness [0,1] 0.9990573994145954 Centerline is valid? [True, True] Translation: X:270.98, Y:2.24, Z:-0.94 [[ 7.87091710e-01 6.16596276e-01 1.71951458e-02 2.70975525e+02] [-6.16463640e-01 7.87279338e-01 -1.27993986e-02 2.24440857e+00] [-2.14294445e-02 -5.25881643e-04 9.99770225e-01 -9.40181902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52592 meters Centerline goodness [0,1] 0.9992057976769582 Centerline is valid? [True, True] Translation: X:271.00, Y:2.22, Z:-0.94 [[ 7.86141071e-01 6.17808433e-01 1.71742945e-02 2.71001219e+02] [-6.17676145e-01 7.86328455e-01 -1.27961546e-02 2.22463448e+00] [-2.14102087e-02 -5.48569347e-04 9.99770625e-01 -9.40339141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55591999999996 meters Centerline goodness [0,1] 0.9996515505998308 Centerline is valid? [True, True] Translation: X:271.03, Y:2.21, Z:-0.94 [[ 7.84687436e-01 6.19661258e-01 1.68983193e-02 2.71028692e+02] [-6.19533362e-01 7.84869154e-01 -1.26025422e-02 2.20684277e+00] [-2.10722767e-02 -5.80016043e-04 9.99777787e-01 -9.40556907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58592 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:271.05, Y:2.19, Z:-0.94 [[ 7.83189465e-01 6.21544756e-01 1.72156396e-02 2.71054939e+02] [-6.21412201e-01 7.83378399e-01 -1.28514586e-02 2.18779282e+00] [-2.14741169e-02 -6.32881568e-04 9.99769204e-01 -9.41657979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61591999999996 meters Centerline goodness [0,1] 0.9998512052375756 Centerline is valid? [True, True] Translation: X:271.08, Y:2.17, Z:-0.94 [[ 7.81627721e-01 6.23499225e-01 1.75163714e-02 2.71080915e+02] [-6.23362218e-01 7.81823665e-01 -1.30882824e-02 2.16891008e+00] [-2.18552476e-02 -6.88879802e-04 9.99760908e-01 -9.40816307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64592 meters Centerline goodness [0,1] 0.9998012323593719 Centerline is valid? [True, True] Translation: X:271.11, Y:2.15, Z:-0.94 [[ 7.80718760e-01 6.24608969e-01 1.84892916e-02 2.71107650e+02] [-6.24456329e-01 7.80937304e-01 -1.38282323e-02 2.15098520e+00] [-2.30762154e-02 -7.49794782e-04 9.99733428e-01 -9.40329977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67591999999996 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:271.14, Y:2.13, Z:-0.94 [[ 7.78840034e-01 6.26966131e-01 1.79352262e-02 2.71135396e+02] [-6.26822841e-01 7.79046118e-01 -1.34265168e-02 2.13379669e+00] [-2.23903396e-02 -7.85100633e-04 9.99748997e-01 -9.40792236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70592 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:271.16, Y:2.12, Z:-0.94 [[ 7.78294631e-01 6.27612718e-01 1.89669176e-02 2.71161890e+02] [-6.27452345e-01 7.78525254e-01 -1.42120967e-02 2.11577305e+00] [-2.36859169e-02 -8.39638360e-04 9.99719097e-01 -9.41312546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73591999999996 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:271.19, Y:2.10, Z:-0.94 [[ 7.77561517e-01 6.28495737e-01 1.97786878e-02 2.71188822e+02] [-6.28321283e-01 7.77812517e-01 -1.48342209e-02 2.09824522e+00] [-2.47073555e-02 -8.92851130e-04 9.99694328e-01 -9.40648168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76592 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:271.22, Y:2.08, Z:-0.94 [[ 7.77123584e-01 6.29036558e-01 1.97976046e-02 2.71216482e+02] [-6.28861554e-01 7.77375200e-01 -1.48642062e-02 2.08045855e+00] [-2.47402960e-02 -8.98627199e-04 9.99693508e-01 -9.40861181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79591999999997 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:271.24, Y:2.06, Z:-0.94 [[ 7.76935057e-01 6.29285835e-01 1.92679675e-02 2.71243993e+02] [-6.29119818e-01 7.77173454e-01 -1.44801910e-02 2.06283358e+00] [-2.40867319e-02 -8.71692123e-04 9.99709493e-01 -9.40983879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:271.27, Y:2.04, Z:-0.94 [[ 7.76613963e-01 6.29682286e-01 1.92606075e-02 2.71270215e+02] [-6.29516149e-01 7.76852276e-01 -1.44899791e-02 2.04349104e+00] [-2.40867300e-02 -8.71743338e-04 9.99709493e-01 -9.41011981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.30, Y:2.03, Z:-0.94 [[ 7.75659674e-01 6.30818774e-01 2.04876568e-02 2.71298834e+02] [-6.30630817e-01 7.75929613e-01 -1.54274852e-02 2.02832019e+00] [-2.56289269e-02 -9.53669633e-04 9.99671070e-01 -9.40430265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:271.33, Y:2.01, Z:-0.94 [[ 7.75345488e-01 6.31178561e-01 2.12837831e-02 2.71326659e+02] [-6.30975448e-01 7.75636926e-01 -1.60418917e-02 2.01138226e+00] [-2.66337862e-02 -9.91536198e-04 9.99644766e-01 -9.39822574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91591999999997 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:271.36, Y:2.00, Z:-0.94 [[ 7.75879443e-01 6.30541680e-01 2.06949317e-02 2.71356361e+02] [-6.30349051e-01 7.76154831e-01 -1.56125632e-02 1.99713175e+00] [-2.59068431e-02 -9.31563729e-04 9.99663927e-01 -9.40263938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94592 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:271.38, Y:1.98, Z:-0.94 [[ 7.76856259e-01 6.29363000e-01 1.99139846e-02 2.71383039e+02] [-6.29184141e-01 7.77110985e-01 -1.50277781e-02 1.97937778e+00] [-2.49333038e-02 -8.55139824e-04 9.99688751e-01 -9.40779747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97592 meters Centerline goodness [0,1] 0.9998015085351329 Centerline is valid? [True, True] Translation: X:271.41, Y:1.96, Z:-0.94 [[ 7.78882059e-01 6.26834251e-01 2.05319194e-02 2.71411073e+02] [-6.26643131e-01 7.79152225e-01 -1.54982940e-02 1.96284684e+00] [-2.57123522e-02 -7.94843090e-04 9.99669067e-01 -9.41625749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00591999999995 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:271.44, Y:1.95, Z:-0.94 [[ 7.79951663e-01 6.25506960e-01 2.04070139e-02 2.71438193e+02] [-6.25317596e-01 7.80218233e-01 -1.54082096e-02 1.94608320e+00] [-2.55598666e-02 -7.43206172e-04 9.99673017e-01 -9.41191701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03592 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:271.47, Y:1.93, Z:-0.94 [[ 7.83253811e-01 6.21358312e-01 2.06716177e-02 2.71467404e+02] [-6.21162419e-01 7.83526307e-01 -1.56132890e-02 1.93061595e+00] [-2.58982031e-02 -6.11263937e-04 9.99664398e-01 -9.42529223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06591999999995 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:271.49, Y:1.91, Z:-0.94 [[ 7.84926473e-01 6.19222700e-01 2.12997646e-02 2.71493352e+02] [-6.19013814e-01 7.85215219e-01 -1.60921598e-02 1.91202713e+00] [-2.66895300e-02 -5.53686305e-04 9.99643618e-01 -9.43504900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09592 meters Centerline goodness [0,1] 0.9997518364105619 Centerline is valid? [True, True] Translation: X:271.52, Y:1.89, Z:-0.94 [[ 7.86818117e-01 6.16832375e-01 2.08583651e-02 2.71518776e+02] [-6.16631103e-01 7.87094410e-01 -1.57630071e-02 1.89243983e+00] [-2.61406357e-02 -4.59297161e-04 9.99658170e-01 -9.44003406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12591999999995 meters Centerline goodness [0,1] 0.999751848726984 Centerline is valid? [True, True] Translation: X:271.55, Y:1.87, Z:-0.94 [[ 7.91044182e-01 6.11412847e-01 2.05774710e-02 2.71545136e+02] [-6.11214982e-01 7.91311732e-01 -1.55560119e-02 1.87304537e+00] [-2.57943398e-02 -2.71765828e-04 9.99667234e-01 -9.44351520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15592 meters Centerline goodness [0,1] 0.9995527728085868 Centerline is valid? [True, True] Translation: X:271.57, Y:1.85, Z:-0.95 [[ 7.93984050e-01 6.07570602e-01 2.11492749e-02 2.71570042e+02] [-6.07360101e-01 7.94265662e-01 -1.59926587e-02 1.85312650e+00] [-2.65148121e-02 -1.47309794e-04 9.99648410e-01 -9.45069957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18591999999995 meters Centerline goodness [0,1] 0.9992557308722834 Centerline is valid? [True, True] Translation: X:271.59, Y:1.83, Z:-0.95 [[ 7.94570140e-01 6.06818350e-01 2.07312053e-02 2.71594899e+02] [-6.06615628e-01 7.94840536e-01 -1.56844649e-02 1.83178015e+00] [-2.59956235e-02 -1.13465703e-04 9.99662050e-01 -9.45893299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21592 meters Centerline goodness [0,1] 0.999205324327009 Centerline is valid? [True, True] Translation: X:271.62, Y:1.81, Z:-0.94 [[ 7.95326722e-01 6.05890382e-01 1.87683607e-02 2.71619792e+02] [-6.05723883e-01 7.95548138e-01 -1.42034206e-02 1.81100505e+00] [-2.35368503e-02 -7.20843740e-05 9.99722967e-01 -9.44976525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24591999999996 meters Centerline goodness [0,1] 0.9988079272835643 Centerline is valid? [True, True] Translation: X:271.64, Y:1.79, Z:-0.95 [[ 7.95738613e-01 6.05346993e-01 1.88434965e-02 2.71644472e+02] [-6.05178870e-01 7.95961692e-01 -1.42660423e-02 1.78920174e+00] [-2.36346072e-02 -5.16451647e-05 9.99720662e-01 -9.45254141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27592 meters Centerline goodness [0,1] 0.9986600496277915 Centerline is valid? [True, True] Translation: X:271.67, Y:1.77, Z:-0.94 [[ 7.95383662e-01 6.05811355e-01 1.89058880e-02 2.71670058e+02] [-6.05642108e-01 7.95608320e-01 -1.43191363e-02 1.76777168e+00] [-2.37163772e-02 -6.09947720e-05 9.99718725e-01 -9.44469038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30591999999996 meters Centerline goodness [0,1] 0.9986590514030296 Centerline is valid? [True, True] Translation: X:271.69, Y:1.74, Z:-0.94 [[ 7.95568859e-01 6.05558117e-01 1.92239041e-02 2.71694177e+02] [-6.05382909e-01 7.95801084e-01 -1.45659940e-02 1.74429836e+00] [-2.41189596e-02 -4.95717330e-05 9.99709094e-01 -9.44672301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33592 meters Centerline goodness [0,1] 0.9986077271145144 Centerline is valid? [True, True] Translation: X:271.72, Y:1.72, Z:-0.95 [[ 7.95399401e-01 6.05754594e-01 2.00290912e-02 2.71718420e+02] [-6.05564356e-01 7.95651537e-01 -1.51803060e-02 1.72266962e+00] [-2.51317173e-02 -5.44974321e-05 9.99684147e-01 -9.45529810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36591999999996 meters Centerline goodness [0,1] 0.9983609000149009 Centerline is valid? [True, True] Translation: X:271.74, Y:1.70, Z:-0.94 [[ 7.95202258e-01 6.06041922e-01 1.91456856e-02 2.71741551e+02] [-6.05867857e-01 7.95432704e-01 -1.45242452e-02 1.70044564e+00] [-2.40314059e-02 -5.00429743e-05 9.99711203e-01 -9.44799984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39592 meters Centerline goodness [0,1] 0.9987589356632248 Centerline is valid? [True, True] Translation: X:271.77, Y:1.68, Z:-0.94 [[ 7.94842192e-01 6.06520435e-01 1.89433988e-02 2.71767787e+02] [-6.06349794e-01 7.95067896e-01 -1.43863715e-02 1.67965183e+00] [-2.37869166e-02 -5.14308962e-05 9.99717050e-01 -9.44872114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42591999999996 meters Centerline goodness [0,1] 0.9986595174262735 Centerline is valid? [True, True] Translation: X:271.79, Y:1.66, Z:-0.94 [[ 7.93947251e-01 6.07679010e-01 1.93386697e-02 2.71792974e+02] [-6.07501129e-01 7.94182734e-01 -1.47024529e-02 1.65894633e+00] [-2.42928096e-02 -7.52915809e-05 9.99704883e-01 -9.43930483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45592 meters Centerline goodness [0,1] 0.9990570719602978 Centerline is valid? [True, True] Translation: X:271.82, Y:1.64, Z:-0.94 [[ 7.93403213e-01 6.08365170e-01 2.00788769e-02 2.71819189e+02] [-6.08173209e-01 7.93657239e-01 -1.52818549e-02 1.63820501e+00] [-2.52326943e-02 -8.67621862e-05 9.99681601e-01 -9.43620465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48591999999996 meters Centerline goodness [0,1] 0.9987067893558816 Centerline is valid? [True, True] Translation: X:271.84, Y:1.62, Z:-0.94 [[ 7.92234693e-01 6.09910788e-01 1.93137747e-02 2.71844085e+02] [-6.09733508e-01 7.92470072e-01 -1.47049121e-02 1.61738932e+00] [-2.42742729e-02 -1.26514083e-04 9.99705328e-01 -9.42830211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51592 meters Centerline goodness [0,1] 0.9989082427671083 Centerline is valid? [True, True] Translation: X:271.87, Y:1.60, Z:-0.94 [[ 7.91848844e-01 6.10416925e-01 1.91464496e-02 2.71869424e+02] [-6.10242474e-01 7.92080275e-01 -1.45932199e-02 1.59690466e+00] [-2.40734735e-02 -1.28352468e-04 9.99710184e-01 -9.43106957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54591999999997 meters Centerline goodness [0,1] 0.9989587981555853 Centerline is valid? [True, True] Translation: X:271.89, Y:1.57, Z:-0.94 [[ 7.91248565e-01 6.11214844e-01 1.84965900e-02 2.71894296e+02] [-6.11051895e-01 7.91464716e-01 -1.41133043e-02 1.57475738e+00] [-2.32656594e-02 -1.35244563e-04 9.99729309e-01 -9.42933831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57592 meters Centerline goodness [0,1] 0.9989073752172833 Centerline is valid? [True, True] Translation: X:271.92, Y:1.55, Z:-0.94 [[ 7.90929149e-01 6.11623301e-01 1.86552464e-02 2.71920019e+02] [-6.11457294e-01 7.91149113e-01 -1.42498584e-02 1.55458622e+00] [-2.34746271e-02 -1.36258125e-04 9.99724424e-01 -9.43208960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60591999999997 meters Centerline goodness [0,1] 0.9991565368394939 Centerline is valid? [True, True] Translation: X:271.95, Y:1.53, Z:-0.94 [[ 7.90216667e-01 6.12560646e-01 1.80851762e-02 2.71946581e+02] [-6.12404535e-01 7.90423578e-01 -1.38294117e-02 1.53456146e+00] [-2.27663030e-02 -1.47212302e-04 9.99740803e-01 -9.42924796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63592 meters Centerline goodness [0,1] 0.9984608510004469 Centerline is valid? [True, True] Translation: X:271.97, Y:1.52, Z:-0.94 [[ 7.88967814e-01 6.14179543e-01 1.76996555e-02 2.71973068e+02] [-6.14030097e-01 7.89166305e-01 -1.35492687e-02 1.51518938e+00] [-2.22896554e-02 -1.78184314e-04 9.99751539e-01 -9.42647974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66591999999997 meters Centerline goodness [0,1] 0.9985103530463281 Centerline is valid? [True, True] Translation: X:272.00, Y:1.49, Z:-0.94 [[ 7.87758243e-01 6.15729593e-01 1.77205896e-02 2.71998414e+02] [-6.15579855e-01 7.87957501e-01 -1.35800693e-02 1.49467662e+00] [-2.23247221e-02 -2.10626406e-04 9.99750750e-01 -9.42994221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69592 meters Centerline goodness [0,1] 0.998262682418346 Centerline is valid? [True, True] Translation: X:272.02, Y:1.47, Z:-0.94 [[ 7.87434560e-01 6.16139417e-01 1.78614839e-02 2.72024809e+02] [-6.15987055e-01 7.87637083e-01 -1.37030636e-02 1.47438967e+00] [-2.25113647e-02 -2.12177019e-04 9.99746565e-01 -9.42798122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72592 meters Centerline goodness [0,1] 0.9984100168935705 Centerline is valid? [True, True] Translation: X:272.05, Y:1.46, Z:-0.94 [[ 7.87413664e-01 6.16174902e-01 1.75559311e-02 2.72051066e+02] [-6.16027393e-01 7.87609326e-01 -1.34833228e-02 1.45504752e+00] [-2.21353001e-02 -1.97981858e-04 9.99754965e-01 -9.42915868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75591999999995 meters Centerline goodness [0,1] 0.9983108108108109 Centerline is valid? [True, True] Translation: X:272.08, Y:1.44, Z:-0.94 [[ 7.88174123e-01 6.15200900e-01 1.75898685e-02 2.72077168e+02] [-6.15052251e-01 7.88370361e-01 -1.35241098e-02 1.43553190e+00] [-2.21873755e-02 -1.59334868e-04 9.99753817e-01 -9.43904339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78592 meters Centerline goodness [0,1] 0.9980122248173732 Centerline is valid? [True, True] Translation: X:272.10, Y:1.42, Z:-0.94 [[ 7.88275436e-01 6.15069565e-01 1.76427776e-02 2.72103730e+02] [-6.14919657e-01 7.88472834e-01 -1.35796043e-02 1.41511487e+00] [-2.22632522e-02 -1.44422268e-04 9.99752133e-01 -9.42903991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81591999999995 meters Centerline goodness [0,1] 0.9979638458482321 Centerline is valid? [True, True] Translation: X:272.13, Y:1.40, Z:-0.94 [[ 7.88353861e-01 6.14942185e-01 1.85552696e-02 2.72131244e+02] [-6.14775966e-01 7.88572185e-01 -1.42975982e-02 1.39595827e+00] [-2.34243657e-02 -1.35767021e-04 9.99725603e-01 -9.42675458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84592 meters Centerline goodness [0,1] 0.9980145927433365 Centerline is valid? [True, True] Translation: X:272.16, Y:1.38, Z:-0.94 [[ 7.88079703e-01 6.15317406e-01 1.77446376e-02 2.72157857e+02] [-6.15165197e-01 7.88279438e-01 -1.36860232e-02 1.37712767e+00] [-2.24089813e-02 -1.30206404e-04 9.99748879e-01 -9.42160949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87591999999995 meters Centerline goodness [0,1] 0.99811395672027 Centerline is valid? [True, True] Translation: X:272.18, Y:1.36, Z:-0.94 [[ 7.89314442e-01 6.13761392e-01 1.67232210e-02 2.72184455e+02] [-6.13625595e-01 7.89491576e-01 -1.29104554e-02 1.35859797e+00] [-2.11267812e-02 -7.13875274e-05 9.99776802e-01 -9.41909341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90592 meters Centerline goodness [0,1] 0.999007099240431 Centerline is valid? [True, True] Translation: X:272.21, Y:1.34, Z:-0.94 [[ 7.89618443e-01 6.13356336e-01 1.72255462e-02 2.72210858e+02] [-6.13211849e-01 7.89806307e-01 -1.33125990e-02 1.33846491e+00] [-2.17702120e-02 -5.10353815e-05 9.99763000e-01 -9.42696372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93591999999995 meters Centerline goodness [0,1] 0.9989586432609342 Centerline is valid? [True, True] Translation: X:272.24, Y:1.32, Z:-0.94 [[ 7.91317637e-01 6.11159321e-01 1.73401450e-02 2.72238131e+02] [-6.11012058e-01 7.91507602e-01 -1.34156956e-02 1.31888856e+00] [-2.19239840e-02 2.10388278e-05 9.99759640e-01 -9.43122781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96592 meters Centerline goodness [0,1] 0.9989068322981366 Centerline is valid? [True, True] Translation: X:272.27, Y:1.30, Z:-0.94 [[ 7.91550683e-01 6.10868070e-01 1.69622268e-02 2.72265448e+02] [-6.10726785e-01 7.91732404e-01 -1.31374900e-02 1.29957802e+00] [-2.14548178e-02 3.97029342e-05 9.99769818e-01 -9.42217310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99591999999996 meters Centerline goodness [0,1] 0.9990568379250434 Centerline is valid? [True, True] Translation: X:272.29, Y:1.28, Z:-0.94 [[ 7.92598817e-01 6.09438591e-01 1.92799890e-02 2.72291547e+02] [-6.09255281e-01 7.92833270e-01 -1.49468781e-02 1.28002919e+00] [-2.43950210e-02 1.00442740e-04 9.99702392e-01 -9.43938764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02592 meters Centerline goodness [0,1] 0.999008428358949 Centerline is valid? [True, True] Translation: X:272.32, Y:1.26, Z:-0.94 [[ 7.93007417e-01 6.08907806e-01 1.92488993e-02 2.72317434e+02] [-6.08724541e-01 7.93240989e-01 -1.49387487e-02 1.25873634e+00] [-2.43653366e-02 1.29261129e-04 9.99703113e-01 -9.43529024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05591999999996 meters Centerline goodness [0,1] 0.9990068033967324 Centerline is valid? [True, True] Translation: X:272.34, Y:1.24, Z:-0.94 [[ 7.92993104e-01 6.08913597e-01 1.96511567e-02 2.72342957e+02] [-6.08722185e-01 7.93236541e-01 -1.52673376e-02 1.23728698e+00] [-2.48845050e-02 1.44798356e-04 9.99690322e-01 -9.43843178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08592 meters Centerline goodness [0,1] 0.9988583341606274 Centerline is valid? [True, True] Translation: X:272.37, Y:1.21, Z:-0.94 [[ 7.93034675e-01 6.08869050e-01 1.93516094e-02 2.72366818e+02] [-6.08683026e-01 7.93270733e-01 -1.50505242e-02 1.21427146e+00] [-2.45148637e-02 1.56591405e-04 9.99699453e-01 -9.44091628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11591999999996 meters Centerline goodness [0,1] 0.9990546793372804 Centerline is valid? [True, True] Translation: X:272.39, Y:1.19, Z:-0.94 [[ 7.91629311e-01 6.10729342e-01 1.82401865e-02 2.72390554e+02] [-6.10564261e-01 7.91839416e-01 -1.41994060e-02 1.19230007e+00] [-2.31152925e-02 1.03859978e-04 9.99732801e-01 -9.44025002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14592 meters Centerline goodness [0,1] 0.9988089330024814 Centerline is valid? [True, True] Translation: X:272.41, Y:1.17, Z:-0.94 [[ 7.89492931e-01 6.13497722e-01 1.79292214e-02 2.72412179e+02] [-6.13338821e-01 7.89696489e-01 -1.39622938e-02 1.16755916e+00] [-2.27244786e-02 2.64447136e-05 9.99741765e-01 -9.43172382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17591999999996 meters Centerline goodness [0,1] 0.9993049004518147 Centerline is valid? [True, True] Translation: X:272.44, Y:1.15, Z:-0.94 [[ 7.87875455e-01 6.15529623e-01 1.93791221e-02 2.72436378e+02] [-6.15344249e-01 7.88113750e-01 -1.51053846e-02 1.14595305e+00] [-2.45707643e-02 -2.36695447e-05 9.99698093e-01 -9.43116859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20592 meters Centerline goodness [0,1] 0.9994542297196726 Centerline is valid? [True, True] Translation: X:272.46, Y:1.12, Z:-0.94 [[ 7.85054987e-01 6.19138854e-01 1.88612318e-02 2.72459545e+02] [-6.18963915e-01 7.85281519e-01 -1.47175701e-02 1.12222902e+00] [-2.39235963e-02 -1.20320038e-04 9.99713783e-01 -9.42106285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23591999999996 meters Centerline goodness [0,1] 0.9992063098367975 Centerline is valid? [True, True] Translation: X:272.48, Y:1.10, Z:-0.94 [[ 7.83698242e-01 6.20885314e-01 1.78463511e-02 2.72483746e+02] [-6.20728848e-01 7.83901399e-01 -1.39389233e-02 1.10087720e+00] [-2.26442524e-02 -1.53835300e-04 9.99743574e-01 -9.42156096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26592 meters Centerline goodness [0,1] 0.9995534828338957 Centerline is valid? [True, True] Translation: X:272.51, Y:1.08, Z:-0.94 [[ 7.80806199e-01 6.24547176e-01 1.68078685e-02 2.72507703e+02] [-6.24408936e-01 7.80987049e-01 -1.31419029e-02 1.07852968e+00] [-2.13344660e-02 -2.33703981e-04 9.99772367e-01 -9.41623434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29591999999997 meters Centerline goodness [0,1] 0.9997024252343402 Centerline is valid? [True, True] Translation: X:272.53, Y:1.06, Z:-0.94 [[ 7.79049102e-01 6.26750698e-01 1.63112862e-02 2.72533371e+02] [-6.26620702e-01 7.79219794e-01 -1.27674986e-02 1.05769654e+00] [-2.07121157e-02 -2.74481332e-04 9.99785443e-01 -9.40606725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32592 meters Centerline goodness [0,1] 0.999850916861303 Centerline is valid? [True, True] Translation: X:272.56, Y:1.04, Z:-0.94 [[ 7.77684543e-01 6.28429815e-01 1.68142368e-02 2.72559278e+02] [-6.28291801e-01 7.77866226e-01 -1.31737416e-02 1.03805223e+00] [-2.13579989e-02 -3.19231957e-04 9.99771841e-01 -9.41066111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35591999999997 meters Centerline goodness [0,1] 0.9999502264695634 Centerline is valid? [True, True] Translation: X:272.59, Y:1.02, Z:-0.94 [[ 7.74268572e-01 6.32663790e-01 1.56431397e-02 2.72586033e+02] [-6.32544961e-01 7.74426480e-01 -1.22678471e-02 1.01931474e+00] [-1.98758842e-02 -3.96380748e-04 9.99802377e-01 -9.40528499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.61, Y:1.00, Z:-0.94 [[ 7.72767366e-01 6.34519298e-01 1.46921196e-02 2.72612890e+02] [-6.34414580e-01 7.72906912e-01 -1.15345856e-02 9.99676416e-01] [-1.86745580e-02 -4.07343611e-04 9.99825532e-01 -9.40713343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.64, Y:0.98, Z:-0.94 [[ 7.70834275e-01 6.36869097e-01 1.45696054e-02 2.72639140e+02] [-6.36766347e-01 7.70971821e-01 -1.14486160e-02 9.81803304e-01] [-1.85240250e-02 -4.52448771e-04 9.99828313e-01 -9.40044858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.67, Y:0.96, Z:-0.94 [[ 7.69996692e-01 6.37842914e-01 1.61713427e-02 2.72665233e+02] [-6.37716294e-01 7.70166312e-01 -1.27192790e-02 9.63364312e-01] [-2.05675253e-02 -5.18926027e-04 9.99788331e-01 -9.40302302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.69, Y:0.95, Z:-0.94 [[ 7.69718937e-01 6.38186996e-01 1.58150778e-02 2.72693744e+02] [-6.38065698e-01 7.69881226e-01 -1.24524092e-02 9.45461469e-01] [-2.01226971e-02 -5.06203426e-04 9.99797390e-01 -9.40532127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.72, Y:0.93, Z:-0.94 [[ 7.69511851e-01 6.38432499e-01 1.59829566e-02 2.72720322e+02] [-6.38308388e-01 7.69677651e-01 -1.25982448e-02 9.26038083e-01] [-2.03448534e-02 -5.07556583e-04 9.99792893e-01 -9.41199179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.75, Y:0.91, Z:-0.94 [[ 7.69733893e-01 6.38187854e-01 1.50331808e-02 2.72746770e+02] [-6.38077794e-01 7.69880542e-01 -1.18608561e-02 9.07040323e-01] [-1.91432077e-02 -4.62635923e-04 9.99816645e-01 -9.41177436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.77, Y:0.89, Z:-0.94 [[ 7.69616976e-01 6.38313634e-01 1.56657095e-02 2.72773799e+02] [-6.38193875e-01 7.69776252e-01 -1.23733573e-02 8.88478506e-01] [-1.99571738e-02 -4.75014047e-04 9.99800723e-01 -9.41493675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.80, Y:0.87, Z:-0.94 [[ 7.68736552e-01 6.39342150e-01 1.69035076e-02 2.72800017e+02] [-6.39202689e-01 7.68922189e-01 -1.33637289e-02 8.70295708e-01] [-2.15414773e-02 -5.31580658e-04 9.99767814e-01 -9.40518623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.83, Y:0.85, Z:-0.94 [[ 7.68057990e-01 6.40143864e-01 1.73999198e-02 2.72825302e+02] [-6.39996005e-01 7.68254854e-01 -1.37692934e-02 8.50554240e-01] [-2.21819015e-02 -5.60263341e-04 9.99753794e-01 -9.40535395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65592 meters Centerline goodness [0,1] 0.9999503451015442 Centerline is valid? [True, True] Translation: X:272.85, Y:0.83, Z:-0.94 [[ 7.67618054e-01 6.40663409e-01 1.76895219e-02 2.72851786e+02] [-6.40510386e-01 7.67821638e-01 -1.40135038e-02 8.30956777e-01] [-2.25603368e-02 -5.73303960e-04 9.99745319e-01 -9.40414113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.88, Y:0.81, Z:-0.94 [[ 7.67090711e-01 6.41323604e-01 1.66095227e-02 2.72877381e+02] [-6.41188587e-01 7.67270315e-01 -1.31703903e-02 8.12090815e-01] [-2.11904759e-02 -5.46952373e-04 9.99775307e-01 -9.41068458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.90, Y:0.79, Z:-0.94 [[ 7.66148380e-01 6.42466654e-01 1.59141000e-02 2.72903883e+02] [-6.42342678e-01 7.66313450e-01 -1.26325160e-02 7.91727241e-01] [-2.03111592e-02 -5.43923949e-04 9.99793559e-01 -9.40696867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.93, Y:0.77, Z:-0.94 [[ 7.65810281e-01 6.42869789e-01 1.59074505e-02 2.72929571e+02] [-6.42745727e-01 7.65975285e-01 -1.26408882e-02 7.71706925e-01] [-2.03111591e-02 -5.43923737e-04 9.99793559e-01 -9.40724956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.96, Y:0.75, Z:-0.94 [[ 7.65036857e-01 6.43752318e-01 1.73654833e-02 2.72955257e+02] [-6.43604404e-01 7.65233678e-01 -1.38126571e-02 7.52664410e-01] [-2.21805827e-02 -6.09309706e-04 9.99753795e-01 -9.41023535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.98, Y:0.73, Z:-0.94 [[ 7.65031228e-01 6.43757839e-01 1.74087586e-02 2.72982050e+02] [-6.43608860e-01 7.65229041e-01 -1.38618251e-02 7.33086054e-01] [-2.22453462e-02 -5.99702224e-04 9.99752362e-01 -9.41229519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.01, Y:0.71, Z:-0.94 [[ 7.65405891e-01 6.43339885e-01 1.63589013e-02 2.73008757e+02] [-6.43207982e-01 7.65580497e-01 -1.30381816e-02 7.14708500e-01] [-2.09120381e-02 -5.42674868e-04 9.99781172e-01 -9.40962301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.04, Y:0.70, Z:-0.94 [[ 7.66244798e-01 6.42365942e-01 1.53266639e-02 2.73035669e+02] [-6.42249741e-01 7.66397920e-01 -1.22269686e-02 6.96629383e-01] [-1.96005115e-02 -4.74694865e-04 9.99807779e-01 -9.40282128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.06, Y:0.68, Z:-0.94 [[ 7.66362292e-01 6.42212081e-01 1.58896314e-02 2.73062804e+02] [-6.42086874e-01 7.66526852e-01 -1.26897978e-02 6.77711671e-01] [-2.03293706e-02 -4.77541217e-04 9.99793223e-01 -9.41097952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.09, Y:0.66, Z:-0.94 [[ 7.67760222e-01 6.40556207e-01 1.52310916e-02 2.73089324e+02] [-6.40440613e-01 7.67911180e-01 -1.21754406e-02 6.59100255e-01] [-1.94951796e-02 -4.06790662e-04 9.99809868e-01 -9.40172286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.12, Y:0.64, Z:-0.94 [[ 7.69717990e-01 6.38203664e-01 1.51755979e-02 2.73115311e+02] [-6.38088230e-01 7.69867501e-01 -1.21425144e-02 6.39454479e-01] [-1.94325968e-02 -3.37058622e-04 9.99811112e-01 -9.40527097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.14, Y:0.62, Z:-0.94 [[ 7.70379886e-01 6.37425917e-01 1.42489455e-02 2.73141633e+02] [-6.37323822e-01 7.70511594e-01 -1.14118024e-02 6.20367501e-01] [-1.82531563e-02 -2.89769353e-04 9.99833355e-01 -9.40157855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.17, Y:0.60, Z:-0.94 [[ 7.71235428e-01 6.36413802e-01 1.31676340e-02 2.73168541e+02] [-6.36326373e-01 7.71347791e-01 -1.05514307e-02 6.01619964e-01] [-1.68719015e-02 -2.41275625e-04 9.99857630e-01 -9.39587568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.20, Y:0.58, Z:-0.94 [[ 7.73302906e-01 6.33890353e-01 1.36248321e-02 2.73195437e+02] [-6.33796300e-01 7.73422901e-01 -1.09208967e-02 5.84042450e-01] [-1.74604082e-02 -1.90206967e-04 9.99847537e-01 -9.39739563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.22, Y:0.56, Z:-0.94 [[ 7.74760431e-01 6.32101259e-01 1.39381947e-02 2.73220682e+02] [-6.32002485e-01 7.74885782e-01 -1.11751308e-02 5.63714109e-01] [-1.78643232e-02 -1.50924507e-04 9.99840409e-01 -9.39763431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.25, Y:0.54, Z:-0.94 [[ 7.77212727e-01 6.29102944e-01 1.30331179e-02 2.73246181e+02] [-6.29016101e-01 7.77321992e-01 -1.04529654e-02 5.43305894e-01] [-1.67069204e-02 -7.38632471e-05 9.99860427e-01 -9.39612404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.27, Y:0.52, Z:-0.94 [[ 7.78146577e-01 6.27965271e-01 1.21459365e-02 2.73271817e+02] [-6.27889659e-01 7.78241362e-01 -9.74470002e-03 5.23055013e-01] [-1.55718033e-02 -4.35029632e-05 9.99878751e-01 -9.38964956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.30, Y:0.50, Z:-0.94 [[ 7.80234082e-01 6.25348344e-01 1.31994827e-02 2.73296540e+02] [-6.25258621e-01 7.80345724e-01 -1.05928831e-02 5.01989674e-01] [-1.69244018e-02 1.18380625e-05 9.99856772e-01 -9.39455274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.32, Y:0.48, Z:-0.94 [[ 7.80622557e-01 6.24831733e-01 1.46194919e-02 2.73321009e+02] [-6.24721514e-01 7.80759441e-01 -1.17356513e-02 4.80504953e-01] [-1.87471137e-02 2.80030411e-05 9.99824257e-01 -9.39962955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.35, Y:0.46, Z:-0.94 [[ 7.81393874e-01 6.23880744e-01 1.40154093e-02 2.73346403e+02] [-6.23779085e-01 7.81519554e-01 -1.12622810e-02 4.59072517e-01] [-1.79796367e-02 5.77581967e-05 9.99838352e-01 -9.38538626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.37, Y:0.44, Z:-0.94 [[ 7.81902175e-01 6.23244101e-01 1.39921456e-02 2.73369916e+02] [-6.23142463e-01 7.82027355e-01 -1.12555170e-02 4.35926120e-01] [-1.79571751e-02 8.16131409e-05 9.99838754e-01 -9.38131008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.39, Y:0.41, Z:-0.94 [[ 7.81806208e-01 6.23349898e-01 1.46272956e-02 2.73394516e+02] [-6.23238605e-01 7.81943026e-01 -1.17790269e-02 4.13398329e-01] [-1.87801670e-02 9.26210103e-05 9.99823633e-01 -9.38405375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.42, Y:0.39, Z:-0.94 [[ 7.81468513e-01 6.23767657e-01 1.48618079e-02 2.73417463e+02] [-6.23652599e-01 7.81609814e-01 -1.19805974e-02 3.89789196e-01] [-1.90892441e-02 9.38545343e-05 9.99817779e-01 -9.37532386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.44, Y:0.37, Z:-0.94 [[ 7.80612436e-01 6.24836895e-01 1.49358661e-02 2.73442039e+02] [-6.24720635e-01 7.80755307e-01 -1.20531888e-02 3.67534872e-01] [-1.91925337e-02 7.81253146e-05 9.99815803e-01 -9.38244355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.46, Y:0.34, Z:-0.94 [[ 7.78888217e-01 6.27005173e-01 1.40590831e-02 2.73463614e+02] [-6.26902324e-01 7.79015091e-01 -1.13562523e-02 3.43354694e-01] [-1.80726668e-02 3.15792214e-05 9.99836676e-01 -9.39778690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.49, Y:0.32, Z:-0.94 [[ 7.77558103e-01 6.28664693e-01 1.35683502e-02 2.73487333e+02] [-6.28568947e-01 7.77676477e-01 -1.09715408e-02 3.19609354e-01] [-1.74492071e-02 2.36682317e-06 9.99847751e-01 -9.39528332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.51, Y:0.29, Z:-0.94 [[ 7.76123712e-01 6.30436132e-01 1.35005973e-02 2.73509999e+02] [-6.30341403e-01 7.76241124e-01 -1.09285610e-02 2.94716855e-01] [-1.73694785e-02 -2.80701493e-05 9.99849139e-01 -9.38249225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.53, Y:0.27, Z:-0.94 [[ 7.75429058e-01 6.31278942e-01 1.40240053e-02 2.73534758e+02] [-6.31176642e-01 7.75555862e-01 -1.13644857e-02 2.72739576e-01] [-1.80505600e-02 -3.92721371e-05 9.99837075e-01 -9.39020585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.56, Y:0.25, Z:-0.94 [[ 7.72789977e-01 6.34519109e-01 1.34592299e-02 2.73558004e+02] [-6.34425169e-01 7.72907168e-01 -1.09185438e-02 2.49192837e-01] [-1.73307600e-02 -1.01133014e-04 9.99849806e-01 -9.38702646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.58, Y:0.23, Z:-0.94 [[ 7.71717609e-01 6.35826063e-01 1.33097076e-02 2.73582826e+02] [-6.35734194e-01 7.71832367e-01 -1.08089016e-02 2.26610063e-01] [-1.71454445e-02 -1.20016557e-04 9.99852999e-01 -9.39443365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.61, Y:0.20, Z:-0.94 [[ 7.70140049e-01 6.37737442e-01 1.32385893e-02 2.73607535e+02] [-6.37646636e-01 7.70253810e-01 -1.07627155e-02 2.04911942e-01] [-1.70608605e-02 -1.52743717e-04 9.99854441e-01 -9.39354634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.63, Y:0.18, Z:-0.94 [[ 7.67466489e-01 6.40945630e-01 1.35605292e-02 2.73631622e+02] [-6.40850669e-01 7.67586250e-01 -1.10349305e-02 1.83582467e-01] [-1.74816662e-02 -2.21334854e-04 9.99847160e-01 -9.39575270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.66, Y:0.16, Z:-0.94 [[ 7.65355118e-01 6.43466542e-01 1.35037857e-02 2.73655198e+02] [-6.43372584e-01 7.65474191e-01 -1.09991440e-02 1.61050143e-01] [-1.74143806e-02 -2.69714355e-04 9.99848322e-01 -9.39492228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:273.68, Y:0.14, Z:-0.94 [[ 7.63974470e-01 6.45125118e-01 1.25136327e-02 2.73680280e+02] [-6.45044480e-01 7.64076898e-01 -1.02035532e-02 1.39681260e-01] [-1.61439461e-02 -2.76595590e-04 9.99869640e-01 -9.39026307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67591999999996 meters Centerline goodness [0,1] 0.9998509835088416 Centerline is valid? [True, True] Translation: X:273.71, Y:0.12, Z:-0.94 [[ 7.62858670e-01 6.46447536e-01 1.23382939e-02 2.73706214e+02] [-6.46369142e-01 7.62958386e-01 -1.00714480e-02 1.19061747e-01] [-1.59242675e-02 -2.92000959e-04 9.99873158e-01 -9.39953356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.73, Y:0.09, Z:-0.94 [[ 7.71915127e-01 6.35523177e-01 1.60414703e-02 2.73725244e+02] [-6.35388006e-01 7.72081787e-01 -1.31070803e-02 9.20574483e-02] [-2.07151803e-02 -7.50042868e-05 9.99785415e-01 -9.38901181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73591999999996 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:273.75, Y:0.07, Z:-0.94 [[ 7.72922543e-01 6.34253222e-01 1.77085512e-02 2.73750265e+02] [-6.34087844e-01 7.73125378e-01 -1.44829901e-02 7.18433634e-02] [-2.28768135e-02 -3.45475302e-05 9.99738291e-01 -9.38337949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.78, Y:0.05, Z:-0.94 [[ 7.74660742e-01 6.32090078e-01 1.90490858e-02 2.73776086e+02] [-6.31897691e-01 7.74894916e-01 -1.55941402e-02 5.25087450e-02] [-2.46179411e-02 4.30948482e-05 9.99696932e-01 -9.38505671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.80, Y:0.03, Z:-0.94 [[ 7.75770064e-01 6.30752058e-01 1.82386701e-02 2.73800932e+02] [-6.30574996e-01 7.75984428e-01 -1.49446008e-02 3.23500336e-02] [-2.35792617e-02 9.27245851e-05 9.99721966e-01 -9.37539798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.83, Y:0.01, Z:-0.94 [[ 7.77065175e-01 6.29137174e-01 1.88714264e-02 2.73825554e+02] [-6.28946782e-01 7.77294276e-01 -1.54775487e-02 1.20401997e-02] [-2.44061530e-02 1.57941199e-04 9.99702113e-01 -9.37030984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.85, Y:-0.01, Z:-0.94 [[ 7.78918731e-01 6.26840381e-01 1.88877820e-02 2.73850029e+02] [-6.26648629e-01 7.79147662e-01 -1.55053863e-02 -9.05919156e-03] [-2.44357734e-02 2.41433112e-04 9.99701373e-01 -9.38293484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88592 meters Centerline goodness [0,1] 0.9999503475670308 Centerline is valid? [True, True] Translation: X:273.87, Y:-0.03, Z:-0.94 [[ 7.79523213e-01 6.26072917e-01 1.93974879e-02 2.73874357e+02] [-6.25870071e-01 7.79764466e-01 -1.59383930e-02 -2.96057060e-02] [-2.51040680e-02 2.84040197e-04 9.99684803e-01 -9.37840816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91591999999997 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:273.90, Y:-0.05, Z:-0.94 [[ 7.80967637e-01 6.24262958e-01 1.96292858e-02 2.73898654e+02] [-6.24054288e-01 7.81214203e-01 -1.61435664e-02 -5.11782376e-02] [-2.54125073e-02 3.57862925e-04 9.99676986e-01 -9.38424526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94592 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:273.92, Y:-0.07, Z:-0.94 [[ 7.81203019e-01 6.23945766e-01 2.03353111e-02 2.73922596e+02] [-6.23721306e-01 7.81467547e-01 -1.67393547e-02 -7.24671817e-02] [-2.63358352e-02 3.93267622e-04 9.99653074e-01 -9.38178271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.95, Y:-0.09, Z:-0.94 [[ 7.81390701e-01 6.23718975e-01 2.00801563e-02 2.73947218e+02] [-6.23499591e-01 7.81648561e-01 -1.65465076e-02 -9.46151831e-02] [-2.60159960e-02 4.09317968e-04 9.99661443e-01 -9.37913959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00591999999995 meters Centerline goodness [0,1] 0.9998511387882697 Centerline is valid? [True, True] Translation: X:273.97, Y:-0.12, Z:-0.94 [[ 7.81339016e-01 6.23797194e-01 1.96571323e-02 2.73970059e+02] [-6.23586551e-01 7.81586139e-01 -1.62148362e-02 -1.18374027e-01] [-2.54785115e-02 4.11360798e-04 9.99675285e-01 -9.38381136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03592 meters Centerline goodness [0,1] 0.9999006556725611 Centerline is valid? [True, True] Translation: X:273.99, Y:-0.14, Z:-0.94 [[ 7.81169985e-01 6.24024618e-01 1.91502104e-02 2.73994357e+02] [-6.23824364e-01 7.81404576e-01 -1.58130465e-02 -1.40387835e-01] [-2.48317924e-02 4.06309503e-04 9.99691561e-01 -9.38552839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06591999999995 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:274.02, Y:-0.16, Z:-0.94 [[ 7.81336451e-01 6.23798190e-01 1.97273649e-02 2.74016842e+02] [-6.23585231e-01 7.81585329e-01 -1.63043915e-02 -1.63019649e-01] [-2.55892689e-02 4.37522033e-04 9.99672445e-01 -9.38541184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09592 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:274.04, Y:-0.18, Z:-0.94 [[ 7.81852619e-01 6.23153741e-01 1.96442958e-02 2.74041183e+02] [-6.22941941e-01 7.82099223e-01 -1.62524931e-02 -1.84799960e-01] [-2.54915904e-02 4.69798550e-04 9.99674926e-01 -9.39154419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12591999999995 meters Centerline goodness [0,1] 0.9998509316770187 Centerline is valid? [True, True] Translation: X:274.06, Y:-0.21, Z:-0.94 [[ 7.83537682e-01 6.21028101e-01 1.98191216e-02 2.74063779e+02] [-6.20811454e-01 7.83788102e-01 -1.64118606e-02 -2.08303492e-01] [-2.57262183e-02 5.55373572e-04 9.99668872e-01 -9.40216903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15592 meters Centerline goodness [0,1] 0.9998016561709724 Centerline is valid? [True, True] Translation: X:274.09, Y:-0.23, Z:-0.94 [[ 7.84311402e-01 6.20034868e-01 2.03073336e-02 2.74088114e+02] [-6.19806685e-01 7.84574015e-01 -1.68311732e-02 -2.29761694e-01] [-2.63685205e-02 6.14259883e-04 9.99652101e-01 -9.39591146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18591999999995 meters Centerline goodness [0,1] 0.9997514663485436 Centerline is valid? [True, True] Translation: X:274.11, Y:-0.25, Z:-0.94 [[ 7.84703930e-01 6.19620719e-01 1.76041459e-02 2.74112359e+02] [-6.19448850e-01 7.84901176e-01 -1.46036461e-02 -2.50658953e-01] [-2.28662365e-02 5.54670509e-04 9.99738380e-01 -9.38670187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21592 meters Centerline goodness [0,1] 0.9998015183843596 Centerline is valid? [True, True] Translation: X:274.14, Y:-0.27, Z:-0.94 [[ 7.85400399e-01 6.18771984e-01 1.63537430e-02 2.74136702e+02] [-6.18623189e-01 7.85570449e-01 -1.35801347e-02 -2.73342462e-01] [-2.12500241e-02 5.49038583e-04 9.99774042e-01 -9.38747150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24591999999996 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:274.16, Y:-0.30, Z:-0.94 [[ 7.85090136e-01 6.19161131e-01 1.65218549e-02 2.74161163e+02] [-6.19009046e-01 7.85263768e-01 -1.37337455e-02 -2.95154974e-01] [-2.14774155e-02 5.55050504e-04 9.99769180e-01 -9.39208811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27592 meters Centerline goodness [0,1] 0.9995034510154427 Centerline is valid? [True, True] Translation: X:274.18, Y:-0.32, Z:-0.94 [[ 7.84418084e-01 6.20010222e-01 1.66010347e-02 2.74184847e+02] [-6.19856762e-01 7.84593547e-01 -1.38043593e-02 -3.17792168e-01] [-2.15839086e-02 5.38125470e-04 9.99766895e-01 -9.39603108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30591999999996 meters Centerline goodness [0,1] 0.9994043186895011 Centerline is valid? [True, True] Translation: X:274.21, Y:-0.34, Z:-0.94 [[ 7.83445829e-01 6.21225935e-01 1.70578832e-02 2.74210329e+02] [-6.21063885e-01 7.83631328e-01 -1.41983315e-02 -3.39218151e-01] [-2.21874635e-02 5.29588370e-04 9.99753688e-01 -9.40155544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33592 meters Centerline goodness [0,1] 0.9995532833672507 Centerline is valid? [True, True] Translation: X:274.23, Y:-0.36, Z:-0.94 [[ 7.82517863e-01 6.22409369e-01 1.65036916e-02 2.74234486e+02] [-6.22257677e-01 7.82691726e-01 -1.37494064e-02 -3.59835781e-01] [-2.14750623e-02 4.89607354e-04 9.99769264e-01 -9.39020100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36591999999996 meters Centerline goodness [0,1] 0.9996525537300839 Centerline is valid? [True, True] Translation: X:274.26, Y:-0.38, Z:-0.94 [[ 7.81033686e-01 6.24271727e-01 1.64679007e-02 2.74257626e+02] [-6.24120841e-01 7.81207150e-01 -1.37318924e-02 -3.82097569e-01] [-2.14372740e-02 4.47110494e-04 9.99770095e-01 -9.38559860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:274.28, Y:-0.40, Z:-0.94 [[ 7.79223489e-01 6.26529585e-01 1.64752541e-02 2.74281517e+02] [-6.26378802e-01 7.79397539e-01 -1.37504012e-02 -4.03593536e-01] [-2.14558056e-02 3.94885691e-04 9.99769720e-01 -9.38280353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42591999999996 meters Centerline goodness [0,1] 0.9995031302792408 Centerline is valid? [True, True] Translation: X:274.31, Y:-0.42, Z:-0.94 [[ 7.77211998e-01 6.29045876e-01 1.55819018e-02 2.74306183e+02] [-6.28911268e-01 7.77368114e-01 -1.30166235e-02 -4.23947223e-01] [-2.03009269e-02 3.17042321e-04 9.99793865e-01 -9.37070236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45592 meters Centerline goodness [0,1] 0.9996026621635046 Centerline is valid? [True, True] Translation: X:274.33, Y:-0.44, Z:-0.94 [[ 7.72910345e-01 6.34293053e-01 1.67904890e-02 2.74332009e+02] [-6.34137698e-01 7.73092673e-01 -1.40391887e-02 -4.42601201e-01] [-2.18855639e-02 2.03552156e-04 9.99760462e-01 -9.37112506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48591999999996 meters Centerline goodness [0,1] 0.9996525364836693 Centerline is valid? [True, True] Translation: X:274.36, Y:-0.46, Z:-0.94 [[ 7.70096240e-01 6.37733026e-01 1.57597164e-02 2.74356681e+02] [-6.37596628e-01 7.70257474e-01 -1.31895315e-02 -4.62914256e-01] [-2.05504392e-02 1.08866589e-04 9.99788812e-01 -9.36918207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51592 meters Centerline goodness [0,1] 0.9996522257551669 Centerline is valid? [True, True] Translation: X:274.38, Y:-0.48, Z:-0.94 [[ 7.67619674e-01 6.40677824e-01 1.70868617e-02 2.74382208e+02] [-6.40517870e-01 7.67809822e-01 -1.43155350e-02 -4.83871038e-01] [-2.22911061e-02 4.44460624e-05 9.99751521e-01 -9.36355751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54591999999997 meters Centerline goodness [0,1] 0.9998014789815872 Centerline is valid? [True, True] Translation: X:274.41, Y:-0.50, Z:-0.94 [[ 7.62899603e-01 6.46246453e-01 1.87007645e-02 2.74407861e+02] [-6.46056311e-01 7.63128762e-01 -1.56759723e-02 -5.02998801e-01] [-2.44016327e-02 -1.22553902e-04 9.99702228e-01 -9.35148804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57592 meters Centerline goodness [0,1] 0.9999502091216889 Centerline is valid? [True, True] Translation: X:274.43, Y:-0.52, Z:-0.93 [[ 7.60938827e-01 6.48574400e-01 1.79818824e-02 2.74434489e+02] [-6.48398867e-01 7.61151244e-01 -1.50895025e-02 -5.22321240e-01] [-2.34735972e-02 -1.77243841e-04 9.99724441e-01 -9.34432581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60591999999997 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:274.46, Y:-0.54, Z:-0.93 [[ 7.58600285e-01 6.51358602e-01 1.60492618e-02 2.74462076e+02] [-6.51219130e-01 7.58770005e-01 -1.34805136e-02 -5.40234380e-01] [-2.09583469e-02 -2.25264842e-04 9.99780324e-01 -9.33661170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:274.49, Y:-0.56, Z:-0.93 [[ 7.58251378e-01 6.51764911e-01 1.60420777e-02 2.74487177e+02] [-6.51625349e-01 7.58421024e-01 -1.34890618e-02 -5.60918725e-01] [-2.09583461e-02 -2.25324795e-04 9.99780324e-01 -9.33689250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66591999999997 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:274.51, Y:-0.58, Z:-0.93 [[ 7.57089384e-01 6.53141589e-01 1.48905850e-02 2.74513497e+02] [-6.53021347e-01 7.57235769e-01 -1.25343736e-02 -5.80529185e-01] [-1.94624043e-02 -2.34228632e-04 9.99810562e-01 -9.34211902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69592 meters Centerline goodness [0,1] 0.9998510870644297 Centerline is valid? [True, True] Translation: X:274.54, Y:-0.60, Z:-0.93 [[ 7.56670913e-01 6.53593779e-01 1.62573419e-02 2.74539916e+02] [-6.53450273e-01 7.56845497e-01 -1.36980167e-02 -5.99443144e-01] [-2.12572345e-02 -2.58473648e-04 9.99774006e-01 -9.34552673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72592 meters Centerline goodness [0,1] 0.9999004132848678 Centerline is valid? [True, True] Translation: X:274.57, Y:-0.62, Z:-0.93 [[ 7.55437227e-01 6.55047436e-01 1.50815427e-02 2.74567071e+02] [-6.54923959e-01 7.55587708e-01 -1.27209749e-02 -6.18508647e-01] [-1.97282703e-02 -2.67365662e-04 9.99805343e-01 -9.34490491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.60, Y:-0.63, Z:-0.93 [[ 7.55214467e-01 6.55249644e-01 1.72919971e-02 2.74595977e+02] [-6.55087049e-01 7.55412346e-01 -1.45994990e-02 -6.34307625e-01] [-2.26289047e-02 -3.02010522e-04 9.99743888e-01 -9.34191573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78592 meters Centerline goodness [0,1] 0.9998509612996175 Centerline is valid? [True, True] Translation: X:274.62, Y:-0.65, Z:-0.93 [[ 7.55155729e-01 6.55274177e-01 1.88567664e-02 2.74623245e+02] [-6.55080456e-01 7.55391058e-01 -1.59356614e-02 -6.52620477e-01] [-2.46864601e-02 -3.18793110e-04 9.99695192e-01 -9.34496043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81591999999995 meters Centerline goodness [0,1] 0.9998511387882697 Centerline is valid? [True, True] Translation: X:274.65, Y:-0.67, Z:-0.93 [[ 7.55430013e-01 6.54969680e-01 1.84449041e-02 2.74649637e+02] [-6.54783883e-01 7.55655103e-01 -1.56023434e-02 -6.71383608e-01] [-2.41570478e-02 -2.90947466e-04 9.99708134e-01 -9.34103510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84592 meters Centerline goodness [0,1] 0.9996524502259073 Centerline is valid? [True, True] Translation: X:274.68, Y:-0.69, Z:-0.93 [[ 7.56846376e-01 6.53410821e-01 1.54228011e-02 2.74677576e+02] [-6.53280353e-01 7.57003476e-01 -1.30582218e-02 -6.88146087e-01] [-2.02074974e-02 -1.92345113e-04 9.99795789e-01 -9.34915747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87591999999995 meters Centerline goodness [0,1] 0.9996530875210625 Centerline is valid? [True, True] Translation: X:274.70, Y:-0.71, Z:-0.94 [[ 7.57955273e-01 6.52123636e-01 1.54456239e-02 2.74704081e+02] [-6.51992228e-01 7.58112618e-01 -1.30916865e-02 -7.07721930e-01] [-2.02469206e-02 -1.47513894e-04 9.99794999e-01 -9.35991918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90592 meters Centerline goodness [0,1] 0.999255176523164 Centerline is valid? [True, True] Translation: X:274.73, Y:-0.73, Z:-0.94 [[ 7.59643118e-01 6.50131443e-01 1.64754260e-02 2.74731695e+02] [-6.49981131e-01 7.59821755e-01 -1.39796297e-02 -7.25838914e-01] [-2.16069839e-02 -8.91865274e-05 9.99766538e-01 -9.36442314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93591999999995 meters Centerline goodness [0,1] 0.9988088147706968 Centerline is valid? [True, True] Translation: X:274.76, Y:-0.75, Z:-0.94 [[ 7.59845177e-01 6.49875245e-01 1.72473813e-02 2.74757850e+02] [-6.49710094e-01 7.60040894e-01 -1.46503986e-02 -7.45756176e-01] [-2.26296465e-02 -7.37630090e-05 9.99743914e-01 -9.36495638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96592 meters Centerline goodness [0,1] 0.9988575402344526 Centerline is valid? [True, True] Translation: X:274.78, Y:-0.76, Z:-0.94 [[ 7.60411883e-01 6.49162081e-01 1.90357736e-02 2.74783127e+02] [-6.48960320e-01 7.60650110e-01 -1.61837226e-02 -7.64947739e-01] [-2.49854223e-02 -4.71667925e-05 9.99687815e-01 -9.36743177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99591999999996 meters Centerline goodness [0,1] 0.998908838408888 Centerline is valid? [True, True] Translation: X:274.81, Y:-0.78, Z:-0.94 [[ 7.61743946e-01 6.47600401e-01 1.89705479e-02 2.74809740e+02] [-6.47399103e-01 7.61980131e-01 -1.61456317e-02 -7.84029177e-01] [-2.49110981e-02 1.73214674e-05 9.99689670e-01 -9.36664222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02592 meters Centerline goodness [0,1] 0.9985090945234072 Centerline is valid? [True, True] Translation: X:274.84, Y:-0.80, Z:-0.94 [[ 7.62716169e-01 6.46446199e-01 1.92706497e-02 2.74836011e+02] [-6.46237667e-01 7.62959571e-01 -1.64186155e-02 -8.04473537e-01] [-2.53164782e-02 6.93238641e-05 9.99679484e-01 -9.37198456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05591999999996 meters Centerline goodness [0,1] 0.9980094550883304 Centerline is valid? [True, True] Translation: X:274.86, Y:-0.82, Z:-0.94 [[ 7.62924691e-01 6.46221415e-01 1.85417950e-02 2.74860906e+02] [-6.46027937e-01 7.63149969e-01 -1.58123145e-02 -8.24885054e-01] [-2.43684266e-02 8.50875507e-05 9.99703042e-01 -9.37744907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08592 meters Centerline goodness [0,1] 0.9977653076426478 Centerline is valid? [True, True] Translation: X:274.89, Y:-0.85, Z:-0.94 [[ 7.62739055e-01 6.46437865e-01 1.86338591e-02 2.74885674e+02] [-6.46242115e-01 7.62966630e-01 -1.59075381e-02 -8.46652390e-01] [-2.45002476e-02 9.13160249e-05 9.99699820e-01 -9.37939238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11591999999996 meters Centerline goodness [0,1] 0.9986098009036294 Centerline is valid? [True, True] Translation: X:274.91, Y:-0.87, Z:-0.94 [[ 7.61946532e-01 6.47343690e-01 1.95864413e-02 2.74909885e+02] [-6.47127334e-01 7.62198230e-01 -1.67353580e-02 -8.67074047e-01] [-2.57622793e-02 7.65264841e-05 9.99668094e-01 -9.39237000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14592 meters Centerline goodness [0,1] 0.9980634589602264 Centerline is valid? [True, True] Translation: X:274.94, Y:-0.89, Z:-0.94 [[ 7.60970398e-01 6.48483116e-01 1.98419266e-02 2.74935293e+02] [-6.48260994e-01 7.61229036e-01 -1.69716872e-02 -8.88941504e-01] [-2.61101033e-02 5.22045570e-05 9.99659072e-01 -9.38676354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17591999999996 meters Centerline goodness [0,1] 0.9986092484974917 Centerline is valid? [True, True] Translation: X:274.96, Y:-0.91, Z:-0.94 [[ 7.58776055e-01 6.51010700e-01 2.10705034e-02 2.74958454e+02] [-6.50760717e-01 7.59068553e-01 -1.80394323e-02 -9.10749883e-01] [-2.77378200e-02 -2.39666417e-05 9.99615232e-01 -9.38890086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20592 meters Centerline goodness [0,1] 0.9980632666236281 Centerline is valid? [True, True] Translation: X:274.98, Y:-0.93, Z:-0.94 [[ 7.57198791e-01 6.52880619e-01 1.99220862e-02 2.74982080e+02] [-6.52657376e-01 7.57460819e-01 -1.70721071e-02 -9.32111742e-01] [-2.62362476e-02 -7.53176337e-05 9.99655768e-01 -9.38535976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23591999999996 meters Centerline goodness [0,1] 0.9979128360582418 Centerline is valid? [True, True] Translation: X:275.01, Y:-0.95, Z:-0.94 [[ 7.54732569e-01 6.55735797e-01 1.97310380e-02 2.75006359e+02] [-6.55517320e-01 7.54990423e-01 -1.69264454e-02 -9.54829058e-01] [-2.59960209e-02 -1.59097491e-04 9.99662034e-01 -9.39233983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26592 meters Centerline goodness [0,1] 0.9976078939499651 Centerline is valid? [True, True] Translation: X:275.03, Y:-0.98, Z:-0.94 [[ 7.53712531e-01 6.56925589e-01 1.91361313e-02 2.75030116e+02] [-6.56720324e-01 7.53955393e-01 -1.64219734e-02 -9.76907829e-01] [-2.52158040e-02 -1.89639208e-04 9.99682013e-01 -9.38738803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29591999999997 meters Centerline goodness [0,1] 0.9982608695652174 Centerline is valid? [True, True] Translation: X:275.05, Y:-1.00, Z:-0.94 [[ 7.52496207e-01 6.58306643e-01 1.95402501e-02 2.75054727e+02] [-6.58092625e-01 7.52749833e-01 -1.67864442e-02 -9.99341994e-01] [-2.57595477e-02 -2.27558937e-04 9.99668142e-01 -9.38577792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32592 meters Centerline goodness [0,1] 0.9976156177040385 Centerline is valid? [True, True] Translation: X:275.08, Y:-1.02, Z:-0.94 [[ 7.52239296e-01 6.58577309e-01 2.02970483e-02 2.75078787e+02] [-6.58346076e-01 7.52513038e-01 -1.74519769e-02 -1.02000016e+00] [-2.67672695e-02 -2.34419291e-04 9.99641665e-01 -9.37831254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35591999999997 meters Centerline goodness [0,1] 0.9975670307845085 Centerline is valid? [True, True] Translation: X:275.10, Y:-1.04, Z:-0.94 [[ 7.50506963e-01 6.60525909e-01 2.10908271e-02 2.75103252e+02] [-6.60276530e-01 7.50803191e-01 -1.81513698e-02 -1.04100733e+00] [-2.78245103e-02 -3.03048712e-04 9.99612777e-01 -9.37192165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38592 meters Centerline goodness [0,1] 0.9971193006854078 Centerline is valid? [True, True] Translation: X:275.13, Y:-1.06, Z:-0.94 [[ 7.49229959e-01 6.62033471e-01 1.91350891e-02 2.75127586e+02] [-6.61828306e-01 7.49474205e-01 -1.64836075e-02 -1.06274186e+00] [-2.52539556e-02 -3.14131093e-04 9.99681019e-01 -9.35625585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41591999999997 meters Centerline goodness [0,1] 0.9975643702157272 Centerline is valid? [True, True] Translation: X:275.15, Y:-1.08, Z:-0.94 [[ 7.47466368e-01 6.64015788e-01 1.94180691e-02 2.75151903e+02] [-6.63804801e-01 7.47718458e-01 -1.67420096e-02 -1.08302979e+00] [-2.56362074e-02 -3.75718336e-04 9.99671268e-01 -9.35273301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44592 meters Centerline goodness [0,1] 0.9967741935483871 Centerline is valid? [True, True] Translation: X:275.18, Y:-1.10, Z:-0.93 [[ 7.44597530e-01 6.67274176e-01 1.78799572e-02 2.75178491e+02] [-6.67095840e-01 7.44812046e-01 -1.54323328e-02 -1.10315867e+00] [-2.36148047e-02 -4.36768164e-04 9.99721036e-01 -9.34643666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47592 meters Centerline goodness [0,1] 0.9975649754012821 Centerline is valid? [True, True] Translation: X:275.20, Y:-1.12, Z:-0.93 [[ 7.43697585e-01 6.68289162e-01 1.74211985e-02 2.75204520e+02] [-6.68119768e-01 7.43901470e-01 -1.50524869e-02 -1.12368200e+00] [-2.30190691e-02 -4.44948999e-04 9.99734927e-01 -9.34948332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50591999999995 meters Centerline goodness [0,1] 0.9976166832174777 Centerline is valid? [True, True] Translation: X:275.23, Y:-1.14, Z:-0.93 [[ 7.42670240e-01 6.69419867e-01 1.78313300e-02 2.75230323e+02] [-6.69242387e-01 7.42884117e-01 -1.54212773e-02 -1.14377187e+00] [-2.35699212e-02 -4.80558117e-04 9.99722075e-01 -9.34350369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53592 meters Centerline goodness [0,1] 0.9974133213948166 Centerline is valid? [True, True] Translation: X:275.26, Y:-1.16, Z:-0.93 [[ 7.41463654e-01 6.70726041e-01 1.89269082e-02 2.75257390e+02] [-6.70526125e-01 7.41704984e-01 -1.63839230e-02 -1.16139682e+00] [-2.50273060e-02 -5.42903032e-04 9.99686621e-01 -9.33364500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56591999999995 meters Centerline goodness [0,1] 0.9974687313877308 Centerline is valid? [True, True] Translation: X:275.28, Y:-1.18, Z:-0.93 [[ 7.41503356e-01 6.70659242e-01 1.97218993e-02 2.75284105e+02] [-6.70441677e-01 7.41765379e-01 -1.70903262e-02 -1.18044007e+00] [-2.60908073e-02 -5.49848981e-04 9.99659426e-01 -9.32755008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59592 meters Centerline goodness [0,1] 0.9972175295637484 Centerline is valid? [True, True] Translation: X:275.31, Y:-1.20, Z:-0.93 [[ 7.42261929e-01 6.69855747e-01 1.84528589e-02 2.75312757e+02] [-6.69664670e-01 7.42491112e-01 -1.60055739e-02 -1.19669875e+00] [-2.44225094e-02 -4.76899498e-04 9.99701612e-01 -9.31881220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62591999999995 meters Centerline goodness [0,1] 0.9966779055930186 Centerline is valid? [True, True] Translation: X:275.34, Y:-1.22, Z:-0.93 [[ 7.42993752e-01 6.69060898e-01 1.78269390e-02 2.75339253e+02] [-6.68882207e-01 7.43207460e-01 -1.54681675e-02 -1.21596116e+00] [-2.35982601e-02 -4.31370533e-04 9.99721429e-01 -9.32583228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65592 meters Centerline goodness [0,1] 0.9966731218034659 Centerline is valid? [True, True] Translation: X:275.37, Y:-1.23, Z:-0.93 [[ 7.43725464e-01 6.68242882e-01 1.79967952e-02 2.75365993e+02] [-6.68060191e-01 7.43943070e-01 -1.56297642e-02 -1.23466191e+00] [-2.38330697e-02 -3.98688815e-04 9.99715873e-01 -9.33574990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68591999999995 meters Centerline goodness [0,1] 0.9966721303332836 Centerline is valid? [True, True] Translation: X:275.39, Y:-1.25, Z:-0.93 [[ 7.44403591e-01 6.67511729e-01 1.70699781e-02 2.75392291e+02] [-6.67346869e-01 7.44599202e-01 -1.48386209e-02 -1.25346014e+00] [-2.26152456e-02 -3.45673759e-04 9.99744183e-01 -9.33842099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71592 meters Centerline goodness [0,1] 0.9958806888679339 Centerline is valid? [True, True] Translation: X:275.42, Y:-1.27, Z:-0.93 [[ 7.45465089e-01 6.66360284e-01 1.56771201e-02 2.75420376e+02] [-6.66220716e-01 7.45629865e-01 -1.36404715e-02 -1.26992921e+00] [-2.07787974e-02 -2.75926828e-04 9.99784059e-01 -9.32943552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74591999999996 meters Centerline goodness [0,1] 0.9959813455050606 Centerline is valid? [True, True] Translation: X:275.45, Y:-1.29, Z:-0.93 [[ 7.45624877e-01 6.66171351e-01 1.61019695e-02 2.75447293e+02] [-6.66023753e-01 7.45798672e-01 -1.40249970e-02 -1.28989560e+00] [-2.13518787e-02 -2.66907539e-04 9.99771987e-01 -9.32644778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77592 meters Centerline goodness [0,1] 0.9958798709357161 Centerline is valid? [True, True] Translation: X:275.47, Y:-1.31, Z:-0.93 [[ 7.46875041e-01 6.64770485e-01 1.60585130e-02 2.75473398e+02] [-6.64623080e-01 7.47047626e-01 -1.40002051e-02 -1.30852193e+00] [-2.13033972e-02 -2.16454587e-04 9.99773033e-01 -9.34357388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80591999999996 meters Centerline goodness [0,1] 0.9961301845604287 Centerline is valid? [True, True] Translation: X:275.50, Y:-1.33, Z:-0.93 [[ 7.47512239e-01 6.64061917e-01 1.57233561e-02 2.75499167e+02] [-6.63920179e-01 7.47677562e-01 -1.37207286e-02 -1.32817320e+00] [-2.08674139e-02 -1.82640804e-04 9.99782235e-01 -9.33868117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83592 meters Centerline goodness [0,1] 0.9955811528722507 Centerline is valid? [True, True] Translation: X:275.53, Y:-1.35, Z:-0.94 [[ 7.48798741e-01 6.62566904e-01 1.74798142e-02 2.75525697e+02] [-6.62390989e-01 7.49002721e-01 -1.52676645e-02 -1.34716955e+00] [-2.32082776e-02 -1.46063520e-04 9.99730641e-01 -9.35261067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86591999999996 meters Centerline goodness [0,1] 0.9955787382016891 Centerline is valid? [True, True] Translation: X:275.55, Y:-1.37, Z:-0.94 [[ 7.48880031e-01 6.62473989e-01 1.75189286e-02 2.75551514e+02] [-6.62296883e-01 7.49084906e-01 -1.53180256e-02 -1.36783175e+00] [-2.32709584e-02 -1.31368328e-04 9.99729186e-01 -9.35226690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89592 meters Centerline goodness [0,1] 0.9957805907172996 Centerline is valid? [True, True] Translation: X:275.58, Y:-1.39, Z:-0.93 [[ 7.49399190e-01 6.61899113e-01 1.70416502e-02 2.75576905e+02] [-6.61731065e-01 7.49592926e-01 -1.49145367e-02 -1.38706481e+00] [-2.26462190e-02 -1.00047629e-04 9.99743536e-01 -9.34087219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92591999999996 meters Centerline goodness [0,1] 0.9956321040353403 Centerline is valid? [True, True] Translation: X:275.60, Y:-1.41, Z:-0.93 [[ 7.49468469e-01 6.61812507e-01 1.73556732e-02 2.75602074e+02] [-6.61637814e-01 7.49669392e-01 -1.52054296e-02 -1.40814677e+00] [-2.30741604e-02 -8.71796147e-05 9.99733752e-01 -9.34628203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95592 meters Centerline goodness [0,1] 0.9954831984910905 Centerline is valid? [True, True] Translation: X:275.63, Y:-1.43, Z:-0.94 [[ 7.49841643e-01 6.61396096e-01 1.71088829e-02 2.75626632e+02] [-6.61225866e-01 7.50036799e-01 -1.50051405e-02 -1.42959686e+00] [-2.27566331e-02 -6.13567414e-05 9.99741032e-01 -9.35090347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98591999999996 meters Centerline goodness [0,1] 0.9959801488833747 Centerline is valid? [True, True] Translation: X:275.65, Y:-1.45, Z:-0.94 [[ 7.49514523e-01 6.61791258e-01 1.61341668e-02 2.75650128e+02] [-6.61639684e-01 7.49688154e-01 -1.41633693e-02 -1.45100286e+00] [-2.14687877e-02 -5.93540965e-05 9.99769517e-01 -9.36013354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01592 meters Centerline goodness [0,1] 0.9963182247873028 Centerline is valid? [True, True] Translation: X:275.68, Y:-1.47, Z:-0.94 [[ 7.48411020e-01 6.63050734e-01 1.56419059e-02 2.75675305e+02] [-6.62908244e-01 7.48574457e-01 -1.37456719e-02 -1.47288554e+00] [-2.08232090e-02 -8.17360095e-05 9.99783170e-01 -9.35189162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04591999999997 meters Centerline goodness [0,1] 0.9959258707209221 Centerline is valid? [True, True] Translation: X:275.70, Y:-1.49, Z:-0.94 [[ 7.46743113e-01 6.64947289e-01 1.48264985e-02 2.75699758e+02] [-6.64819372e-01 7.46890279e-01 -1.30427822e-02 -1.49461806e+00] [-1.97465303e-02 -1.17335694e-04 9.99805011e-01 -9.35483460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07592 meters Centerline goodness [0,1] 0.996030367687193 Centerline is valid? [True, True] Translation: X:275.72, Y:-1.52, Z:-0.93 [[ 7.43086049e-01 6.69025517e-01 1.50990701e-02 2.75723047e+02] [-6.68893594e-01 7.43239401e-01 -1.32873425e-02 -1.51643759e+00] [-2.01117950e-02 -2.26032431e-04 9.99797712e-01 -9.34580640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10591999999997 meters Centerline goodness [0,1] 0.99622791344054 Centerline is valid? [True, True] Translation: X:275.75, Y:-1.54, Z:-0.93 [[ 7.40769807e-01 6.71557530e-01 1.64492457e-02 2.75747177e+02] [-6.71401291e-01 7.40952351e-01 -1.44885995e-02 -1.53745221e+00] [-2.19180354e-02 -3.11327806e-04 9.99759723e-01 -9.34706231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13592 meters Centerline goodness [0,1] 0.9965251923554231 Centerline is valid? [True, True] Translation: X:275.77, Y:-1.56, Z:-0.93 [[ 7.38430551e-01 6.74154895e-01 1.53459598e-02 2.75772448e+02] [-6.74019183e-01 7.38589909e-01 -1.35309834e-02 -1.55889144e+00] [-2.04563497e-02 -3.51779694e-04 9.99790685e-01 -9.33819982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16591999999997 meters Centerline goodness [0,1] 0.9962294105973407 Centerline is valid? [True, True] Translation: X:275.80, Y:-1.58, Z:-0.94 [[ 7.35266858e-01 6.77611229e-01 1.50223008e-02 2.75798590e+02] [-6.77481653e-01 7.35420178e-01 -1.32579203e-02 -1.57857801e+00] [-2.00314187e-02 -4.29223771e-04 9.99799259e-01 -9.35546151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19592 meters Centerline goodness [0,1] 0.9961750534002285 Centerline is valid? [True, True] Translation: X:275.82, Y:-1.60, Z:-0.93 [[ 7.34116705e-01 6.78879159e-01 1.39910953e-02 2.75824542e+02] [-6.78766750e-01 7.34249896e-01 -1.23608507e-02 -1.59938954e+00] [-1.86644842e-02 -4.22383354e-04 9.99825714e-01 -9.34555047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22592 meters Centerline goodness [0,1] 0.9969692452923933 Centerline is valid? [True, True] Translation: X:275.85, Y:-1.62, Z:-0.94 [[ 7.33365803e-01 6.79675315e-01 1.46991777e-02 2.75849506e+02] [-6.79551160e-01 7.33512957e-01 -1.29985635e-02 -1.61924916e+00] [-1.96168400e-02 -4.56141294e-04 9.99807467e-01 -9.35386586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25591999999995 meters Centerline goodness [0,1] 0.9982142857142857 Centerline is valid? [True, True] Translation: X:275.88, Y:-1.64, Z:-0.94 [[ 7.33499762e-01 6.79511296e-01 1.55723315e-02 2.75876456e+02] [-6.79371611e-01 7.33664896e-01 -1.37853225e-02 -1.63864790e+00] [-2.07921553e-02 -4.67869198e-04 9.99783710e-01 -9.35768684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28592 meters Centerline goodness [0,1] 0.9981588375796179 Centerline is valid? [True, True] Translation: X:275.90, Y:-1.66, Z:-0.93 [[ 7.34524854e-01 6.78402285e-01 1.56069878e-02 2.75901700e+02] [-6.78261622e-01 7.34690514e-01 -1.38210131e-02 -1.65874767e+00] [-2.08425128e-02 -4.33743244e-04 9.99782677e-01 -9.34627016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31591999999995 meters Centerline goodness [0,1] 0.9991565368394939 Centerline is valid? [True, True] Translation: X:275.93, Y:-1.68, Z:-0.94 [[ 7.35438541e-01 6.77384074e-01 1.67621437e-02 2.75927107e+02] [-6.77221200e-01 7.35629416e-01 -1.48596391e-02 -1.68018242e+00] [-2.23964089e-02 -4.23327743e-04 9.99749079e-01 -9.36514480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34592 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:275.95, Y:-1.70, Z:-0.94 [[ 7.35938721e-01 6.76833498e-01 1.70474346e-02 2.75952988e+02] [-6.76664518e-01 7.36136030e-01 -1.51286144e-02 -1.70081318e+00] [-2.27887838e-02 -4.01661015e-04 9.99740221e-01 -9.36517795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.98, Y:-1.72, Z:-0.94 [[ 7.36615489e-01 6.76118291e-01 1.61764449e-02 2.75978223e+02] [-6.75965677e-01 7.36793006e-01 -1.43690709e-02 -1.72144366e+00] [-2.16338831e-02 -3.50241375e-04 9.99765899e-01 -9.36297732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:276.00, Y:-1.74, Z:-0.94 [[ 7.37293451e-01 6.75349275e-01 1.73701690e-02 2.76003600e+02] [-6.75172707e-01 7.37497960e-01 -1.54458736e-02 -1.74319478e+00] [-2.32418237e-02 -3.39722628e-04 9.99729815e-01 -9.37481747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.03, Y:-1.77, Z:-0.94 [[ 7.38736736e-01 6.73758025e-01 1.78369822e-02 2.76026507e+02] [-6.73571021e-01 7.38951989e-01 -1.58757193e-02 -1.76560450e+00] [-2.38770668e-02 -2.86497279e-04 9.99714861e-01 -9.38459917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.05, Y:-1.79, Z:-0.94 [[ 7.40151997e-01 6.72187254e-01 1.84205777e-02 2.76050706e+02] [-6.71986898e-01 7.40381147e-01 -1.64123877e-02 -1.78861807e+00] [-2.46704463e-02 -2.30725332e-04 9.99695612e-01 -9.38558104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.07, Y:-1.81, Z:-0.94 [[ 7.41753451e-01 6.70410881e-01 1.87367986e-02 2.76073455e+02] [-6.70202575e-01 7.41990043e-01 -1.67117936e-02 -1.81219716e+00] [-2.51062863e-02 -1.61420072e-04 9.99684774e-01 -9.38693759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:276.10, Y:-1.83, Z:-0.94 [[ 7.42440506e-01 6.69635697e-01 1.92387114e-02 2.76097154e+02] [-6.69415352e-01 7.42689718e-01 -1.71775538e-02 -1.83457521e+00] [-2.57910964e-02 -1.25376989e-04 9.99667346e-01 -9.39226993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55591999999996 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:276.12, Y:-1.86, Z:-0.94 [[ 7.42090643e-01 6.70023653e-01 1.92297333e-02 2.76121656e+02] [-6.69803178e-01 7.42339740e-01 -1.71876037e-02 -1.85602641e+00] [-2.57910963e-02 -1.25376577e-04 9.99667346e-01 -9.39255075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.15, Y:-1.88, Z:-0.94 [[ 7.42634569e-01 6.69422217e-01 1.91778862e-02 2.76145669e+02] [-6.69202402e-01 7.42882148e-01 -1.71539725e-02 -1.87948898e+00] [-2.57301596e-02 -9.47545273e-05 9.99668920e-01 -9.38853553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.17, Y:-1.90, Z:-0.94 [[ 7.42398014e-01 6.69653493e-01 2.02333359e-02 2.76167811e+02] [-6.69408447e-01 7.42673676e-01 -1.81146916e-02 -1.90265264e+00] [-2.71573324e-02 -9.60548637e-05 9.99631167e-01 -9.39706214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.19, Y:-1.93, Z:-0.94 [[ 7.41543852e-01 6.70636963e-01 1.89414796e-02 2.76191343e+02] [-6.70422384e-01 7.41785717e-01 -1.69640264e-02 -1.92538907e+00] [-2.54272222e-02 -1.19222450e-04 9.99676669e-01 -9.38601044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67591999999996 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:276.22, Y:-1.95, Z:-0.94 [[ 7.40386763e-01 6.71913962e-01 1.89491163e-02 2.76215155e+02] [-6.71699186e-01 7.40629195e-01 -1.69881965e-02 -1.94885189e+00] [-2.54488752e-02 -1.50270160e-04 9.99676114e-01 -9.38768763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.24, Y:-1.97, Z:-0.94 [[ 7.37972466e-01 6.74577071e-01 1.85044662e-02 2.76235721e+02] [-6.74372947e-01 7.38204390e-01 -1.65953823e-02 -1.97446127e+00] [-2.48549426e-02 -2.31976211e-04 9.99691041e-01 -9.38967417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.26, Y:-2.00, Z:-0.94 [[ 7.37397554e-01 6.75192500e-01 1.89719419e-02 2.76258803e+02] [-6.74977711e-01 7.37641530e-01 -1.70312127e-02 -1.99746263e+00] [-2.54938394e-02 -2.46863366e-04 9.99674949e-01 -9.38879415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.28, Y:-2.02, Z:-0.94 [[ 7.35713323e-01 6.77048765e-01 1.81900146e-02 2.76282291e+02] [-6.76851461e-01 7.35938101e-01 -1.63465981e-02 -2.02050361e+00] [-2.44541689e-02 -2.85527980e-04 9.99700911e-01 -9.38415083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.31, Y:-2.04, Z:-0.94 [[ 7.34778365e-01 6.78061028e-01 1.82755460e-02 2.76306467e+02] [-6.77861751e-01 7.35005542e-01 -1.64408053e-02 -2.04270049e+00] [-2.45804969e-02 -3.07945548e-04 9.99697807e-01 -9.39080404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.33, Y:-2.07, Z:-0.94 [[ 7.32242529e-01 6.80836249e-01 1.68190441e-02 2.76328676e+02] [-6.80668037e-01 7.32435574e-01 -1.51378079e-02 -2.06748652e+00] [-2.26252346e-02 -3.63638974e-04 9.99743950e-01 -9.39117124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85591999999997 meters Centerline goodness [0,1] 0.9998511387882697 Centerline is valid? [True, True] Translation: X:276.35, Y:-2.09, Z:-0.94 [[ 7.30444242e-01 6.82780084e-01 1.62038832e-02 2.76351533e+02] [-6.82624100e-01 7.30623842e-01 -1.45992829e-02 -2.09169164e+00] [-2.18070430e-02 -3.97199076e-04 9.99762119e-01 -9.39396211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88592 meters Centerline goodness [0,1] 0.9999006507376683 Centerline is valid? [True, True] Translation: X:276.37, Y:-2.11, Z:-0.94 [[ 7.28617650e-01 6.84729855e-01 1.61661734e-02 2.76374421e+02] [-6.84574781e-01 7.28796836e-01 -1.45788076e-02 -2.11435158e+00] [-2.17644009e-02 -4.44578055e-04 9.99763029e-01 -9.40013045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91591999999997 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:276.40, Y:-2.14, Z:-0.94 [[ 7.25435614e-01 6.88115376e-01 1.55048137e-02 2.76398026e+02] [-6.87973233e-01 7.25601105e-01 -1.39952523e-02 -2.13603321e+00] [-2.08806583e-02 -5.14242371e-04 9.99781843e-01 -9.39245924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94592 meters Centerline goodness [0,1] 0.9998011533107973 Centerline is valid? [True, True] Translation: X:276.42, Y:-2.16, Z:-0.94 [[ 7.22699722e-01 6.91001195e-01 1.49151456e-02 2.76422080e+02] [-6.90870022e-01 7.22853394e-01 -1.34753275e-02 -2.15750563e+00] [-2.00929310e-02 -5.65811550e-04 9.99797957e-01 -9.39483178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97592 meters Centerline goodness [0,1] 0.999950258654994 Centerline is valid? [True, True] Translation: X:276.45, Y:-2.18, Z:-0.94 [[ 7.20458802e-01 6.93332205e-01 1.51515063e-02 2.76445569e+02] [-6.93197097e-01 7.20617829e-01 -1.37014413e-02 -2.17923619e+00] [-2.04180961e-02 -6.31656178e-04 9.99791329e-01 -9.40695680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00591999999995 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:276.47, Y:-2.20, Z:-0.94 [[ 7.16768987e-01 6.97155785e-01 1.46979967e-02 2.76470641e+02] [-6.97029367e-01 7.16919312e-01 -1.32951375e-02 -2.19959654e+00] [-1.98060597e-02 -7.15393115e-04 9.99803585e-01 -9.40698460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:276.50, Y:-2.22, Z:-0.94 [[ 7.14461719e-01 6.99501474e-01 1.55608059e-02 2.76496679e+02] [-6.99360072e-01 7.14630687e-01 -1.40879503e-02 -2.21934370e+00] [-2.09747714e-02 -8.17305137e-04 9.99779671e-01 -9.40690165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.52, Y:-2.24, Z:-0.94 [[ 7.12045112e-01 7.01990835e-01 1.41642580e-02 2.76523418e+02] [-7.01873944e-01 7.12185526e-01 -1.28352195e-02 -2.23794863e+00] [-1.90977860e-02 -8.02268370e-04 9.99817299e-01 -9.40511228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.55, Y:-2.26, Z:-0.94 [[ 7.11356946e-01 7.02706506e-01 1.32235391e-02 2.76549225e+02] [-7.02604533e-01 7.11479439e-01 -1.19949161e-02 -2.25831406e+00] [-1.78371818e-02 -7.58251625e-04 9.99840617e-01 -9.40460528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.57, Y:-2.28, Z:-0.94 [[ 7.10934624e-01 7.03145251e-01 1.25982775e-02 2.76574836e+02] [-7.03052565e-01 7.11045871e-01 -1.14394091e-02 -2.27870575e+00] [-1.70015194e-02 -7.24579330e-04 9.99855201e-01 -9.40922289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.60, Y:-2.30, Z:-0.94 [[ 7.12540127e-01 7.01514153e-01 1.28242006e-02 2.76603631e+02] [-7.01417669e-01 7.12655187e-01 -1.16549608e-02 -2.29536293e+00] [-1.73153530e-02 -6.90493656e-04 9.99849840e-01 -9.41247161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.63, Y:-2.31, Z:-0.94 [[ 7.13992779e-01 7.00015873e-01 1.38596443e-02 2.76630386e+02] [-6.99902683e-01 7.14126942e-01 -1.26073283e-02 -2.31368897e+00] [-1.87228753e-02 -6.98860860e-04 9.99824467e-01 -9.40766834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.66, Y:-2.33, Z:-0.94 [[ 7.15743804e-01 6.98216073e-01 1.43221271e-02 2.76656952e+02] [-6.98094613e-01 7.15886774e-01 -1.30398350e-02 -2.33249135e+00] [-1.93576438e-02 -6.65018637e-04 9.99812402e-01 -9.39861505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.68, Y:-2.35, Z:-0.94 [[ 7.17280089e-01 6.96619291e-01 1.51933706e-02 2.76682716e+02] [-6.96481985e-01 7.17440688e-01 -1.38457092e-02 -2.35164677e+00] [-2.05455304e-02 -6.50657415e-04 9.99788707e-01 -9.39699339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.71, Y:-2.37, Z:-0.94 [[ 7.20408079e-01 6.93371055e-01 1.57727739e-02 2.76709015e+02] [-6.93222014e-01 7.20580499e-01 -1.43869205e-02 -2.37084192e+00] [-2.13410275e-02 -5.69580373e-04 9.99772092e-01 -9.40775991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.73, Y:-2.39, Z:-0.94 [[ 7.21357314e-01 6.92404109e-01 1.48383108e-02 2.76733796e+02] [-6.92271753e-01 7.21509737e-01 -1.35469303e-02 -2.39125181e+00] [-2.00859360e-02 -4.99966187e-04 9.99798132e-01 -9.40131597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33592 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:276.76, Y:-2.41, Z:-0.94 [[ 7.23025727e-01 6.90635519e-01 1.60118177e-02 2.76758945e+02] [-6.90480670e-01 7.23202844e-01 -1.46318520e-02 -2.41125111e+00] [-2.16850687e-02 -4.76645181e-04 9.99764738e-01 -9.41771504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.79, Y:-2.43, Z:-0.94 [[ 7.25402496e-01 6.88119324e-01 1.68230272e-02 2.76785579e+02] [-6.87947583e-01 7.25597424e-01 -1.53785906e-02 -2.43050138e+00] [-2.27890506e-02 -4.17692912e-04 9.99740209e-01 -9.42474853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:276.81, Y:-2.45, Z:-0.94 [[ 7.26102584e-01 6.87382232e-01 1.67542062e-02 2.76809816e+02] [-6.87211386e-01 7.26295752e-01 -1.53294370e-02 -2.45208114e+00] [-2.27056914e-02 -3.82937481e-04 9.99742119e-01 -9.43600735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.83, Y:-2.47, Z:-0.94 [[ 7.27076184e-01 6.86361553e-01 1.63719915e-02 2.76833434e+02] [-6.86197849e-01 7.27260413e-01 -1.49934457e-02 -2.47338405e+00] [-2.21976260e-02 -3.33048067e-04 9.99753547e-01 -9.43181470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.86, Y:-2.49, Z:-0.94 [[ 7.28611179e-01 6.84750441e-01 1.55750852e-02 2.76858056e+02] [-6.84601814e-01 7.28777581e-01 -1.42686622e-02 -2.49480623e+00] [-2.11212456e-02 -2.66424832e-04 9.99776886e-01 -9.42609367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48591999999996 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:276.88, Y:-2.52, Z:-0.94 [[ 7.28356365e-01 6.85028908e-01 1.52446799e-02 2.76883310e+02] [-6.84886284e-01 7.28515840e-01 -1.39803042e-02 -2.51618380e+00] [-2.06829033e-02 -2.58228662e-04 9.99786053e-01 -9.43395641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.91, Y:-2.54, Z:-0.94 [[ 7.28754017e-01 6.84617284e-01 1.47226827e-02 2.76907055e+02] [-6.84483929e-01 7.28902683e-01 -1.35140196e-02 -2.53779443e+00] [-1.99833344e-02 -2.29043612e-04 9.99800287e-01 -9.44367472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.93, Y:-2.56, Z:-0.94 [[ 7.27699396e-01 6.85727895e-01 1.51935282e-02 2.76930194e+02] [-6.85585850e-01 7.27857944e-01 -1.39590627e-02 -2.55980321e+00] [-2.06308489e-02 -2.58466464e-04 9.99787128e-01 -9.44519918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.95, Y:-2.58, Z:-0.94 [[ 7.27309505e-01 6.86138703e-01 1.53154635e-02 2.76954735e+02] [-6.85994154e-01 7.27470695e-01 -1.40857841e-02 -2.58134198e+00] [-2.08063525e-02 -2.61593762e-04 9.99783490e-01 -9.44732156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.98, Y:-2.60, Z:-0.94 [[ 7.25927462e-01 6.87616863e-01 1.45729113e-02 2.76979878e+02] [-6.87486011e-01 7.26073668e-01 -1.34168897e-02 -2.60269702e+00] [-1.98066868e-02 -2.78984003e-04 9.99803789e-01 -9.43930101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:277.00, Y:-2.62, Z:-0.95 [[ 7.24549705e-01 6.89033870e-01 1.61261064e-02 2.77004990e+02] [-6.88873683e-01 7.24729060e-01 -1.48606739e-02 -2.62345089e+00] [-2.19265656e-02 -3.41553471e-04 9.99759526e-01 -9.45219728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.03, Y:-2.65, Z:-0.95 [[ 7.21798832e-01 6.91947631e-01 1.46602364e-02 2.77029636e+02] [-6.91815563e-01 7.21947596e-01 -1.35238733e-02 -2.64550854e+00] [-1.99417345e-02 -3.80663762e-04 9.99801071e-01 -9.45152300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69592 meters Centerline goodness [0,1] 0.9999502363772083 Centerline is valid? [True, True] Translation: X:277.05, Y:-2.67, Z:-0.94 [[ 7.20400623e-01 6.93408566e-01 1.44049567e-02 2.77053988e+02] [-6.93281075e-01 7.20544514e-01 -1.33023730e-02 -2.66835691e+00] [-1.96033919e-02 -4.03646119e-04 9.99807754e-01 -9.44801124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.08, Y:-2.69, Z:-0.94 [[ 7.19484010e-01 6.94361776e-01 1.42997452e-02 2.77078601e+02] [-6.94236073e-01 7.19625979e-01 -1.32183496e-02 -2.68972079e+00] [-1.94687849e-02 -4.17007741e-04 9.99810378e-01 -9.44237135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75591999999995 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:277.10, Y:-2.71, Z:-0.94 [[ 7.19339811e-01 6.94511190e-01 1.42983375e-02 2.77104465e+02] [-6.94385272e-01 7.19481784e-01 -1.32308946e-02 -2.70990016e+00] [-1.94763977e-02 -4.11045728e-04 9.99810232e-01 -9.44261132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:277.13, Y:-2.73, Z:-0.94 [[ 7.19131483e-01 6.94722430e-01 1.45139699e-02 2.77130158e+02] [-6.94592613e-01 7.19277811e-01 -1.34362091e-02 -2.73029313e+00] [-1.97740124e-02 -4.18895328e-04 9.99804387e-01 -9.44631722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.16, Y:-2.75, Z:-0.94 [[ 7.18149371e-01 6.95675858e-01 1.72215472e-02 2.77157356e+02] [-6.95493254e-01 7.18355640e-01 -1.59470400e-02 -2.74784915e+00] [-2.34651663e-02 -5.25113114e-04 9.99724517e-01 -9.43213297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.18, Y:-2.77, Z:-0.94 [[ 7.18409255e-01 6.95419458e-01 1.67307978e-02 2.77182230e+02] [-6.95246951e-01 7.18603874e-01 -1.54967197e-02 -2.76796851e+00] [-2.27995365e-02 -4.99049303e-04 9.99739932e-01 -9.42237350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87591999999995 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:277.21, Y:-2.79, Z:-0.94 [[ 7.18957617e-01 6.94847837e-01 1.69242212e-02 2.77209313e+02] [-6.94671064e-01 7.19156624e-01 -1.56799939e-02 -2.78549318e+00] [-2.30663756e-02 -4.83515726e-04 9.99733819e-01 -9.43071307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.23, Y:-2.81, Z:-0.94 [[ 7.19115912e-01 6.94713952e-01 1.56470568e-02 2.77234570e+02] [-6.94562742e-01 7.19285987e-01 -1.45005376e-02 -2.80582036e+00] [-2.13284344e-02 -4.40295364e-04 9.99772426e-01 -9.42582564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93591999999995 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:277.26, Y:-2.83, Z:-0.94 [[ 7.19783798e-01 6.93994663e-01 1.68134722e-02 2.77260127e+02] [-6.93819776e-01 7.19980005e-01 -1.55855929e-02 -2.82534793e+00] [-2.29216821e-02 -4.47262227e-04 9.99737164e-01 -9.42378504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.29, Y:-2.85, Z:-0.94 [[ 7.20126077e-01 6.93643289e-01 1.66559557e-02 2.77285458e+02] [-6.93471477e-01 7.20318543e-01 -1.54436522e-02 -2.84526142e+00] [-2.27099795e-02 -4.29053511e-04 9.99742003e-01 -9.41785474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99591999999996 meters Centerline goodness [0,1] 0.9997517748101077 Centerline is valid? [True, True] Translation: X:277.31, Y:-2.86, Z:-0.94 [[ 7.21925100e-01 6.91795067e-01 1.56120053e-02 2.77312965e+02] [-6.91643607e-01 7.22093807e-01 -1.44794694e-02 -2.86233187e+00] [-2.12901579e-02 -3.44851253e-04 9.99773279e-01 -9.40725898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02592 meters Centerline goodness [0,1] 0.9996523293930665 Centerline is valid? [True, True] Translation: X:277.34, Y:-2.88, Z:-0.94 [[ 7.22318448e-01 6.91390246e-01 1.53488496e-02 2.77338080e+02] [-6.91243680e-01 7.22481434e-01 -1.42391269e-02 -2.88192717e+00] [-2.09340524e-02 -3.24611247e-04 9.99780806e-01 -9.41262846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05591999999996 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:277.36, Y:-2.90, Z:-0.94 [[ 7.24115925e-01 6.89517503e-01 1.48909730e-02 2.77364641e+02] [-6.89379117e-01 7.24268973e-01 -1.38162386e-02 -2.89904067e+00] [-2.03116080e-02 -2.60967397e-04 9.99793664e-01 -9.41246270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08592 meters Centerline goodness [0,1] 0.9998507611182967 Centerline is valid? [True, True] Translation: X:277.39, Y:-2.92, Z:-0.94 [[ 7.25144530e-01 6.88428527e-01 1.52175829e-02 2.77389285e+02] [-6.88283761e-01 7.25304149e-01 -1.41193546e-02 -2.91787520e+00] [-2.07575425e-02 -2.35442432e-04 9.99784511e-01 -9.41981523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11591999999996 meters Centerline goodness [0,1] 0.9998016364988842 Centerline is valid? [True, True] Translation: X:277.41, Y:-2.94, Z:-0.94 [[ 7.25996321e-01 6.87513260e-01 1.59643397e-02 2.77413369e+02] [-6.87353714e-01 7.26171791e-01 -1.48122192e-02 -2.93736432e+00] [-2.17764502e-02 -2.19531559e-04 9.99762841e-01 -9.43012772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14592 meters Centerline goodness [0,1] 0.9996028002581798 Centerline is valid? [True, True] Translation: X:277.44, Y:-2.96, Z:-0.94 [[ 7.29001864e-01 6.84299226e-01 1.70543989e-02 2.77438388e+02] [-6.84116263e-01 7.29201311e-01 -1.58236106e-02 -2.95568117e+00] [-2.32641745e-02 -1.31750036e-04 9.99729344e-01 -9.43945712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17591999999996 meters Centerline goodness [0,1] 0.9995034263581289 Centerline is valid? [True, True] Translation: X:277.46, Y:-2.98, Z:-0.94 [[ 7.30441807e-01 6.82769325e-01 1.67575519e-02 2.77461538e+02] [-6.82592274e-01 7.30634000e-01 -1.55481865e-02 -2.97521831e+00] [-2.28594620e-02 -8.15299751e-05 9.99738685e-01 -9.43103142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20592 meters Centerline goodness [0,1] 0.9997021593447506 Centerline is valid? [True, True] Translation: X:277.48, Y:-2.99, Z:-0.94 [[ 7.32089316e-01 6.80986196e-01 1.74078768e-02 2.77484131e+02] [-6.80794676e-01 7.32296252e-01 -1.61495568e-02 -2.99377991e+00] [-2.37453482e-02 -2.82719038e-05 9.99718039e-01 -9.43319048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23591999999996 meters Centerline goodness [0,1] 0.9994040524433849 Centerline is valid? [True, True] Translation: X:277.51, Y:-3.01, Z:-0.94 [[ 7.35507033e-01 6.77285359e-01 1.77185655e-02 2.77507767e+02] [-6.77086213e-01 7.35720420e-01 -1.64232975e-02 -3.01067940e+00] [-2.41591694e-02 8.24544299e-05 9.99708121e-01 -9.42451168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26592 meters Centerline goodness [0,1] 0.9993547106125286 Centerline is valid? [True, True] Translation: X:277.53, Y:-3.03, Z:-0.94 [[ 7.37420318e-01 6.75194085e-01 1.80061909e-02 2.77529221e+02] [-6.74988161e-01 7.37640107e-01 -1.66749498e-02 -3.02988980e+00] [-2.45409160e-02 1.42481089e-04 9.99698816e-01 -9.43155357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29591999999997 meters Centerline goodness [0,1] 0.9996023659227595 Centerline is valid? [True, True] Translation: X:277.55, Y:-3.05, Z:-0.94 [[ 7.38649612e-01 6.73844708e-01 1.81675655e-02 2.77551163e+02] [-6.73634731e-01 7.38872976e-01 -1.68218202e-02 -3.05017338e+00] [-2.47588177e-02 1.87127917e-04 9.99693436e-01 -9.43945861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32592 meters Centerline goodness [0,1] 0.9992063885719954 Centerline is valid? [True, True] Translation: X:277.57, Y:-3.07, Z:-0.94 [[ 7.40206003e-01 6.72174048e-01 1.66469953e-02 2.77573592e+02] [-6.71997374e-01 7.40393139e-01 -1.54119598e-02 -3.06974334e+00] [-2.26848405e-02 2.21288041e-04 9.99742641e-01 -9.44344998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35591999999997 meters Centerline goodness [0,1] 0.9990553843094362 Centerline is valid? [True, True] Translation: X:277.60, Y:-3.09, Z:-0.94 [[ 7.41996509e-01 6.70193445e-01 1.67907104e-02 2.77595430e+02] [-6.70013499e-01 7.42186413e-01 -1.55319051e-02 -3.08871328e+00] [-2.28712181e-02 2.74616746e-04 9.99738382e-01 -9.44598253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38592 meters Centerline goodness [0,1] 0.9991065667345014 Centerline is valid? [True, True] Translation: X:277.62, Y:-3.11, Z:-0.94 [[ 7.42493296e-01 6.69643457e-01 1.67733414e-02 2.77616034e+02] [-6.69464053e-01 7.42682679e-01 -1.55022572e-02 -3.10822444e+00] [-2.28382552e-02 2.81172876e-04 9.99739134e-01 -9.43854825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41591999999997 meters Centerline goodness [0,1] 0.9991552375273306 Centerline is valid? [True, True] Translation: X:277.64, Y:-3.13, Z:-0.94 [[ 7.43178506e-01 6.68881321e-01 1.68370529e-02 2.77636441e+02] [-6.68700669e-01 7.43369149e-01 -1.55474878e-02 -3.12845539e+00] [-2.29155699e-02 2.95610233e-04 9.99737360e-01 -9.43578829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44592 meters Centerline goodness [0,1] 0.9991552375273306 Centerline is valid? [True, True] Translation: X:277.66, Y:-3.15, Z:-0.94 [[ 7.43468897e-01 6.68558364e-01 1.68438064e-02 2.77657001e+02] [-6.68377794e-01 7.43659618e-01 -1.55401709e-02 -3.14785670e+00] [-2.29155698e-02 2.95607547e-04 9.99737360e-01 -9.43603284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47592 meters Centerline goodness [0,1] 0.9992559892862457 Centerline is valid? [True, True] Translation: X:277.68, Y:-3.17, Z:-0.94 [[ 7.42496422e-01 6.69603722e-01 1.81636703e-02 2.77677485e+02] [-6.69394066e-01 7.42718504e-01 -1.67573333e-02 -3.17053993e+00] [-2.47112668e-02 2.83606839e-04 9.99694590e-01 -9.42813133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50591999999995 meters Centerline goodness [0,1] 0.9993052109181142 Centerline is valid? [True, True] Translation: X:277.70, Y:-3.19, Z:-0.94 [[ 7.41880066e-01 6.70264538e-01 1.89582993e-02 2.77699462e+02] [-6.70036295e-01 7.42122209e-01 -1.74925450e-02 -3.19287591e+00] [-2.57940076e-02 2.74621803e-04 9.99667242e-01 -9.44565399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53592 meters Centerline goodness [0,1] 0.9992064672915737 Centerline is valid? [True, True] Translation: X:277.72, Y:-3.22, Z:-0.94 [[ 7.41273375e-01 6.70954265e-01 1.82799898e-02 2.77721379e+02] [-6.70742222e-01 7.41498695e-01 -1.68687882e-02 -3.21523430e+00] [-2.48727740e-02 2.43222586e-04 9.99690595e-01 -9.44445417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56591999999995 meters Centerline goodness [0,1] 0.999354069363013 Centerline is valid? [True, True] Translation: X:277.74, Y:-3.24, Z:-0.94 [[ 7.40617041e-01 6.71667189e-01 1.86972206e-02 2.77743371e+02] [-6.71445473e-01 7.40852978e-01 -1.72580778e-02 -3.23881592e+00] [-2.54435761e-02 2.27462367e-04 9.99676234e-01 -9.44836368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59592 meters Centerline goodness [0,1] 0.9995028832769934 Centerline is valid? [True, True] Translation: X:277.77, Y:-3.26, Z:-0.94 [[ 7.41027715e-01 6.71204589e-01 1.90348716e-02 2.77767334e+02] [-6.70974524e-01 7.41272107e-01 -1.75741553e-02 -3.26001403e+00] [-2.59058731e-02 2.51022270e-04 9.99664355e-01 -9.44623308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62591999999995 meters Centerline goodness [0,1] 0.9994531987870955 Centerline is valid? [True, True] Translation: X:277.79, Y:-3.28, Z:-0.94 [[ 7.40527628e-01 6.71764746e-01 1.87338907e-02 2.77790906e+02] [-6.71541968e-01 7.40764519e-01 -1.73006610e-02 -3.28219342e+00] [-2.54993757e-02 2.31023594e-04 9.99674811e-01 -9.44782806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65592 meters Centerline goodness [0,1] 0.9993043132578017 Centerline is valid? [True, True] Translation: X:277.81, Y:-3.31, Z:-0.95 [[ 7.40098288e-01 6.72262605e-01 1.78189101e-02 2.77813608e+02] [-6.72061104e-01 7.40312736e-01 -1.64598436e-02 -3.30556927e+00] [-2.42569034e-02 2.06505658e-04 9.99705737e-01 -9.45383135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68591999999995 meters Centerline goodness [0,1] 0.9992555461809519 Centerline is valid? [True, True] Translation: X:277.84, Y:-3.33, Z:-0.94 [[ 7.39650522e-01 6.72761242e-01 1.75902491e-02 2.77836070e+02] [-6.72564922e-01 7.39859632e-01 -1.62527257e-02 -3.32845634e+00] [-2.39485191e-02 1.90752541e-04 9.99713175e-01 -9.44953926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71592 meters Centerline goodness [0,1] 0.9994542297196726 Centerline is valid? [True, True] Translation: X:277.86, Y:-3.35, Z:-0.94 [[ 7.39927320e-01 6.72487863e-01 1.63595768e-02 2.77858999e+02] [-6.72317904e-01 7.40108127e-01 -1.51194441e-02 -3.35121831e+00] [-2.22754984e-02 1.88453399e-04 9.99751853e-01 -9.44197985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74591999999996 meters Centerline goodness [0,1] 0.9994539587987094 Centerline is valid? [True, True] Translation: X:277.88, Y:-3.37, Z:-0.94 [[ 7.40313892e-01 6.72042679e-01 1.71458286e-02 2.77882947e+02] [-6.71855774e-01 7.40512385e-01 -1.58501192e-02 -3.37329972e+00] [-2.33486550e-02 2.14539505e-04 9.99727360e-01 -9.44062767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77592 meters Centerline goodness [0,1] 0.9997511447342226 Centerline is valid? [True, True] Translation: X:277.91, Y:-3.40, Z:-0.94 [[ 7.40777054e-01 6.71513855e-01 1.78465347e-02 2.77905612e+02] [-6.71311104e-01 7.40991959e-01 -1.65020820e-02 -3.39567905e+00] [-2.43055154e-02 2.43786733e-04 9.99704548e-01 -9.44907686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80591999999996 meters Centerline goodness [0,1] 0.9993057277460947 Centerline is valid? [True, True] Translation: X:277.93, Y:-3.42, Z:-0.94 [[ 7.40812058e-01 6.71492840e-01 1.71714783e-02 2.77928085e+02] [-6.71305040e-01 7.41011004e-01 -1.58818986e-02 -3.41937138e+00] [-2.33888356e-02 2.38202005e-04 9.99726415e-01 -9.44728112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83592 meters Centerline goodness [0,1] 0.9994520274982565 Centerline is valid? [True, True] Translation: X:277.95, Y:-3.44, Z:-0.94 [[ 7.42141198e-01 6.70074845e-01 1.50380973e-02 2.77950335e+02] [-6.69930452e-01 7.42293499e-01 -1.39122346e-02 -3.44335322e+00] [-2.04849203e-02 2.50363119e-04 9.99790131e-01 -9.44507241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86591999999996 meters Centerline goodness [0,1] 0.9992538798249104 Centerline is valid? [True, True] Translation: X:277.97, Y:-3.47, Z:-0.95 [[ 7.42769764e-01 6.69366694e-01 1.55340424e-02 2.77973539e+02] [-6.69212387e-01 7.42932130e-01 -1.43746818e-02 -3.46587494e+00] [-2.11626724e-02 2.81505417e-04 9.99776006e-01 -9.45191285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89592 meters Centerline goodness [0,1] 0.9988572564217221 Centerline is valid? [True, True] Translation: X:278.00, Y:-3.49, Z:-0.94 [[ 7.42764036e-01 6.69363834e-01 1.59262446e-02 2.77996239e+02] [-6.69201554e-01 7.42934703e-01 -1.47413436e-02 -3.48880461e+00] [-2.16994821e-02 2.91472255e-04 9.99764496e-01 -9.44989276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92591999999996 meters Centerline goodness [0,1] 0.9984093055624597 Centerline is valid? [True, True] Translation: X:278.02, Y:-3.52, Z:-0.94 [[ 7.44130594e-01 6.67841344e-01 1.60498874e-02 2.78016145e+02] [-6.67676097e-01 7.44303583e-01 -1.48595348e-02 -3.51508933e+00] [-2.18698004e-02 3.41308284e-04 9.99760769e-01 -9.44770071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95592 meters Centerline goodness [0,1] 0.9977673033986604 Centerline is valid? [True, True] Translation: X:278.04, Y:-3.54, Z:-0.95 [[ 7.45765683e-01 6.65989904e-01 1.70585633e-02 2.78037672e+02] [-6.65802655e-01 7.45960635e-01 -1.57973508e-02 -3.53871309e+00] [-2.32458928e-02 4.23485383e-04 9.99729688e-01 -9.45183355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98591999999996 meters Centerline goodness [0,1] 0.9962264150943396 Centerline is valid? [True, True] Translation: X:278.06, Y:-3.56, Z:-0.95 [[ 7.48976409e-01 6.62352072e-01 1.80019810e-02 2.78059282e+02] [-6.62142379e-01 7.49192504e-01 -1.66751850e-02 -3.56230507e+00] [-2.45317925e-02 5.69445666e-04 9.99698888e-01 -9.46008257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01592 meters Centerline goodness [0,1] 0.9969218548307021 Centerline is valid? [True, True] Translation: X:278.08, Y:-3.59, Z:-0.95 [[ 7.50029691e-01 6.61144476e-01 1.85322537e-02 2.78081369e+02] [-6.60921795e-01 7.50258346e-01 -1.71695999e-02 -3.58505361e+00] [-2.52555641e-02 6.29339304e-04 9.99680829e-01 -9.46591874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04591999999997 meters Centerline goodness [0,1] 0.9969213962957446 Centerline is valid? [True, True] Translation: X:278.10, Y:-3.61, Z:-0.95 [[ 7.51455463e-01 6.59539711e-01 1.79459618e-02 2.78103050e+02] [-6.59330342e-01 7.51669428e-01 -1.66304653e-02 -3.60868830e+00] [-2.44578831e-02 6.64736895e-04 9.99700640e-01 -9.47428106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07592 meters Centerline goodness [0,1] 0.9967250533419342 Centerline is valid? [True, True] Translation: X:278.12, Y:-3.63, Z:-0.95 [[ 7.53003457e-01 6.57711211e-01 2.00438852e-02 2.78122680e+02] [-6.57449247e-01 7.53269742e-01 -1.85791388e-02 -3.63479362e+00] [-2.73181601e-02 8.12318476e-04 9.99626459e-01 -9.47098348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10591999999997 meters Centerline goodness [0,1] 0.9965727909402473 Centerline is valid? [True, True] Translation: X:278.15, Y:-3.66, Z:-0.95 [[ 7.52949657e-01 6.57782331e-01 1.97286323e-02 2.78146142e+02] [-6.57528100e-01 7.53207640e-01 -1.83043225e-02 -3.65859030e+00] [-2.69000165e-02 8.10103275e-04 9.99637801e-01 -9.45815348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13592 meters Centerline goodness [0,1] 0.9962708830548926 Centerline is valid? [True, True] Translation: X:278.17, Y:-3.68, Z:-0.95 [[ 7.53115723e-01 6.57604180e-01 1.93248613e-02 2.78169342e+02] [-6.57359734e-01 7.53363180e-01 -1.79470931e-02 -3.68180004e+00] [-2.63607224e-02 8.12852341e-04 9.99652165e-01 -9.46115794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16591999999997 meters Centerline goodness [0,1] 0.9964211154190278 Centerline is valid? [True, True] Translation: X:278.19, Y:-3.71, Z:-0.95 [[ 7.52589689e-01 6.58217950e-01 1.89179615e-02 2.78188738e+02] [-6.57983500e-01 7.52827013e-01 -1.75841212e-02 -3.70756882e+00] [-2.58161367e-02 7.85921735e-04 9.99666399e-01 -9.46853718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19592 meters Centerline goodness [0,1] 0.9969210905298704 Centerline is valid? [True, True] Translation: X:278.21, Y:-3.73, Z:-0.95 [[ 7.51816575e-01 6.59059622e-01 2.03040032e-02 2.78210530e+02] [-6.58789409e-01 7.52090244e-01 -1.88886117e-02 -3.73176544e+00] [-2.77191640e-02 8.24709091e-04 9.99615410e-01 -9.46952658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22592 meters Centerline goodness [0,1] 0.9967706677265501 Centerline is valid? [True, True] Translation: X:278.23, Y:-3.76, Z:-0.95 [[ 7.50960670e-01 6.59987727e-01 2.17777772e-02 2.78231480e+02] [-6.59676728e-01 7.51275887e-01 -2.02769881e-02 -3.75650717e+00] [-2.97436822e-02 8.60927801e-04 9.99557188e-01 -9.47308399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25591999999995 meters Centerline goodness [0,1] 0.9965755124323787 Centerline is valid? [True, True] Translation: X:278.25, Y:-3.78, Z:-0.95 [[ 7.50646262e-01 6.60326463e-01 2.23417247e-02 2.78254285e+02] [-6.59998752e-01 7.50978151e-01 -2.08197891e-02 -3.77924309e+00] [-3.05260048e-02 8.82786387e-04 9.99533583e-01 -9.46830518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28592 meters Centerline goodness [0,1] 0.996624807663672 Centerline is valid? [True, True] Translation: X:278.28, Y:-3.80, Z:-0.95 [[ 7.49771738e-01 6.61314236e-01 2.24905058e-02 2.78276702e+02] [-6.60982041e-01 7.50108485e-01 -2.09762261e-02 -3.80187696e+00] [-3.07421961e-02 8.61561072e-04 9.99526976e-01 -9.47372235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31591999999995 meters Centerline goodness [0,1] 0.9974196109567288 Centerline is valid? [True, True] Translation: X:278.30, Y:-3.83, Z:-0.95 [[ 7.49157130e-01 6.62018817e-01 2.22414282e-02 2.78299403e+02] [-6.61693716e-01 7.49486748e-01 -2.07615166e-02 -3.82503023e+00] [-3.04141703e-02 8.36624922e-04 9.99537032e-01 -9.47764562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34592 meters Centerline goodness [0,1] 0.997616801549079 Centerline is valid? [True, True] Translation: X:278.32, Y:-3.85, Z:-0.95 [[ 7.48026783e-01 6.63350027e-01 2.05590289e-02 2.78320316e+02] [-6.63072298e-01 7.48308894e-01 -1.92074802e-02 -3.84993633e+00] [-2.81257867e-02 7.35587130e-04 9.99604121e-01 -9.47434155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37591999999995 meters Centerline goodness [0,1] 0.9980130147533655 Centerline is valid? [True, True] Translation: X:278.34, Y:-3.87, Z:-0.95 [[ 7.47926491e-01 6.63483722e-01 1.98825399e-02 2.78342575e+02] [-6.63223582e-01 7.48190373e-01 -1.85915499e-02 -3.87358515e+00] [-2.72111156e-02 7.18543343e-04 9.99629451e-01 -9.47392548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40592 meters Centerline goodness [0,1] 0.9979630365659777 Centerline is valid? [True, True] Translation: X:278.36, Y:-3.90, Z:-0.95 [[ 7.48318523e-01 6.63027566e-01 2.03429344e-02 2.78362031e+02] [-6.62754613e-01 7.48594591e-01 -1.90384016e-02 -3.89997898e+00] [-2.78515957e-02 7.64414969e-04 9.99611777e-01 -9.47440400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43591999999995 meters Centerline goodness [0,1] 0.9979091995221028 Centerline is valid? [True, True] Translation: X:278.38, Y:-3.92, Z:-0.95 [[ 7.48679884e-01 6.62657117e-01 1.90781516e-02 2.78384098e+02] [-6.62416712e-01 7.48922562e-01 -1.78632574e-02 -3.92422952e+00] [-2.61252728e-02 7.36175018e-04 9.99658406e-01 -9.46362824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46592 meters Centerline goodness [0,1] 0.9980121260312096 Centerline is valid? [True, True] Translation: X:278.41, Y:-3.95, Z:-0.95 [[ 7.48749833e-01 6.62580205e-01 1.90042327e-02 2.78406808e+02] [-6.62341189e-01 7.48990595e-01 -1.78111683e-02 -3.94834748e+00] [-2.60353191e-02 7.48823186e-04 9.99660743e-01 -9.46595549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49591999999996 meters Centerline goodness [0,1] 0.9979621253541429 Centerline is valid? [True, True] Translation: X:278.43, Y:-3.98, Z:-0.95 [[ 7.47142907e-01 6.64407426e-01 1.84458292e-02 2.78425456e+02] [-6.64182430e-01 7.47370266e-01 -1.73027458e-02 -3.97508715e+00] [-2.52819370e-02 6.76228122e-04 9.99680132e-01 -9.47506030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52592 meters Centerline goodness [0,1] 0.9976649443561209 Centerline is valid? [True, True] Translation: X:278.45, Y:-4.00, Z:-0.95 [[ 7.46557147e-01 6.65058343e-01 1.87036639e-02 2.78447465e+02] [-6.64826771e-01 7.46791097e-01 -1.75619476e-02 -4.00001653e+00] [-2.56474495e-02 6.76301071e-04 9.99670821e-01 -9.47324192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55591999999996 meters Centerline goodness [0,1] 0.9979105517138451 Centerline is valid? [True, True] Translation: X:278.47, Y:-4.02, Z:-0.95 [[ 7.45499818e-01 6.66254299e-01 1.83093176e-02 2.78469277e+02] [-6.66032375e-01 7.45724352e-01 -1.72066104e-02 -4.02384638e+00] [-2.51176821e-02 6.32926675e-04 9.99684301e-01 -9.47343477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58592 meters Centerline goodness [0,1] 0.9979139763583987 Centerline is valid? [True, True] Translation: X:278.49, Y:-4.05, Z:-0.95 [[ 7.43844712e-01 6.68123756e-01 1.74840230e-02 2.78489358e+02] [-6.67921774e-01 7.44049962e-01 -1.64364673e-02 -4.05007815e+00] [-2.39905810e-02 5.48219627e-04 9.99712034e-01 -9.47540401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61591999999996 meters Centerline goodness [0,1] 0.9979093035989846 Centerline is valid? [True, True] Translation: X:278.51, Y:-4.08, Z:-0.95 [[ 7.42471730e-01 6.69661843e-01 1.69925613e-02 2.78509700e+02] [-6.69471344e-01 7.42665994e-01 -1.59794285e-02 -4.07581943e+00] [-2.33206110e-02 4.88241066e-04 9.99727918e-01 -9.46479389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64592 meters Centerline goodness [0,1] 0.9980119284294234 Centerline is valid? [True, True] Translation: X:278.53, Y:-4.10, Z:-0.95 [[ 7.41437813e-01 6.70802353e-01 1.71514523e-02 2.78531416e+02] [-6.70608203e-01 7.41636018e-01 -1.61447787e-02 -4.10138402e+00] [-2.35500903e-02 4.68444842e-04 9.99722548e-01 -9.47010441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67591999999996 meters Centerline goodness [0,1] 0.9978642030497193 Centerline is valid? [True, True] Translation: X:278.55, Y:-4.13, Z:-0.95 [[ 7.38420683e-01 6.74076304e-01 1.88687716e-02 2.78553516e+02] [-6.73841916e-01 7.38661603e-01 -1.77794045e-02 -4.12664276e+00] [-2.59223124e-02 4.14110824e-04 9.99663875e-01 -9.46227623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70592 meters Centerline goodness [0,1] 0.9977643084260731 Centerline is valid? [True, True] Translation: X:278.58, Y:-4.15, Z:-0.95 [[ 7.37102175e-01 6.75538053e-01 1.81307211e-02 2.78577074e+02] [-6.75321941e-01 7.37325040e-01 -1.70897967e-02 -4.14928801e+00] [-2.49130427e-02 3.52852500e-04 9.99689560e-01 -9.46100729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73591999999996 meters Centerline goodness [0,1] 0.9979126285969883 Centerline is valid? [True, True] Translation: X:278.60, Y:-4.17, Z:-0.95 [[ 7.34150892e-01 6.78744720e-01 1.81128132e-02 2.78597779e+02] [-6.78529634e-01 7.34374251e-01 -1.70878658e-02 -4.17397975e+00] [-2.48998823e-02 2.54991346e-04 9.99689917e-01 -9.47033784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76592 meters Centerline goodness [0,1] 0.9980130147533655 Centerline is valid? [True, True] Translation: X:278.62, Y:-4.20, Z:-0.95 [[ 7.32493108e-01 6.80536286e-01 1.80058433e-02 2.78620626e+02] [-6.80323894e-01 7.32714352e-01 -1.70022850e-02 -4.19731977e+00] [-2.47638117e-02 2.04251172e-04 9.99693309e-01 -9.47227808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79591999999997 meters Centerline goodness [0,1] 0.9980596049554704 Centerline is valid? [True, True] Translation: X:278.64, Y:-4.22, Z:-0.95 [[ 7.32186578e-01 6.80863015e-01 1.81209687e-02 2.78644178e+02] [-6.80647559e-01 7.32410753e-01 -1.71285989e-02 -4.21989045e+00] [-2.49342219e-02 2.07337093e-04 9.99689072e-01 -9.46943097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82592 meters Centerline goodness [0,1] 0.9976673780336494 Centerline is valid? [True, True] Translation: X:278.67, Y:-4.24, Z:-0.95 [[ 7.33105026e-01 6.79813831e-01 2.02528111e-02 2.78667150e+02] [-6.79543834e-01 7.33384670e-01 -1.91599439e-02 -4.24187077e+00] [-2.78782961e-02 2.83578257e-04 9.99611285e-01 -9.46816203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85591999999997 meters Centerline goodness [0,1] 0.9980135081446166 Centerline is valid? [True, True] Translation: X:278.69, Y:-4.26, Z:-0.95 [[ 7.34278933e-01 6.78563679e-01 1.96413585e-02 2.78691047e+02] [-6.78308777e-01 7.34541505e-01 -1.86005724e-02 -4.26489493e+00] [-2.70490658e-02 3.35102633e-04 9.99634051e-01 -9.46632456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88592 meters Centerline goodness [0,1] 0.9979599960195045 Centerline is valid? [True, True] Translation: X:278.71, Y:-4.29, Z:-0.95 [[ 7.35500656e-01 6.77272864e-01 1.84459195e-02 2.78714540e+02] [-6.77047190e-01 7.35731832e-01 -1.74863866e-02 -4.28796080e+00] [-2.54143053e-02 3.72490825e-04 9.99676935e-01 -9.46453442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91591999999997 meters Centerline goodness [0,1] 0.997713717693837 Centerline is valid? [True, True] Translation: X:278.74, Y:-4.31, Z:-0.95 [[ 7.36511852e-01 6.76198865e-01 1.74753185e-02 2.78738158e+02] [-6.75995608e-01 7.36719034e-01 -1.65832231e-02 -4.31081943e+00] [-2.40879564e-02 4.00501831e-04 9.99709763e-01 -9.46280401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94592 meters Centerline goodness [0,1] 0.9981125515323102 Centerline is valid? [True, True] Translation: X:278.76, Y:-4.34, Z:-0.95 [[ 7.37766934e-01 6.74837022e-01 1.71739635e-02 2.78759744e+02] [-6.74640001e-01 7.37966661e-01 -1.63118069e-02 -4.33507675e+00] [-2.36816237e-02 4.48068970e-04 9.99719451e-01 -9.46145981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97592 meters Centerline goodness [0,1] 0.9979635424427556 Centerline is valid? [True, True] Translation: X:278.78, Y:-4.36, Z:-0.95 [[ 7.38582158e-01 6.73914529e-01 1.83194997e-02 2.78782003e+02] [-6.73689672e-01 7.38809134e-01 -1.74151972e-02 -4.35846377e+00] [-2.52709681e-02 5.20896169e-04 9.99680502e-01 -9.46922719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00591999999995 meters Centerline goodness [0,1] 0.998014888337469 Centerline is valid? [True, True] Translation: X:278.80, Y:-4.38, Z:-0.95 [[ 7.38654633e-01 6.73834525e-01 1.83402926e-02 2.78804499e+02] [-6.73608689e-01 7.38882091e-01 -1.74524735e-02 -4.38260534e+00] [-2.53113929e-02 5.37169980e-04 9.99679471e-01 -9.46543740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03592 meters Centerline goodness [0,1] 0.9986567164179104 Centerline is valid? [True, True] Translation: X:278.82, Y:-4.41, Z:-0.95 [[ 7.38663787e-01 6.73860854e-01 1.69516619e-02 2.78824837e+02] [-6.73667600e-01 7.38858101e-01 -1.61453304e-02 -4.40741049e+00] [-2.34045789e-02 5.06185550e-04 9.99725947e-01 -9.45541245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06591999999995 meters Centerline goodness [0,1] 0.9992542507706076 Centerline is valid? [True, True] Translation: X:278.85, Y:-4.43, Z:-0.95 [[ 7.38063376e-01 6.74510449e-01 1.72657599e-02 2.78847324e+02] [-6.74309745e-01 7.38265126e-01 -1.64612093e-02 -4.43217187e+00] [-2.38499661e-02 5.06945555e-04 9.99715421e-01 -9.46146029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09592 meters Centerline goodness [0,1] 0.9996514291405239 Centerline is valid? [True, True] Translation: X:278.87, Y:-4.46, Z:-0.95 [[ 7.39457587e-01 6.72978581e-01 1.73869316e-02 2.78866114e+02] [-6.72774274e-01 7.39661749e-01 -1.65913886e-02 -4.45925455e+00] [-2.40260974e-02 5.71147948e-04 9.99711169e-01 -9.47182019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12591999999995 meters Centerline goodness [0,1] 0.999851072279587 Centerline is valid? [True, True] Translation: X:278.89, Y:-4.48, Z:-0.95 [[ 7.39983200e-01 6.72404517e-01 1.72345388e-02 2.78887497e+02] [-6.72203275e-01 7.40183634e-01 -1.64604189e-02 -4.48300811e+00] [-2.38247836e-02 5.95320040e-04 9.99715972e-01 -9.47000610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15592 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:278.91, Y:-4.51, Z:-0.95 [[ 7.40898071e-01 6.71421334e-01 1.62308754e-02 2.78909566e+02] [-6.71242269e-01 7.41075590e-01 -1.55173090e-02 -4.50703334e+00] [-2.24469579e-02 6.01894657e-04 9.99747854e-01 -9.46538946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18591999999995 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:278.93, Y:-4.53, Z:-0.95 [[ 7.41393324e-01 6.70871734e-01 1.63418380e-02 2.78930984e+02] [-6.70689767e-01 7.41573136e-01 -1.56371615e-02 -4.53125399e+00] [-2.26091977e-02 6.32983590e-04 9.99744179e-01 -9.46476525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21592 meters Centerline goodness [0,1] 0.999900616179686 Centerline is valid? [True, True] Translation: X:278.95, Y:-4.56, Z:-0.95 [[ 7.40577016e-01 6.71754283e-01 1.70841265e-02 2.78948619e+02] [-6.71555257e-01 7.40773762e-01 -1.63636645e-02 -4.56034331e+00] [-2.36478344e-02 6.45618863e-04 9.99720142e-01 -9.45243318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24591999999996 meters Centerline goodness [0,1] 0.9997517255077213 Centerline is valid? [True, True] Translation: X:278.97, Y:-4.59, Z:-0.94 [[ 7.38863476e-01 6.73664171e-01 1.60420890e-02 2.78969172e+02] [-6.73488835e-01 7.39037396e-01 -1.53791025e-02 -4.58505109e+00] [-2.22160540e-02 5.58889334e-04 9.99753037e-01 -9.44979487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27592 meters Centerline goodness [0,1] 0.9996510120650115 Centerline is valid? [True, True] Translation: X:278.99, Y:-4.61, Z:-0.95 [[ 7.34644886e-01 6.78229519e-01 1.73669280e-02 2.78988171e+02] [-6.78025153e-01 7.34849990e-01 -1.66548503e-02 -4.61113055e+00] [-2.40578980e-02 4.60186578e-04 9.99710461e-01 -9.47429838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30591999999996 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:279.01, Y:-4.64, Z:-0.95 [[ 7.31398257e-01 6.81727037e-01 1.74595832e-02 2.79008935e+02] [-6.81521118e-01 7.31606533e-01 -1.67584755e-02 -4.63590294e+00] [-2.41982510e-02 3.58045142e-04 9.99707115e-01 -9.48067300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.03, Y:-4.66, Z:-0.95 [[ 7.28612405e-01 6.84685212e-01 1.81693134e-02 2.79030037e+02] [-6.84462725e-01 7.28838858e-01 -1.74555678e-02 -4.66027586e+00] [-2.51940707e-02 2.82125488e-04 9.99682539e-01 -9.48588098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.05, Y:-4.68, Z:-0.95 [[ 7.28255246e-01 6.85065327e-01 1.81602456e-02 2.79053698e+02] [-6.84842723e-01 7.28481584e-01 -1.74650013e-02 -4.68257489e+00] [-2.51940713e-02 2.82066777e-04 9.99682539e-01 -9.48616178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39592 meters Centerline goodness [0,1] 0.9995529505265249 Centerline is valid? [True, True] Translation: X:279.08, Y:-4.71, Z:-0.95 [[ 7.22673705e-01 6.90901418e-01 1.99486164e-02 2.79075516e+02] [-6.90634448e-01 7.22948975e-01 -1.92051649e-02 -4.70787307e+00] [-2.76907074e-02 1.01866014e-04 9.99616534e-01 -9.47571821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42591999999996 meters Centerline goodness [0,1] 0.9996520009942829 Centerline is valid? [True, True] Translation: X:279.10, Y:-4.73, Z:-0.95 [[ 7.20397018e-01 6.93307186e-01 1.87958095e-02 2.79098752e+02] [-6.93070564e-01 7.20642176e-01 -1.81120821e-02 -4.73028273e+00] [-2.61022897e-02 2.10676201e-05 9.99659277e-01 -9.46893462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45592 meters Centerline goodness [0,1] 0.9996021286119262 Centerline is valid? [True, True] Translation: X:279.12, Y:-4.75, Z:-0.95 [[ 7.18059855e-01 6.95721191e-01 1.90281081e-02 2.79122588e+02] [-6.95479013e-01 7.18311925e-01 -1.83553866e-02 -4.75330403e+00] [-2.64383484e-02 -5.33835918e-05 9.99650444e-01 -9.47565362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48591999999996 meters Centerline goodness [0,1] 0.9993539409601431 Centerline is valid? [True, True] Translation: X:279.15, Y:-4.78, Z:-0.95 [[ 7.17493268e-01 6.96316964e-01 1.86036773e-02 2.79146506e+02] [-6.96085173e-01 7.17734409e-01 -1.79652154e-02 -4.77630905e+00] [-2.58619836e-02 -5.98227997e-05 9.99665521e-01 -9.48367750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51592 meters Centerline goodness [0,1] 0.9996022473027395 Centerline is valid? [True, True] Translation: X:279.17, Y:-4.80, Z:-0.95 [[ 7.17668878e-01 6.96113464e-01 1.94274929e-02 2.79169963e+02] [-6.95860136e-01 7.17931782e-01 -1.87783950e-02 -4.79770017e+00] [-2.70195082e-02 -4.21481251e-05 9.99634906e-01 -9.49126269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54591999999997 meters Centerline goodness [0,1] 0.9994529812521756 Centerline is valid? [True, True] Translation: X:279.19, Y:-4.82, Z:-0.95 [[ 7.17499317e-01 6.96251202e-01 2.07121626e-02 2.79193607e+02] [-6.95962810e-01 7.17798204e-01 -2.00375994e-02 -4.81881707e+00] [-2.88183558e-02 -3.79310056e-05 9.99584664e-01 -9.49319833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57592 meters Centerline goodness [0,1] 0.9992547324489491 Centerline is valid? [True, True] Translation: X:279.22, Y:-4.84, Z:-0.95 [[ 7.19550367e-01 6.94141358e-01 2.03726374e-02 2.79219154e+02] [-6.93860899e-01 7.19838712e-01 -1.97302083e-02 -4.84046459e+00] [-2.83605666e-02 6.11021131e-05 9.99597756e-01 -9.48836875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60591999999997 meters Centerline goodness [0,1] 0.9996520355917881 Centerline is valid? [True, True] Translation: X:279.24, Y:-4.86, Z:-0.95 [[ 7.19844390e-01 6.93840278e-01 2.02416093e-02 2.79243301e+02] [-6.93562709e-01 7.20128919e-01 -1.96241950e-02 -4.86278240e+00] [-2.81926252e-02 8.75413267e-05 9.99602505e-01 -9.49265904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63592 meters Centerline goodness [0,1] 0.9996524157108099 Centerline is valid? [True, True] Translation: X:279.27, Y:-4.88, Z:-0.95 [[ 7.21920128e-01 6.91696222e-01 1.96891948e-02 2.79268406e+02] [-6.91432248e-01 7.22188551e-01 -1.91087376e-02 -4.88455828e+00] [-2.74367527e-02 1.81238020e-04 9.99623525e-01 -9.50106509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66591999999997 meters Centerline goodness [0,1] 0.9998508575689784 Centerline is valid? [True, True] Translation: X:279.29, Y:-4.91, Z:-0.95 [[ 7.23047532e-01 6.90509342e-01 1.99778696e-02 2.79292694e+02] [-6.90236618e-01 7.23323433e-01 -1.94067552e-02 -4.90599128e+00] [-2.78510070e-02 2.42549305e-04 9.99612056e-01 -9.50898679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69592 meters Centerline goodness [0,1] 0.9999006063015605 Centerline is valid? [True, True] Translation: X:279.32, Y:-4.93, Z:-0.95 [[ 7.24038226e-01 6.89479182e-01 1.96749783e-02 2.79316795e+02] [-6.89213740e-01 7.24305441e-01 -1.91323967e-02 -4.92842138e+00] [-2.74420830e-02 2.92321169e-04 9.99623352e-01 -9.49682145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:279.34, Y:-4.95, Z:-0.95 [[ 7.24788496e-01 6.88676668e-01 2.01515166e-02 2.79339958e+02] [-6.88397397e-01 7.25068500e-01 -1.96136138e-02 -4.95111162e+00] [-2.81186682e-02 3.43470062e-04 9.99604533e-01 -9.50245730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.36, Y:-4.97, Z:-0.95 [[ 7.26828476e-01 6.86496427e-01 2.10481072e-02 2.79362586e+02] [-6.86190286e-01 7.27133030e-01 -2.05048145e-02 -4.97411593e+00] [-2.93812559e-02 4.60476364e-04 9.99568172e-01 -9.50946532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.39, Y:-5.00, Z:-0.95 [[ 7.27337210e-01 6.85962197e-01 2.08912957e-02 2.79386244e+02] [-6.85659774e-01 7.27637011e-01 -2.03728697e-02 -4.99715764e+00] [-2.91762985e-02 4.93625149e-04 9.99574159e-01 -9.51625552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81591999999995 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:279.41, Y:-5.02, Z:-0.95 [[ 7.28874292e-01 6.84339028e-01 2.05514472e-02 2.79407893e+02] [-6.84045241e-01 7.29163754e-01 -2.00581493e-02 -5.02032326e+00] [-2.87119448e-02 5.61749677e-04 9.99587569e-01 -9.52038894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84592 meters Centerline goodness [0,1] 0.999850916861303 Centerline is valid? [True, True] Translation: X:279.43, Y:-5.04, Z:-0.95 [[ 7.29483259e-01 6.83726958e-01 1.92774923e-02 2.79429307e+02] [-6.83467809e-01 7.29737714e-01 -1.88314296e-02 -5.04388634e+00] [-2.69430692e-02 5.61667211e-04 9.99636812e-01 -9.51642029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87591999999995 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:279.45, Y:-5.07, Z:-0.95 [[ 7.29940331e-01 6.83205604e-01 2.04258564e-02 2.79450301e+02] [-6.82913977e-01 7.30225793e-01 -1.99697627e-02 -5.06770164e+00] [-2.85589409e-02 6.27632363e-04 9.99591913e-01 -9.52093573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90592 meters Centerline goodness [0,1] 0.9998011533107973 Centerline is valid? [True, True] Translation: X:279.47, Y:-5.10, Z:-0.95 [[ 7.31023534e-01 6.82006813e-01 2.17094140e-02 2.79467707e+02] [-6.81676540e-01 7.31345460e-01 -2.12347197e-02 -5.09533649e+00] [-3.03593049e-02 7.24281647e-04 9.99538788e-01 -9.52633784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93591999999995 meters Centerline goodness [0,1] 0.9999005420458501 Centerline is valid? [True, True] Translation: X:279.49, Y:-5.12, Z:-0.95 [[ 7.30608203e-01 6.82507730e-01 1.98708813e-02 2.79488301e+02] [-6.82230752e-01 7.30878080e-01 -1.94533695e-02 -5.11984562e+00] [-2.78002666e-02 6.56265057e-04 9.99613282e-01 -9.52002079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96592 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:279.51, Y:-5.15, Z:-0.95 [[ 7.29549253e-01 6.83639931e-01 1.98578049e-02 2.79507164e+02] [-6.83363256e-01 7.29819193e-01 -1.94578127e-02 -5.14693283e+00] [-2.77947449e-02 6.25338518e-04 9.99613456e-01 -9.52376128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99591999999996 meters Centerline goodness [0,1] 0.9998510057114477 Centerline is valid? [True, True] Translation: X:279.53, Y:-5.17, Z:-0.95 [[ 7.27894222e-01 6.85403404e-01 1.98034258e-02 2.79527397e+02] [-6.85128415e-01 7.28163340e-01 -1.94217668e-02 -5.17191388e+00] [-2.77318738e-02 5.69102107e-04 9.99615236e-01 -9.52047367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02592 meters Centerline goodness [0,1] 0.9998012027235227 Centerline is valid? [True, True] Translation: X:279.55, Y:-5.20, Z:-0.95 [[ 7.26914056e-01 6.86439475e-01 1.99198904e-02 2.79547752e+02] [-6.86161072e-01 7.27186735e-01 -1.95559628e-02 -5.19767113e+00] [-2.79094648e-02 5.47250876e-04 9.99610305e-01 -9.52261934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05591999999996 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:279.57, Y:-5.23, Z:-0.95 [[ 7.23111387e-01 6.90433810e-01 2.02749982e-02 2.79565566e+02] [-6.90146437e-01 7.23395454e-01 -1.99226643e-02 -5.22547795e+00] [-2.84221225e-02 4.13587717e-04 9.99595924e-01 -9.50860752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.59, Y:-5.25, Z:-0.95 [[ 7.20871981e-01 6.92740069e-01 2.13256384e-02 2.79587268e+02] [-6.92422484e-01 7.21187264e-01 -2.09769749e-02 -5.25034279e+00] [-2.99113698e-02 3.55361901e-04 9.99552492e-01 -9.50783592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.61, Y:-5.28, Z:-0.95 [[ 7.18144665e-01 6.95588074e-01 2.06269482e-02 2.79607441e+02] [-6.95291889e-01 7.18440795e-01 -2.02981096e-02 -5.27634792e+00] [-2.89383640e-02 2.35229404e-04 9.99581170e-01 -9.50058367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14592 meters Centerline goodness [0,1] 0.9999004083258639 Centerline is valid? [True, True] Translation: X:279.63, Y:-5.30, Z:-0.95 [[ 7.16284863e-01 6.97567947e-01 1.83017510e-02 2.79628924e+02] [-6.97335003e-01 7.16518623e-01 -1.80265406e-02 -5.30056751e+00] [-2.56882824e-02 1.49686545e-04 9.99669990e-01 -9.49139587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17591999999996 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:279.65, Y:-5.33, Z:-0.95 [[ 7.14491365e-01 6.99392912e-01 1.87521732e-02 2.79651426e+02] [-6.99148463e-01 7.14737395e-01 -1.84900475e-02 -5.32522083e+00] [-2.63346875e-02 1.00426190e-04 9.99653177e-01 -9.49204566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.67, Y:-5.35, Z:-0.95 [[ 7.12982050e-01 7.00924663e-01 1.90056007e-02 2.79673785e+02] [-7.00673563e-01 7.13235314e-01 -1.87601697e-02 -5.34971481e+00] [-2.67049312e-02 5.89423378e-05 9.99643358e-01 -9.49994742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.69, Y:-5.37, Z:-0.95 [[ 7.11816917e-01 7.02114533e-01 1.87579279e-02 2.79693546e+02] [-7.01870172e-01 7.12064030e-01 -1.85223852e-02 -5.37485312e+00] [-2.63616816e-02 1.89170791e-05 9.99652470e-01 -9.49201165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.72, Y:-5.40, Z:-0.95 [[ 7.11542224e-01 7.02402135e-01 1.84093497e-02 2.79715858e+02] [-7.02166710e-01 7.11780332e-01 -1.81843451e-02 -5.39874861e+00] [-2.58761359e-02 1.24968343e-05 9.99665157e-01 -9.48688878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29591999999997 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:279.74, Y:-5.42, Z:-0.95 [[ 7.11575805e-01 7.02380906e-01 1.79147188e-02 2.79738042e+02] [-7.02157492e-01 7.11801280e-01 -1.77142392e-02 -5.42324461e+00] [-2.51938631e-02 2.60700181e-05 9.99682584e-01 -9.49083987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.76, Y:-5.45, Z:-0.95 [[ 7.10029158e-01 7.03994837e-01 1.58070916e-02 2.79757098e+02] [-7.03820979e-01 7.10205089e-01 -1.56448442e-02 -5.45002247e+00] [-2.22401665e-02 -1.70671764e-05 9.99752657e-01 -9.48467717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35591999999997 meters Centerline goodness [0,1] 0.9999502883276994 Centerline is valid? [True, True] Translation: X:279.78, Y:-5.47, Z:-0.95 [[ 7.08427339e-01 7.05613000e-01 1.55241669e-02 2.79779310e+02] [-7.05445339e-01 7.08597411e-01 -1.53812298e-02 -5.47422733e+00] [-2.18535802e-02 -5.49674890e-05 9.99761180e-01 -9.47974201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:279.80, Y:-5.50, Z:-0.95 [[ 7.05344636e-01 7.08718138e-01 1.44064199e-02 2.79802633e+02] [-7.08574090e-01 7.05491732e-01 -1.42889805e-02 -5.49724732e+00] [-2.02904698e-02 -1.29360118e-04 9.99794119e-01 -9.47263487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.83, Y:-5.52, Z:-0.95 [[ 7.03258533e-01 7.10786117e-01 1.45097313e-02 2.79825267e+02] [-7.10640140e-01 7.03408177e-01 -1.44058367e-02 -5.52055603e+00] [-2.04457323e-02 -1.80169887e-04 9.99790948e-01 -9.47763395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.85, Y:-5.54, Z:-0.95 [[ 7.01903746e-01 7.12150914e-01 1.31227583e-02 2.79847255e+02] [-7.12031530e-01 7.02026381e-01 -1.30407258e-02 -5.54446297e+00] [-1.84994873e-02 -1.90483401e-04 9.99828852e-01 -9.47418202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.87, Y:-5.57, Z:-0.95 [[ 6.99776650e-01 7.14244867e-01 1.29193992e-02 2.79869011e+02] [-7.14129297e-01 6.99895861e-01 -1.28503301e-02 -5.56786053e+00] [-1.82205163e-02 -2.33760549e-04 9.99833965e-01 -9.48164356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.89, Y:-5.59, Z:-0.95 [[ 6.98764343e-01 7.15254588e-01 1.18011415e-02 2.79893021e+02] [-7.15158102e-01 6.98863951e-01 -1.17502044e-02 -5.59010731e+00] [-1.66517799e-02 -2.29058111e-04 9.99861323e-01 -9.47935488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.92, Y:-5.61, Z:-0.95 [[ 6.99298960e-01 7.14725502e-01 1.21828349e-02 2.79917427e+02] [-7.14622375e-01 6.99405041e-01 -1.21429244e-02 -5.61171138e+00] [-1.71995939e-02 -2.14592013e-04 9.99852053e-01 -9.48889517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.94, Y:-5.63, Z:-0.95 [[ 6.99430812e-01 7.14588776e-01 1.26261845e-02 2.79941448e+02] [-7.14477748e-01 6.99544736e-01 -1.25979956e-02 -5.63404851e+00] [-1.78349672e-02 -2.09701603e-04 9.99840922e-01 -9.49604788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.97, Y:-5.66, Z:-0.95 [[ 7.01741761e-01 7.12313252e-01 1.29742755e-02 2.79965728e+02] [-7.12195409e-01 7.01861673e-01 -1.29572593e-02 -5.65505197e+00] [-1.83357742e-02 -1.47569433e-04 9.99831875e-01 -9.48524431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.99, Y:-5.68, Z:-0.95 [[ 7.02836218e-01 7.11245485e-01 1.22927041e-02 2.79989793e+02] [-7.11139338e-01 7.02943702e-01 -1.22879562e-02 -5.67583351e+00] [-1.73808323e-02 -1.05404734e-04 9.99848936e-01 -9.47693743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.01, Y:-5.70, Z:-0.95 [[ 7.05308658e-01 7.08789747e-01 1.25216202e-02 2.80014611e+02] [-7.08678986e-01 7.05419799e-01 -1.25300762e-02 -5.69790228e+00] [-1.77141884e-02 -3.62378732e-05 9.99843091e-01 -9.47446232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68591999999995 meters Centerline goodness [0,1] 0.9999504091247211 Centerline is valid? [True, True] Translation: X:280.18, Y:-5.59, Z:0.94 [[ 7.57915766e-01 -6.52228217e-01 1.27297140e-02 2.80181050e+02] [-6.52137896e-01 -7.58022657e-01 -1.08543398e-02 -5.59023192e+00] [ 1.67289183e-02 -7.48537035e-05 -9.99860059e-01 9.44976808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.07, Y:-5.76, Z:-0.95 [[ 7.59740800e-01 6.50101170e-01 1.27430646e-02 2.80072030e+02] [-6.50008748e-01 7.59847660e-01 -1.09617882e-02 -5.76403953e+00] [-1.68090592e-02 4.50142258e-05 9.99858717e-01 -9.46328528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.10, Y:-5.79, Z:-0.95 [[ 7.62836620e-01 6.46443481e-01 1.38245131e-02 2.80096429e+02] [-6.46333896e-01 7.62961863e-01 -1.19033698e-02 -5.78521946e+00] [-1.82424321e-02 1.45074905e-04 9.99833582e-01 -9.46195927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.12, Y:-5.81, Z:-0.95 [[ 7.63805945e-01 6.45303124e-01 1.35777914e-02 2.80120579e+02] [-6.45197009e-01 7.63926597e-01 -1.17035656e-02 -5.80702634e+00] [-1.79247835e-02 1.78902620e-04 9.99839322e-01 -9.45118241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80591999999996 meters Centerline goodness [0,1] 0.9999005667694143 Centerline is valid? [True, True] Translation: X:280.14, Y:-5.83, Z:-0.94 [[ 7.65540635e-01 6.43247903e-01 1.34041105e-02 2.80143862e+02] [-6.43143976e-01 7.65657940e-01 -1.15648631e-02 -5.82982363e+00] [-1.77020376e-02 2.32599766e-04 9.99843280e-01 -9.44477335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:280.17, Y:-5.85, Z:-0.94 [[ 7.65993342e-01 6.42720039e-01 1.28511546e-02 2.80167822e+02] [-6.42624246e-01 7.66101098e-01 -1.10989278e-02 -5.85175742e+00] [-1.69787869e-02 2.43241241e-04 9.99855820e-01 -9.44450192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86591999999996 meters Centerline goodness [0,1] 0.9998508798091261 Centerline is valid? [True, True] Translation: X:280.19, Y:-5.87, Z:-0.94 [[ 7.66072316e-01 6.42625214e-01 1.28856818e-02 2.80191531e+02] [-6.42528690e-01 7.66180637e-01 -1.11406473e-02 -5.87464170e+00] [-1.70320207e-02 2.55121231e-04 9.99854912e-01 -9.44083489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89592 meters Centerline goodness [0,1] 0.9998013212139274 Centerline is valid? [True, True] Translation: X:280.21, Y:-5.90, Z:-0.94 [[ 7.65586050e-01 6.43218162e-01 1.21818254e-02 2.80212837e+02] [-6.43131906e-01 7.65682926e-01 -1.05360399e-02 -5.89989148e+00] [-1.61043879e-02 2.31724611e-04 9.99870289e-01 -9.42471436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.24, Y:-5.92, Z:-0.94 [[ 7.64754606e-01 6.44208436e-01 1.20782101e-02 2.80236317e+02] [-6.44123591e-01 7.64849949e-01 -1.04573429e-02 -5.92309766e+00] [-1.59747269e-02 2.17441078e-04 9.99872372e-01 -9.41910112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.26, Y:-5.95, Z:-0.94 [[ 7.63523057e-01 6.45671232e-01 1.18828650e-02 2.80257543e+02] [-6.45589132e-01 7.63615495e-01 -1.02980024e-02 -5.94810528e+00] [-1.57230638e-02 1.91313800e-04 9.99876367e-01 -9.41071597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.28, Y:-5.97, Z:-0.94 [[ 7.62816373e-01 6.46489463e-01 1.27497173e-02 2.80281615e+02] [-6.46394859e-01 7.62922889e-01 -1.10612223e-02 -5.97085581e+00] [-1.68780149e-02 1.96329708e-04 9.99857537e-01 -9.41481840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.30, Y:-5.99, Z:-0.94 [[ 7.62198994e-01 6.47224966e-01 1.23505519e-02 2.80304720e+02] [-6.47136102e-01 7.62299029e-01 -1.07264299e-02 -5.99399427e+00] [-1.63572269e-02 1.83186055e-04 9.99866195e-01 -9.42019921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04591999999997 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:280.33, Y:-6.02, Z:-0.94 [[ 7.61680228e-01 6.47843970e-01 1.18920090e-02 2.80328629e+02] [-6.47761482e-01 7.61773037e-01 -1.03393317e-02 -6.01685544e+00] [-1.57572855e-02 1.72079150e-04 9.99875831e-01 -9.41277903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07592 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:280.35, Y:-6.04, Z:-0.94 [[ 7.60306425e-01 6.49477280e-01 1.06490270e-02 2.80349407e+02] [-6.49411172e-01 7.60380987e-01 -9.26740592e-03 -6.04226766e+00] [-1.41162873e-02 1.30471134e-04 9.99900352e-01 -9.41366756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10591999999997 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:280.37, Y:-6.07, Z:-0.94 [[ 7.58319426e-01 6.51811826e-01 9.64322649e-03 2.80371662e+02] [-6.51757704e-01 7.58380733e-01 -8.39999180e-03 -6.06625967e+00] [-1.27884512e-02 8.48298073e-05 9.99918221e-01 -9.40340967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13592 meters Centerline goodness [0,1] 0.9999007493424644 Centerline is valid? [True, True] Translation: X:280.39, Y:-6.09, Z:-0.94 [[ 7.54811617e-01 6.55859823e-01 1.03593442e-02 2.80393126e+02] [-6.55797608e-01 7.54882701e-01 -9.03353977e-03 -6.09194621e+00] [-1.37448255e-02 2.49876180e-05 9.99905535e-01 -9.39303874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.42, Y:-6.11, Z:-0.94 [[ 7.52463423e-01 6.58547169e-01 1.06969233e-02 2.80416843e+02] [-6.58480961e-01 7.52539452e-01 -9.33793190e-03 -6.11412602e+00] [-1.41993254e-02 -1.72681534e-05 9.99899184e-01 -9.39521570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.44, Y:-6.14, Z:-0.94 [[ 7.50346285e-01 6.60970518e-01 9.92103457e-03 2.80440805e+02] [-6.60913657e-01 7.50411868e-01 -8.66985294e-03 -6.13609105e+00] [-1.31753793e-02 -5.15552950e-05 9.99913200e-01 -9.39113344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:280.46, Y:-6.16, Z:-0.94 [[ 7.46524342e-01 6.65311281e-01 7.89341332e-03 2.80464011e+02] [-6.65275454e-01 7.46566065e-01 -6.90512560e-03 -6.15907969e+00] [-1.04870125e-02 -9.64497869e-05 9.99945005e-01 -9.39034493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25591999999995 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:280.49, Y:-6.18, Z:-0.94 [[ 7.46174179e-01 6.65704023e-01 7.88977996e-03 2.80488635e+02] [-6.65668174e-01 7.46215883e-01 -6.90927658e-03 -6.18020837e+00] [-1.04870123e-02 -9.64516384e-05 9.99945005e-01 -9.39062487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:280.51, Y:-6.20, Z:-0.94 [[ 7.44195692e-01 6.67933254e-01 6.15953440e-03 2.80512765e+02] [-6.67911435e-01 7.44221176e-01 -5.39964672e-03 -6.20266447e+00] [-8.19065954e-03 -9.56296286e-05 9.99966451e-01 -9.37464220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.54, Y:-6.22, Z:-0.94 [[ 7.43131476e-01 6.69095404e-01 8.18226653e-03 2.80537209e+02] [-6.69056897e-01 7.43176507e-01 -7.17968850e-03 -6.22391135e+00] [-1.08847648e-02 -1.38949353e-04 9.99940750e-01 -9.36863967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.56, Y:-6.25, Z:-0.94 [[ 7.42504505e-01 6.69795629e-01 7.80220239e-03 2.80563154e+02] [-6.69760582e-01 7.42545484e-01 -6.85326069e-03 -6.24503261e+00] [-1.03837742e-02 -1.37030672e-04 9.99946078e-01 -9.37088303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.59, Y:-6.27, Z:-0.94 [[ 7.42803585e-01 6.69450179e-01 8.90456065e-03 2.80589594e+02] [-6.69404405e-01 7.42856942e-01 -7.82982407e-03 -6.26522968e+00] [-1.18564918e-02 -1.44730724e-04 9.99929699e-01 -9.37968668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40592 meters Centerline goodness [0,1] 0.999950251231282 Centerline is valid? [True, True] Translation: X:280.61, Y:-6.28, Z:-0.94 [[ 7.44023906e-01 6.68091304e-01 9.07948239e-03 2.80614952e+02] [-6.68043522e-01 7.44079294e-01 -7.99112680e-03 -6.28467875e+00] [-1.20946572e-02 -1.19900013e-04 9.99926850e-01 -9.37685636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43591999999995 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:280.64, Y:-6.31, Z:-0.94 [[ 7.44905866e-01 6.67111568e-01 8.79813197e-03 2.80639569e+02] [-6.67066548e-01 7.44957816e-01 -7.75066419e-03 -6.30596947e+00] [-1.17247949e-02 -9.54243068e-05 9.99931258e-01 -9.37552550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.66, Y:-6.33, Z:-0.94 [[ 7.45733106e-01 6.66197630e-01 7.92799630e-03 2.80663668e+02] [-6.66160956e-01 7.45775243e-01 -6.99054665e-03 -6.32647844e+00] [-1.05695890e-02 -6.82395263e-05 9.99944138e-01 -9.35808827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.69, Y:-6.35, Z:-0.94 [[ 7.47259132e-01 6.64487203e-01 7.78122829e-03 2.80687266e+02] [-6.64451754e-01 7.47299643e-01 -6.86376373e-03 -6.34762888e+00] [-1.03757923e-02 -4.12406546e-05 9.99946169e-01 -9.35150796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.71, Y:-6.37, Z:-0.93 [[ 7.48088505e-01 6.63556851e-01 7.47623314e-03 2.80712003e+02] [-6.63524051e-01 7.48125862e-01 -6.59765407e-03 -6.36971058e+00] [-9.97108192e-03 -2.50313277e-05 9.99950287e-01 -9.34774293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.74, Y:-6.39, Z:-0.94 [[ 7.48510231e-01 6.63072744e-01 8.18353855e-03 2.80736304e+02] [-6.63033330e-01 7.48554966e-01 -7.22953973e-03 -6.39238663e+00] [-1.09195392e-02 -1.45743631e-05 9.99940380e-01 -9.35308300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:280.76, Y:-6.41, Z:-0.94 [[ 7.48547352e-01 6.63027380e-01 8.45907364e-03 2.80761120e+02] [-6.62985174e-01 7.48595147e-01 -7.48101289e-03 -6.41448973e+00] [-1.12925379e-02 -8.34802702e-06 9.99936237e-01 -9.35370941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.79, Y:-6.44, Z:-0.94 [[ 7.48339598e-01 6.63254725e-01 9.00083130e-03 2.80786050e+02] [-6.63206853e-01 7.48393726e-01 -7.96871191e-03 -6.43618767e+00] [-1.20214515e-02 -6.11033979e-06 9.99927740e-01 -9.36015287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:280.81, Y:-6.46, Z:-0.94 [[ 7.47435942e-01 6.64279416e-01 8.50705786e-03 2.80809526e+02] [-6.64236627e-01 7.47484353e-01 -7.53962585e-03 -6.45945419e+00] [-1.13673109e-02 -1.53120633e-05 9.99935390e-01 -9.35547081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.83, Y:-6.48, Z:-0.94 [[ 7.46531059e-01 6.65297772e-01 8.38174563e-03 2.80833868e+02] [-6.65256209e-01 7.46578110e-01 -7.43656067e-03 -6.48179637e+00] [-1.12051551e-02 -2.43848076e-05 9.99937220e-01 -9.35268531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:280.86, Y:-6.50, Z:-0.94 [[ 7.45377765e-01 6.66601461e-01 7.38097890e-03 2.80858536e+02] [-6.66569226e-01 7.45414308e-01 -6.55563742e-03 -6.50419647e+00] [-9.87188477e-03 -3.35070187e-05 9.99951271e-01 -9.35820393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73591999999996 meters Centerline goodness [0,1] 0.9998511461744567 Centerline is valid? [True, True] Translation: X:280.88, Y:-6.53, Z:-0.94 [[ 7.43611136e-01 6.68554007e-01 8.83281773e-03 2.80881133e+02] [-6.68507891e-01 7.43663591e-01 -7.85262104e-03 -6.52719467e+00] [-1.18185462e-02 -6.55119024e-05 9.99930156e-01 -9.37140202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76592 meters Centerline goodness [0,1] 0.9994047619047619 Centerline is valid? [True, True] Translation: X:280.90, Y:-6.55, Z:-0.94 [[ 7.42063408e-01 6.70256035e-01 9.93713474e-03 2.80904507e+02] [-6.70197710e-01 7.42129934e-01 -8.84257299e-03 -6.54935763e+00] [-1.33014331e-02 -9.80950964e-05 9.99911527e-01 -9.36867926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79591999999997 meters Centerline goodness [0,1] 0.9986073116140264 Centerline is valid? [True, True] Translation: X:280.93, Y:-6.57, Z:-0.94 [[ 7.39910108e-01 6.72586921e-01 1.26438156e-02 2.80928638e+02] [-6.72492655e-01 7.40018111e-01 -1.12616214e-02 -6.56999190e+00] [-1.69310718e-02 -1.70285612e-04 9.99856645e-01 -9.35918714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82592 meters Centerline goodness [0,1] 0.9984122258608713 Centerline is valid? [True, True] Translation: X:280.95, Y:-6.59, Z:-0.94 [[ 7.38532255e-01 6.74090326e-01 1.31278837e-02 2.80953083e+02] [-6.73988752e-01 7.38648896e-01 -1.17034936e-02 -6.59094107e+00] [-1.75861086e-02 -2.04638431e-04 9.99845332e-01 -9.36185148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85591999999997 meters Centerline goodness [0,1] 0.9983626079190235 Centerline is valid? [True, True] Translation: X:280.98, Y:-6.61, Z:-0.94 [[ 7.37560818e-01 6.75164606e-01 1.25217657e-02 2.80978661e+02] [-6.75072157e-01 7.37667073e-01 -1.11746305e-02 -6.61241037e+00] [-1.67816092e-02 -2.11125773e-04 9.99859157e-01 -9.36653454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88592 meters Centerline goodness [0,1] 0.9978640969600636 Centerline is valid? [True, True] Translation: X:281.00, Y:-6.63, Z:-0.94 [[ 7.36967155e-01 6.75826732e-01 1.17320290e-02 2.81003199e+02] [-6.75745489e-01 7.37060504e-01 -1.04808017e-02 -6.63498624e+00] [-1.57304211e-02 -2.03859029e-04 9.99876248e-01 -9.37131950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91591999999997 meters Centerline goodness [0,1] 0.9973198332340679 Centerline is valid? [True, True] Translation: X:281.03, Y:-6.66, Z:-0.94 [[ 7.35381799e-01 6.77558074e-01 1.13431031e-02 2.81027264e+02] [-6.77482174e-01 7.35469242e-01 -1.01438959e-02 -6.65783277e+00] [-1.52155820e-02 -2.25113726e-04 9.99884211e-01 -9.36766446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94592 meters Centerline goodness [0,1] 0.997073848137678 Centerline is valid? [True, True] Translation: X:281.05, Y:-6.68, Z:-0.94 [[ 7.35514275e-01 6.77391448e-01 1.26323760e-02 2.81052175e+02] [-6.77297088e-01 7.35622709e-01 -1.13086281e-02 -6.67867670e+00] [-1.69530306e-02 -2.38214106e-04 9.99856259e-01 -9.36747863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97592 meters Centerline goodness [0,1] 0.9965656263998806 Centerline is valid? [True, True] Translation: X:281.08, Y:-6.70, Z:-0.94 [[ 7.36085526e-01 6.76747333e-01 1.38255514e-02 2.81076925e+02] [-6.76633952e-01 7.36215316e-01 -1.23896228e-02 -6.70068123e+00] [-1.85632269e-02 -2.35015499e-04 9.99827661e-01 -9.37293196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00591999999995 meters Centerline goodness [0,1] 0.9966148944643568 Centerline is valid? [True, True] Translation: X:281.10, Y:-6.72, Z:-0.94 [[ 7.36032911e-01 6.76804463e-01 1.38301266e-02 2.81101800e+02] [-6.76690777e-01 7.36162800e-01 -1.24066308e-02 -6.72290862e+00] [-1.85780878e-02 -2.27030546e-04 9.99827387e-01 -9.36927476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03592 meters Centerline goodness [0,1] 0.9969692452923933 Centerline is valid? [True, True] Translation: X:281.13, Y:-6.75, Z:-0.94 [[ 7.34886959e-01 6.78042459e-01 1.41273193e-02 2.81126145e+02] [-6.77923813e-01 7.35022693e-01 -1.26863803e-02 -6.74531195e+00] [-1.89858048e-02 -2.54190758e-04 9.99819721e-01 -9.37722317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06591999999995 meters Centerline goodness [0,1] 0.997212543554007 Centerline is valid? [True, True] Translation: X:281.15, Y:-6.77, Z:-0.94 [[ 7.34121318e-01 6.78874696e-01 1.39656332e-02 2.81150331e+02] [-6.78758658e-01 7.34254097e-01 -1.25541277e-02 -6.76701028e+00] [-1.87770030e-02 -2.63041718e-04 9.99823662e-01 -9.38109239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09592 meters Centerline goodness [0,1] 0.9966752679634776 Centerline is valid? [True, True] Translation: X:281.17, Y:-6.79, Z:-0.94 [[ 7.32949233e-01 6.80115135e-01 1.51269770e-02 2.81173790e+02] [-6.79979005e-01 7.33105250e-01 -1.36104848e-02 -6.78944300e+00] [-2.03463629e-02 -3.10232339e-04 9.99792943e-01 -9.39811530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12591999999995 meters Centerline goodness [0,1] 0.9971139971139971 Centerline is valid? [True, True] Translation: X:281.20, Y:-6.81, Z:-0.94 [[ 7.31874829e-01 6.81264006e-01 1.54463345e-02 2.81196460e+02] [-6.81122063e-01 7.32037730e-01 -1.39103190e-02 -6.81232612e+00] [-2.07838993e-02 -3.40226912e-04 9.99783934e-01 -9.40307111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15592 meters Centerline goodness [0,1] 0.9969719533382974 Centerline is valid? [True, True] Translation: X:281.22, Y:-6.83, Z:-0.94 [[ 7.30104656e-01 6.83159822e-01 1.54870500e-02 2.81219748e+02] [-6.83017296e-01 7.30268792e-01 -1.39594220e-02 -6.83440800e+00] [-2.08462255e-02 -3.86084020e-04 9.99782619e-01 -9.40944782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18591999999995 meters Centerline goodness [0,1] 0.9966742777722625 Centerline is valid? [True, True] Translation: X:281.24, Y:-6.86, Z:-0.94 [[ 7.28997993e-01 6.84354256e-01 1.48720912e-02 2.81244678e+02] [-6.84222801e-01 7.29149572e-01 -1.34186764e-02 -6.85615499e+00] [-2.00271073e-02 -3.93635739e-04 9.99799360e-01 -9.40809411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21592 meters Centerline goodness [0,1] 0.9973193010325655 Centerline is valid? [True, True] Translation: X:281.27, Y:-6.88, Z:-0.94 [[ 7.26430752e-01 6.87093775e-01 1.41600098e-02 2.81268335e+02] [-6.86974910e-01 7.26568615e-01 -1.27875503e-02 -6.87801014e+00] [-1.90744650e-02 -4.38301689e-04 9.99817970e-01 -9.41596919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24591999999996 meters Centerline goodness [0,1] 0.9976175112920038 Centerline is valid? [True, True] Translation: X:281.29, Y:-6.90, Z:-0.94 [[ 7.24477648e-01 6.89167005e-01 1.34527494e-02 2.81291988e+02] [-6.89059880e-01 7.24602392e-01 -1.21595596e-02 -6.89937893e+00] [-1.81278617e-02 -4.60420740e-04 9.99835571e-01 -9.41533665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27592 meters Centerline goodness [0,1] 0.997468982630273 Centerline is valid? [True, True] Translation: X:281.32, Y:-6.92, Z:-0.94 [[ 7.21708443e-01 6.92077384e-01 1.28770686e-02 2.81316384e+02] [-6.91979517e-01 7.21823137e-01 -1.16493224e-02 -6.92004260e+00] [-1.73571986e-02 -5.03253363e-04 9.99849226e-01 -9.40849533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30591999999996 meters Centerline goodness [0,1] 0.9978648393664035 Centerline is valid? [True, True] Translation: X:281.34, Y:-6.94, Z:-0.94 [[ 7.15558566e-01 6.98407528e-01 1.42429790e-02 2.81340651e+02] [-6.98288833e-01 7.15699943e-01 -1.28956538e-02 -6.94021008e+00] [-1.92001209e-02 -7.18117650e-04 9.99815403e-01 -9.40982629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33592 meters Centerline goodness [0,1] 0.9977660841938046 Centerline is valid? [True, True] Translation: X:281.37, Y:-6.96, Z:-0.94 [[ 7.12493312e-01 7.01521674e-01 1.48533690e-02 2.81365020e+02] [-7.01393043e-01 7.12647637e-01 -1.34589776e-02 -6.96071956e+00] [-2.00269828e-02 -8.28618145e-04 9.99799097e-01 -9.41019901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36591999999996 meters Centerline goodness [0,1] 0.997416149068323 Centerline is valid? [True, True] Translation: X:281.39, Y:-6.98, Z:-0.94 [[ 7.08848484e-01 7.05218584e-01 1.41624984e-02 2.81390331e+02] [-7.05102168e-01 7.08989402e-01 -1.28436976e-02 -6.98057558e+00] [-1.90986755e-02 -8.81772753e-04 9.99817215e-01 -9.39944836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39592 meters Centerline goodness [0,1] 0.9985064967391846 Centerline is valid? [True, True] Translation: X:281.42, Y:-7.00, Z:-0.94 [[ 7.06249854e-01 7.07821719e-01 1.41264865e-02 2.81416776e+02] [-7.07706208e-01 7.06390492e-01 -1.28217322e-02 -6.99926591e+00] [-1.90543163e-02 -9.42055705e-04 9.99818006e-01 -9.39823910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42591999999996 meters Centerline goodness [0,1] 0.9983103071265281 Centerline is valid? [True, True] Translation: X:281.45, Y:-7.01, Z:-0.94 [[ 7.03282293e-01 7.10772407e-01 1.40214688e-02 2.81446992e+02] [-7.10659001e-01 7.03421333e-01 -1.27363001e-02 -7.01316290e+00] [-1.89156109e-02 -1.00726861e-03 9.99820576e-01 -9.40717713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45592 meters Centerline goodness [0,1] 0.998262682418346 Centerline is valid? [True, True] Translation: X:281.47, Y:-7.03, Z:-0.94 [[ 7.02296923e-01 7.11756033e-01 1.35048755e-02 2.81474047e+02] [-7.11650826e-01 7.02426062e-01 -1.22771856e-02 -7.03068466e+00] [-1.82245374e-02 -9.88526091e-04 9.99833431e-01 -9.40197581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48591999999996 meters Centerline goodness [0,1] 0.9981626775250769 Centerline is valid? [True, True] Translation: X:281.51, Y:-7.04, Z:-0.94 [[ 7.02571055e-01 7.11491966e-01 1.31565730e-02 2.81505332e+02] [-7.11391895e-01 7.02693590e-01 -1.19704214e-02 -7.04394697e+00] [-1.77618982e-02 -9.49407827e-04 9.99841794e-01 -9.40189348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51592 meters Centerline goodness [0,1] 0.9980632666236281 Centerline is valid? [True, True] Translation: X:281.53, Y:-7.06, Z:-0.94 [[ 7.02590938e-01 7.11453647e-01 1.41308835e-02 2.81533141e+02] [-7.11337963e-01 7.02732302e-01 -1.28691384e-02 -7.06231913e+00] [-1.90860237e-02 -1.01009384e-03 9.99817335e-01 -9.39853135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54591999999997 meters Centerline goodness [0,1] 0.9985089463220675 Centerline is valid? [True, True] Translation: X:281.56, Y:-7.08, Z:-0.94 [[ 7.02139021e-01 7.11903811e-01 1.39197655e-02 2.81561469e+02] [-7.11791421e-01 7.02276275e-01 -1.26888417e-02 -7.07979164e+00] [-1.88087559e-02 -9.98638812e-04 9.99822601e-01 -9.39612861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57592 meters Centerline goodness [0,1] 0.9983586988958519 Centerline is valid? [True, True] Translation: X:281.60, Y:-7.09, Z:-0.94 [[ 7.01581625e-01 7.12456319e-01 1.37556244e-02 2.81595583e+02] [-7.12346448e-01 7.01715759e-01 -1.25511270e-02 -7.09194376e+00] [-1.85946682e-02 -9.93130128e-04 9.99826611e-01 -9.39094106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60591999999997 meters Centerline goodness [0,1] 0.9988078680707332 Centerline is valid? [True, True] Translation: X:281.62, Y:-7.11, Z:-0.94 [[ 7.00868472e-01 7.13154382e-01 1.39359714e-02 2.81623964e+02] [-7.13041547e-01 7.01006271e-01 -1.27263623e-02 -7.10853932e+00] [-1.88450643e-02 -1.01742050e-03 9.99821898e-01 -9.39681072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63592 meters Centerline goodness [0,1] 0.9979113829628524 Centerline is valid? [True, True] Translation: X:281.66, Y:-7.12, Z:-0.94 [[ 7.00798899e-01 7.13201120e-01 1.50021543e-02 2.81657150e+02] [-7.13070102e-01 7.00958615e-01 -1.37131276e-02 -7.12128608e+00] [-2.02961073e-02 -1.08744301e-03 9.99793421e-01 -9.41127111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66591999999997 meters Centerline goodness [0,1] 0.9979622266401591 Centerline is valid? [True, True] Translation: X:281.68, Y:-7.14, Z:-0.94 [[ 7.01281553e-01 7.12714059e-01 1.55837696e-02 2.81684462e+02] [-7.12572310e-01 7.01453809e-01 -1.42567947e-02 -7.13850433e+00] [-2.10923126e-02 -1.10653565e-03 9.99776920e-01 -9.41174792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69592 meters Centerline goodness [0,1] 0.9979598945116186 Centerline is valid? [True, True] Translation: X:281.72, Y:-7.15, Z:-0.94 [[ 7.05145675e-01 7.08889438e-01 1.56633989e-02 2.81715248e+02] [-7.08745230e-01 7.05318918e-01 -1.43325979e-02 -7.15148724e+00] [-2.12079188e-02 -9.94789870e-04 9.99774592e-01 -9.42026468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72592 meters Centerline goodness [0,1] 0.9976143141153081 Centerline is valid? [True, True] Translation: X:281.74, Y:-7.17, Z:-0.94 [[ 7.07980708e-01 7.06076070e-01 1.48290039e-02 2.81742211e+02] [-7.05946159e-01 7.08135469e-01 -1.35712347e-02 -7.16871951e+00] [-2.00832677e-02 -8.60306012e-04 9.99797941e-01 -9.41796916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75591999999995 meters Centerline goodness [0,1] 0.9969215491559087 Centerline is valid? [True, True] Translation: X:281.77, Y:-7.19, Z:-0.94 [[ 7.09931200e-01 7.04118278e-01 1.46677031e-02 2.81769878e+02] [-7.03990539e-01 7.10082269e-01 -1.34347259e-02 -7.18582348e+00] [-1.98749120e-02 -7.88193168e-04 9.99802164e-01 -9.40995349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78592 meters Centerline goodness [0,1] 0.9973149022922778 Centerline is valid? [True, True] Translation: X:281.80, Y:-7.20, Z:-0.94 [[ 7.12052027e-01 7.01956040e-01 1.54799516e-02 2.81796751e+02] [-7.01812990e-01 7.12219869e-01 -1.41910277e-02 -7.20417659e+00] [-2.09866068e-02 -7.59281087e-04 9.99779469e-01 -9.41655820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81591999999995 meters Centerline goodness [0,1] 0.9970135881738091 Centerline is valid? [True, True] Translation: X:281.82, Y:-7.22, Z:-0.94 [[ 7.16842841e-01 6.97075043e-01 1.49239849e-02 2.81824579e+02] [-6.96940946e-01 7.16997932e-01 -1.36851462e-02 -7.22067963e+00] [-2.02400402e-02 -5.91037031e-04 9.99794975e-01 -9.41603553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84592 meters Centerline goodness [0,1] 0.9970726866782436 Centerline is valid? [True, True] Translation: X:281.85, Y:-7.24, Z:-0.94 [[ 7.17792123e-01 6.96092413e-01 1.51598054e-02 2.81849972e+02] [-6.95953577e-01 7.17951972e-01 -1.39134450e-02 -7.23990153e+00] [-2.05690557e-02 -5.63559565e-04 9.99788276e-01 -9.41624169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87591999999995 meters Centerline goodness [0,1] 0.9967136384006373 Centerline is valid? [True, True] Translation: X:281.88, Y:-7.26, Z:-0.94 [[ 7.19280280e-01 6.94551103e-01 1.53180888e-02 2.81876438e+02] [-6.94408740e-01 7.19443187e-01 -1.40713436e-02 -7.25808129e+00] [-2.07937619e-02 -5.15774798e-04 9.99783653e-01 -9.41830031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90592 meters Centerline goodness [0,1] 0.997020706092656 Centerline is valid? [True, True] Translation: X:281.90, Y:-7.28, Z:-0.94 [[ 7.19640529e-01 6.94191374e-01 1.46916474e-02 2.81900566e+02] [-6.94060102e-01 7.19790323e-01 -1.35079956e-02 -7.27944567e+00] [-1.99520397e-02 -4.75985158e-04 9.99800825e-01 -9.41346369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93591999999995 meters Centerline goodness [0,1] 0.9973195671597339 Centerline is valid? [True, True] Translation: X:281.92, Y:-7.30, Z:-0.94 [[ 7.20196961e-01 6.93607853e-01 1.49828050e-02 2.81923900e+02] [-6.93470945e-01 7.20352646e-01 -1.37881537e-02 -7.30114454e+00] [-2.03564749e-02 -4.59953537e-04 9.99792680e-01 -9.42208255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96592 meters Centerline goodness [0,1] 0.9974196109567288 Centerline is valid? [True, True] Translation: X:281.95, Y:-7.32, Z:-0.94 [[ 7.20998896e-01 6.92784970e-01 1.44767973e-02 2.81948633e+02] [-6.92656752e-01 7.21144101e-01 -1.33344912e-02 -7.32181998e+00] [-1.96777920e-02 -4.13297962e-04 9.99806288e-01 -9.43045434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99591999999996 meters Centerline goodness [0,1] 0.9977140585399791 Centerline is valid? [True, True] Translation: X:281.97, Y:-7.34, Z:-0.94 [[ 7.21484813e-01 6.92304725e-01 1.31845486e-02 2.81973319e+02] [-6.92198101e-01 7.21605184e-01 -1.21551779e-02 -7.34270495e+00] [-1.79291257e-02 -3.56543227e-04 9.99839197e-01 -9.43075303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02592 meters Centerline goodness [0,1] 0.9987080745341614 Centerline is valid? [True, True] Translation: X:282.00, Y:-7.37, Z:-0.94 [[ 7.20362362e-01 6.93478669e-01 1.28608986e-02 2.81997615e+02] [-6.93377188e-01 7.20477065e-01 -1.18690742e-02 -7.36557006e+00] [-1.74969322e-02 -3.67419365e-04 9.99846849e-01 -9.43425860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05591999999996 meters Centerline goodness [0,1] 0.9993542618716471 Centerline is valid? [True, True] Translation: X:282.02, Y:-7.39, Z:-0.94 [[ 7.19890979e-01 6.93940062e-01 1.42887621e-02 2.82020877e+02] [-6.93814647e-01 7.20032653e-01 -1.31990416e-02 -7.38762412e+00] [-1.94477191e-02 -4.11881441e-04 9.99810790e-01 -9.43572948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08592 meters Centerline goodness [0,1] 0.9994531444195873 Centerline is valid? [True, True] Translation: X:282.05, Y:-7.41, Z:-0.94 [[ 7.18765067e-01 6.95091291e-01 1.49958317e-02 2.82045059e+02] [-6.94953149e-01 7.18921337e-01 -1.38647358e-02 -7.40947613e+00] [-2.04180805e-02 -4.55912665e-04 9.99791425e-01 -9.43560598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11591999999996 meters Centerline goodness [0,1] 0.9998510648860647 Centerline is valid? [True, True] Translation: X:282.07, Y:-7.43, Z:-0.94 [[ 7.16770220e-01 6.97161174e-01 1.43787504e-02 2.82069162e+02] [-6.97034348e-01 7.16914264e-01 -1.33062253e-02 -7.43056094e+00] [-1.95849149e-02 -4.84976832e-04 9.99808080e-01 -9.43519474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.09, Y:-7.45, Z:-0.94 [[ 7.15263928e-01 6.98722353e-01 1.35862999e-02 2.82093670e+02] [-6.98609166e-01 7.15392783e-01 -1.25856976e-02 -7.45301895e+00] [-1.85134492e-02 -4.89418160e-04 9.99828492e-01 -9.44334000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.12, Y:-7.47, Z:-0.94 [[ 7.14907704e-01 6.99086949e-01 1.35798811e-02 2.82117730e+02] [-6.98973696e-01 7.15036502e-01 -1.25926230e-02 -7.47489515e+00] [-1.85134491e-02 -4.89416473e-04 9.99828492e-01 -9.44362005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20592 meters Centerline goodness [0,1] 0.9999007887295996 Centerline is valid? [True, True] Translation: X:282.14, Y:-7.50, Z:-0.95 [[ 7.13780858e-01 7.00241982e-01 1.33436850e-02 2.82141787e+02] [-7.00132633e-01 7.13905396e-01 -1.23847046e-02 -7.49626830e+00] [-1.81984188e-02 -5.02384188e-04 9.99834269e-01 -9.45764932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23591999999996 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:282.17, Y:-7.52, Z:-0.94 [[ 7.13521580e-01 7.00513239e-01 1.29675311e-02 2.82167163e+02] [-7.00409798e-01 7.13639240e-01 -1.20477987e-02 -7.51710164e+00] [-1.76937815e-02 -4.86221500e-04 9.99843335e-01 -9.44618078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.19, Y:-7.54, Z:-0.94 [[ 7.13887023e-01 7.00136190e-01 1.32149193e-02 2.82191970e+02] [-7.00028500e-01 7.14009164e-01 -1.22887366e-02 -7.53711497e+00] [-1.80393627e-02 -4.78050574e-04 9.99837163e-01 -9.44575382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29591999999997 meters Centerline goodness [0,1] 0.9999007197815836 Centerline is valid? [True, True] Translation: X:282.22, Y:-7.56, Z:-0.94 [[ 7.14597042e-01 6.99379299e-01 1.48210879e-02 2.82217592e+02] [-6.99243388e-01 7.14750545e-01 -1.37964930e-02 -7.55813352e+00] [-2.02423622e-02 -5.04614643e-04 9.99794975e-01 -9.44937206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.24, Y:-7.58, Z:-0.94 [[ 7.16250381e-01 6.97654916e-01 1.62175434e-02 2.82241839e+02] [-6.97491437e-01 7.16433792e-01 -1.51101609e-02 -7.57935556e+00] [-2.21604741e-02 -4.88939137e-04 9.99754307e-01 -9.44192234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.27, Y:-7.60, Z:-0.94 [[ 7.17103007e-01 6.96769671e-01 1.65922881e-02 2.82265556e+02] [-6.96597992e-01 7.17294788e-01 -1.54733865e-02 -7.60076802e+00] [-2.26829481e-02 -4.62142604e-04 9.99742602e-01 -9.44761616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.29, Y:-7.62, Z:-0.94 [[ 7.19359847e-01 6.94437142e-01 1.66873165e-02 2.82290092e+02] [-6.94262737e-01 7.19553269e-01 -1.55674320e-02 -7.62239274e+00] [-2.28180161e-02 -3.86796510e-04 9.99739560e-01 -9.44869507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.31, Y:-7.64, Z:-0.95 [[ 7.20814700e-01 6.92907501e-01 1.74746466e-02 2.82314555e+02] [-6.92715399e-01 7.21026406e-01 -1.63186360e-02 -7.64480504e+00] [-2.39069869e-02 -3.42244125e-04 9.99714129e-01 -9.45469591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44592 meters Centerline goodness [0,1] 0.9999499023095035 Centerline is valid? [True, True] Translation: X:282.34, Y:-7.67, Z:-0.95 [[ 7.22491418e-01 6.91168347e-01 1.71016651e-02 2.82337725e+02] [-6.90983525e-01 7.22693742e-01 -1.59851154e-02 -7.66762823e+00] [-2.34076721e-02 -2.67860140e-04 9.99725967e-01 -9.45420170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47592 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:282.36, Y:-7.69, Z:-0.95 [[ 7.24124306e-01 6.89440456e-01 1.77720951e-02 2.82361120e+02] [-6.89239905e-01 7.24342333e-01 -1.66294270e-02 -7.69065236e+00] [-2.43380806e-02 -2.07464918e-04 9.99703764e-01 -9.45420705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50591999999995 meters Centerline goodness [0,1] 0.9997522299306244 Centerline is valid? [True, True] Translation: X:282.38, Y:-7.72, Z:-0.95 [[ 7.26391679e-01 6.87033261e-01 1.84506580e-02 2.82383233e+02] [-6.86815849e-01 7.26625959e-01 -1.72830720e-02 -7.71503275e+00] [-2.52807723e-02 -1.17924648e-04 9.99680383e-01 -9.45829969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53592 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:282.41, Y:-7.74, Z:-0.95 [[ 7.26489731e-01 6.86941115e-01 1.80159921e-02 2.82406517e+02] [-6.86733354e-01 7.26713076e-01 -1.68939393e-02 -7.73889114e+00] [-2.46975986e-02 -9.89092654e-05 9.99694963e-01 -9.45700560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56591999999995 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:282.43, Y:-7.77, Z:-0.95 [[ 7.26078373e-01 6.87376851e-01 1.79794899e-02 2.82426849e+02] [-6.87169618e-01 7.26300940e-01 -1.68778131e-02 -7.76586324e+00] [-2.46599384e-02 -1.00344113e-04 9.99695892e-01 -9.45564089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.45, Y:-7.79, Z:-0.95 [[ 7.24574821e-01 6.88996431e-01 1.65905665e-02 2.82448518e+02] [-6.88820074e-01 7.24764720e-01 -1.55886249e-02 -7.79014057e+00] [-2.27647643e-02 -1.32790160e-04 9.99740840e-01 -9.45743363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62591999999995 meters Centerline goodness [0,1] 0.9998013310817523 Centerline is valid? [True, True] Translation: X:282.47, Y:-7.81, Z:-0.95 [[ 7.23519509e-01 6.90093819e-01 1.70305805e-02 2.82470842e+02] [-6.89907887e-01 7.23719901e-01 -1.60191146e-02 -7.81420623e+00] [-2.33800620e-02 -1.59389878e-04 9.99726636e-01 -9.45510960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65592 meters Centerline goodness [0,1] 0.9998511314013497 Centerline is valid? [True, True] Translation: X:282.49, Y:-7.84, Z:-0.95 [[ 7.21189444e-01 6.92539283e-01 1.65869401e-02 2.82491947e+02] [-6.92363179e-01 7.21380131e-01 -1.56184337e-02 -7.84007571e+00] [-2.27818679e-02 -2.20337091e-04 9.99740435e-01 -9.45327963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68591999999995 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:282.51, Y:-7.87, Z:-0.94 [[ 7.19404251e-01 6.94420014e-01 1.54391631e-02 2.82513286e+02] [-6.94267547e-01 7.19569859e-01 -1.45530741e-02 -7.86560306e+00] [-2.12155023e-02 -2.49366481e-04 9.99774895e-01 -9.44477457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.53, Y:-7.89, Z:-0.95 [[ 7.15380938e-01 6.98572031e-01 1.50742159e-02 2.82531744e+02] [-6.98427451e-01 7.15539649e-01 -1.42164168e-02 -7.89222307e+00] [-2.07173903e-02 -3.58092552e-04 9.99785308e-01 -9.45122682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.55, Y:-7.92, Z:-0.94 [[ 7.12429833e-01 7.01591750e-01 1.45859587e-02 2.82554541e+02] [-7.01456770e-01 7.12579005e-01 -1.37681528e-02 -7.91543089e+00] [-2.00532704e-02 -4.22576666e-04 9.99798824e-01 -9.44881019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.58, Y:-7.94, Z:-0.94 [[ 7.08836253e-01 7.05234851e-01 1.39631948e-02 2.82577142e+02] [-7.05111629e-01 7.08973596e-01 -1.31920744e-02 -7.93801656e+00] [-1.92030471e-02 -4.94590438e-04 9.99815482e-01 -9.44385878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80591999999996 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:282.60, Y:-7.96, Z:-0.94 [[ 7.00677669e-01 7.13345415e-01 1.37521788e-02 2.82598583e+02] [-7.13227358e-01 7.00812261e-01 -1.29965514e-02 -7.96130518e+00] [-1.89087259e-02 -7.02036857e-04 9.99820968e-01 -9.43728407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.62, Y:-7.98, Z:-0.94 [[ 6.96373398e-01 7.17529856e-01 1.46627412e-02 2.82621673e+02] [-7.17396352e-01 6.96527216e-01 -1.38676235e-02 -7.98304199e+00] [-2.01634322e-02 -8.61952981e-04 9.99796326e-01 -9.43457308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86591999999996 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:282.65, Y:-8.00, Z:-0.94 [[ 6.88158385e-01 7.25417716e-01 1.43935269e-02 2.82647655e+02] [-7.25290697e-01 6.88308066e-01 -1.36165516e-02 -8.00200179e+00] [-1.97848684e-02 -1.06914699e-03 9.99803689e-01 -9.43331856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89592 meters Centerline goodness [0,1] 0.9998509612996175 Centerline is valid? [True, True] Translation: X:282.67, Y:-8.02, Z:-0.94 [[ 6.83967708e-01 7.29391264e-01 1.32875288e-02 2.82672561e+02] [-7.29283589e-01 6.84095903e-01 -1.25794358e-02 -8.02202456e+00] [-1.82652746e-02 -1.08644879e-03 9.99832586e-01 -9.43075872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92591999999996 meters Centerline goodness [0,1] 0.9995028832769934 Centerline is valid? [True, True] Translation: X:282.70, Y:-8.04, Z:-0.94 [[ 6.80707083e-01 7.32421137e-01 1.40408574e-02 2.82698071e+02] [-7.32301356e-01 6.80850771e-01 -1.33023112e-02 -8.04061035e+00] [-1.93026225e-02 -1.22716148e-03 9.99812934e-01 -9.43540177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95592 meters Centerline goodness [0,1] 0.9990058653941744 Centerline is valid? [True, True] Translation: X:282.73, Y:-8.06, Z:-0.94 [[ 6.77112049e-01 7.35755609e-01 1.35261349e-02 2.82726151e+02] [-7.35644934e-01 6.77245951e-01 -1.28239540e-02 -8.05667202e+00] [-1.85958162e-02 -1.26717890e-03 9.99826280e-01 -9.41745095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98591999999996 meters Centerline goodness [0,1] 0.9983597594313832 Centerline is valid? [True, True] Translation: X:282.75, Y:-8.07, Z:-0.94 [[ 6.76178510e-01 7.36605803e-01 1.39468233e-02 2.82753886e+02] [-7.36488109e-01 6.76321033e-01 -1.32334890e-02 -8.07439637e+00] [-1.91803947e-02 -1.32346866e-03 9.99815163e-01 -9.42516154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01592 meters Centerline goodness [0,1] 0.9978126864187711 Centerline is valid? [True, True] Translation: X:282.79, Y:-8.09, Z:-0.94 [[ 6.75533933e-01 7.37163815e-01 1.56017511e-02 2.82785395e+02] [-7.37016418e-01 6.75712431e-01 -1.48158935e-02 -8.08765138e+00] [-2.14640377e-02 -1.49010795e-03 9.99768511e-01 -9.44257829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04591999999997 meters Centerline goodness [0,1] 0.9973153027741871 Centerline is valid? [True, True] Translation: X:282.81, Y:-8.11, Z:-0.94 [[ 6.75256666e-01 7.37403999e-01 1.62412593e-02 2.82813800e+02] [-7.37244018e-01 6.75450177e-01 -1.54374656e-02 -8.10544168e+00] [-2.23538104e-02 -1.54951976e-03 9.99748922e-01 -9.44763347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07592 meters Centerline goodness [0,1] 0.9972184969949833 Centerline is valid? [True, True] Translation: X:282.84, Y:-8.12, Z:-0.94 [[ 6.74757836e-01 7.37849693e-01 1.67239996e-02 2.82841910e+02] [-7.37679897e-01 6.74963157e-01 -1.59093263e-02 -8.12269998e+00] [-2.30267751e-02 -1.60201570e-03 9.99733565e-01 -9.44647138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10591999999997 meters Centerline goodness [0,1] 0.9964154137209997 Centerline is valid? [True, True] Translation: X:282.87, Y:-8.14, Z:-0.94 [[ 6.75770227e-01 7.36925561e-01 1.65927111e-02 2.82873550e+02] [-7.36757849e-01 6.75972127e-01 -1.57973337e-02 -8.13620366e+00] [-2.28576692e-02 -1.54944236e-03 9.99737529e-01 -9.43799359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13592 meters Centerline goodness [0,1] 0.9968178202068417 Centerline is valid? [True, True] Translation: X:282.90, Y:-8.15, Z:-0.95 [[ 6.76555790e-01 7.36177182e-01 1.77600690e-02 2.82900111e+02] [-7.35984441e-01 6.76786913e-01 -1.69226685e-02 -8.15475279e+00] [-2.44778647e-02 -1.62200516e-03 9.99699056e-01 -9.45141747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16591999999997 meters Centerline goodness [0,1] 0.9969692452923933 Centerline is valid? [True, True] Translation: X:282.93, Y:-8.17, Z:-0.94 [[ 6.79658909e-01 7.33327350e-01 1.71687328e-02 2.82929859e+02] [-7.33146265e-01 6.79874140e-01 -1.63617890e-02 -8.16884503e+00] [-2.36711249e-02 -1.46675668e-03 9.99718724e-01 -9.44747159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19592 meters Centerline goodness [0,1] 0.9970689055591435 Centerline is valid? [True, True] Translation: X:282.96, Y:-8.19, Z:-0.94 [[ 6.81639993e-01 7.31478772e-01 1.74850284e-02 2.82956838e+02] [-7.31290298e-01 6.81862721e-01 -1.66652333e-02 -8.18574947e+00] [-2.41126534e-02 -1.42694214e-03 9.99708229e-01 -9.44500792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22592 meters Centerline goodness [0,1] 0.9972171147443224 Centerline is valid? [True, True] Translation: X:282.98, Y:-8.20, Z:-0.94 [[ 6.83654712e-01 7.29587542e-01 1.78396368e-02 2.82982641e+02] [-7.29390652e-01 6.83886026e-01 -1.70052923e-02 -8.20364953e+00] [-2.46071277e-02 -1.38631615e-03 9.99696238e-01 -9.44906146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25591999999995 meters Centerline goodness [0,1] 0.9976160913831637 Centerline is valid? [True, True] Translation: X:283.01, Y:-8.22, Z:-0.94 [[ 6.87772798e-01 7.25700764e-01 1.80825716e-02 2.83010546e+02] [-7.25497081e-01 6.88009307e-01 -1.72388888e-02 -8.21994033e+00] [-2.49512524e-02 -1.26241414e-03 9.99687872e-01 -9.44538524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28592 meters Centerline goodness [0,1] 0.9974201230402858 Centerline is valid? [True, True] Translation: X:283.04, Y:-8.24, Z:-0.94 [[ 6.90436108e-01 7.23172124e-01 1.78902517e-02 2.83036212e+02] [-7.22971849e-01 6.90666882e-01 -1.70576580e-02 -8.23872403e+00] [-2.46918272e-02 -1.15692537e-03 9.99694441e-01 -9.44493464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31591999999995 meters Centerline goodness [0,1] 0.9976629705136493 Centerline is valid? [True, True] Translation: X:283.07, Y:-8.25, Z:-0.94 [[ 6.95010739e-01 7.18759182e-01 1.85825569e-02 2.83066184e+02] [-7.18541411e-01 6.95258345e-01 -1.77221317e-02 -8.25304775e+00] [-2.56576226e-02 -1.03526481e-03 9.99670253e-01 -9.44491590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34592 meters Centerline goodness [0,1] 0.9974162774520521 Centerline is valid? [True, True] Translation: X:283.09, Y:-8.27, Z:-0.94 [[ 6.96468686e-01 7.17322289e-01 1.94962336e-02 2.83091842e+02] [-7.17081574e-01 6.96740765e-01 -1.86097438e-02 -8.27250207e+00] [-2.69330047e-02 -1.01928609e-03 9.99636721e-01 -9.43973215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37591999999995 meters Centerline goodness [0,1] 0.9977122395185756 Centerline is valid? [True, True] Translation: X:283.12, Y:-8.29, Z:-0.95 [[ 6.98083687e-01 7.15713287e-01 2.08244438e-02 2.83116212e+02] [-7.15437414e-01 6.98393493e-01 -1.98956212e-02 -8.29408397e+00] [-2.87832164e-02 -1.00977762e-03 9.99585167e-01 -9.45384322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40592 meters Centerline goodness [0,1] 0.9979103437981989 Centerline is valid? [True, True] Translation: X:283.14, Y:-8.31, Z:-0.94 [[ 7.00796499e-01 7.13077358e-01 2.01233270e-02 2.83141271e+02] [-7.12818549e-01 7.01084822e-01 -1.92298836e-02 -8.31375790e+00] [-2.78205537e-02 -8.68045658e-04 9.99612557e-01 -9.44493306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43591999999995 meters Centerline goodness [0,1] 0.9978138818502509 Centerline is valid? [True, True] Translation: X:283.17, Y:-8.33, Z:-0.94 [[ 7.00907482e-01 7.13000518e-01 1.89462937e-02 2.83165840e+02] [-7.12770658e-01 7.01163045e-01 -1.81210616e-02 -8.33465809e+00] [-2.62047673e-02 -8.03174532e-04 9.99656273e-01 -9.44441172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46592 meters Centerline goodness [0,1] 0.9976188113900188 Centerline is valid? [True, True] Translation: X:283.19, Y:-8.36, Z:-0.94 [[ 7.00294012e-01 7.13580758e-01 1.97686517e-02 2.83190659e+02] [-7.13330270e-01 7.00572467e-01 -1.89246989e-02 -8.35577124e+00] [-2.73536741e-02 -8.48724366e-04 9.99625458e-01 -9.44888150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49591999999996 meters Centerline goodness [0,1] 0.9975162684417068 Centerline is valid? [True, True] Translation: X:283.22, Y:-8.38, Z:-0.94 [[ 6.99648710e-01 7.14259406e-01 1.80328323e-02 2.83216224e+02] [-7.14050821e-01 6.99880619e-01 -1.72784330e-02 -8.37621879e+00] [-2.49621131e-02 -7.87525378e-04 9.99688088e-01 -9.44895363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52592 meters Centerline goodness [0,1] 0.9974203790058538 Centerline is valid? [True, True] Translation: X:283.24, Y:-8.40, Z:-0.95 [[ 6.98557664e-01 7.15334760e-01 1.77022933e-02 2.83240495e+02] [-7.15133724e-01 6.98781468e-01 -1.69769399e-02 -8.39760079e+00] [-2.45142297e-02 -8.00135428e-04 9.99699161e-01 -9.45226296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55591999999996 meters Centerline goodness [0,1] 0.9975657012270853 Centerline is valid? [True, True] Translation: X:283.27, Y:-8.42, Z:-0.94 [[ 6.97355589e-01 7.16497689e-01 1.80622348e-02 2.83265885e+02] [-7.16288392e-01 6.97588951e-01 -1.73376946e-02 -8.41750393e+00] [-2.50224335e-02 -8.47230840e-04 9.99686531e-01 -9.44681352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58592 meters Centerline goodness [0,1] 0.9973195671597339 Centerline is valid? [True, True] Translation: X:283.29, Y:-8.44, Z:-0.94 [[ 6.97005777e-01 7.16832932e-01 1.82618377e-02 2.83291227e+02] [-7.16618641e-01 6.97244444e-01 -1.75473401e-02 -8.43922229e+00] [-2.53114761e-02 -8.56175849e-04 9.99679247e-01 -9.44641775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61591999999996 meters Centerline goodness [0,1] 0.9974682287529786 Centerline is valid? [True, True] Translation: X:283.32, Y:-8.46, Z:-0.94 [[ 6.97448895e-01 7.16390193e-01 1.87117563e-02 2.83316188e+02] [-7.16164629e-01 6.97699341e-01 -1.79959624e-02 -8.46004022e+00] [-2.59473110e-02 -8.49433906e-04 9.99662951e-01 -9.44510935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64592 meters Centerline goodness [0,1] 0.9972680309954302 Centerline is valid? [True, True] Translation: X:283.34, Y:-8.48, Z:-0.94 [[ 6.97892758e-01 7.15969142e-01 1.82725741e-02 2.83341351e+02] [-7.15753497e-01 6.98131466e-01 -1.75894517e-02 -8.48073000e+00] [-2.53501636e-02 -8.03107863e-04 9.99678310e-01 -9.44717312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67591999999996 meters Centerline goodness [0,1] 0.9974206349206349 Centerline is valid? [True, True] Translation: X:283.37, Y:-8.50, Z:-0.95 [[ 6.99450718e-01 7.14500112e-01 1.60711851e-02 2.83368387e+02] [-7.14332797e-01 6.99635019e-01 -1.54756558e-02 -8.49983961e+00] [-2.23013217e-02 -6.55716075e-04 9.99751080e-01 -9.45616485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70592 meters Centerline goodness [0,1] 0.9970716696446298 Centerline is valid? [True, True] Translation: X:283.39, Y:-8.52, Z:-0.95 [[ 6.99660833e-01 7.14302845e-01 1.56896286e-02 2.83393744e+02] [-7.14143039e-01 6.99836449e-01 -1.51216519e-02 -8.52050767e+00] [-2.17816129e-02 -6.24611491e-04 9.99762557e-01 -9.45844651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73591999999996 meters Centerline goodness [0,1] 0.9973203652242953 Centerline is valid? [True, True] Translation: X:283.42, Y:-8.54, Z:-0.95 [[ 7.00063827e-01 7.13909211e-01 1.56293578e-02 2.83419371e+02] [-7.13750233e-01 7.00238015e-01 -1.50773601e-02 -8.53978381e+00] [-2.17081367e-02 -6.00343376e-04 9.99764170e-01 -9.46771237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76592 meters Centerline goodness [0,1] 0.997419995038452 Centerline is valid? [True, True] Translation: X:283.45, Y:-8.56, Z:-0.95 [[ 7.00643772e-01 7.13319873e-01 1.65246471e-02 2.83445690e+02] [-7.13141612e-01 7.00838351e-01 -1.59576535e-02 -8.56063266e+00] [-2.29640178e-02 -6.03782930e-04 9.99736110e-01 -9.46103272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79591999999997 meters Centerline goodness [0,1] 0.9972175295637484 Centerline is valid? [True, True] Translation: X:283.47, Y:-8.58, Z:-0.95 [[ 7.00700992e-01 7.13273713e-01 1.60850681e-02 2.83470971e+02] [-7.13104480e-01 7.00885353e-01 -1.55474439e-02 -8.58115423e+00] [-2.23633717e-02 -5.76224763e-04 9.99749742e-01 -9.45450104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82592 meters Centerline goodness [0,1] 0.9973689436060366 Centerline is valid? [True, True] Translation: X:283.50, Y:-8.60, Z:-0.94 [[ 7.00263121e-01 7.13715288e-01 1.55578997e-02 2.83497971e+02] [-7.13556735e-01 7.00435703e-01 -1.50536139e-02 -8.60142766e+00] [-2.16413028e-02 -5.59953469e-04 9.99765643e-01 -9.44450665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85591999999997 meters Centerline goodness [0,1] 0.9970739932553064 Centerline is valid? [True, True] Translation: X:283.52, Y:-8.62, Z:-0.94 [[ 6.99876689e-01 7.14106798e-01 1.49700260e-02 2.83522951e+02] [-7.13959774e-01 7.00036563e-01 -1.45000571e-02 -8.62328179e+00] [-2.08341549e-02 -5.39744398e-04 9.99782800e-01 -9.44402186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88592 meters Centerline goodness [0,1] 0.9968205077251726 Centerline is valid? [True, True] Translation: X:283.55, Y:-8.64, Z:-0.94 [[ 6.99722160e-01 7.14239799e-01 1.58242707e-02 2.83548140e+02] [-7.14075193e-01 6.99900844e-01 -1.53436115e-02 -8.64449399e+00] [-2.20344384e-02 -5.63454155e-04 9.99757054e-01 -9.44832793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91591999999997 meters Centerline goodness [0,1] 0.9965782296057526 Centerline is valid? [True, True] Translation: X:283.57, Y:-8.66, Z:-0.95 [[ 6.99898188e-01 7.14038825e-01 1.70611146e-02 2.83574579e+02] [-7.13847003e-01 7.00105856e-01 -1.65604103e-02 -8.66450511e+00] [-2.37693622e-02 -5.88424336e-04 9.99717296e-01 -9.45542400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94592 meters Centerline goodness [0,1] 0.9965782296057526 Centerline is valid? [True, True] Translation: X:283.60, Y:-8.69, Z:-0.94 [[ 7.00752015e-01 7.13213351e-01 1.65326941e-02 2.83599064e+02] [-7.13032658e-01 7.00946811e-01 -1.60622626e-02 -8.68560107e+00] [-2.30443593e-02 -5.32687948e-04 9.99734302e-01 -9.44886385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97592 meters Centerline goodness [0,1] 0.9971743010113028 Centerline is valid? [True, True] Translation: X:283.62, Y:-8.71, Z:-0.94 [[ 7.03581277e-01 7.10442030e-01 1.56687394e-02 2.83624848e+02] [-7.10278924e-01 7.03755604e-01 -1.52282370e-02 -8.70589409e+00] [-2.18457428e-02 -4.14872909e-04 9.99761267e-01 -9.43814010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00591999999995 meters Centerline goodness [0,1] 0.997371944265384 Centerline is valid? [True, True] Translation: X:283.65, Y:-8.73, Z:-0.94 [[ 7.04660220e-01 7.09364002e-01 1.60214223e-02 2.83649649e+02] [-7.09193100e-01 7.04842225e-01 -1.55751385e-02 -8.72675031e+00] [-2.23410175e-02 -3.87101638e-04 9.99750333e-01 -9.43281643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03592 meters Centerline goodness [0,1] 0.9975711311589174 Centerline is valid? [True, True] Translation: X:283.67, Y:-8.75, Z:-0.94 [[ 7.05767047e-01 7.08221815e-01 1.77408060e-02 2.83674664e+02] [-7.08011782e-01 7.05989881e-01 -1.72511966e-02 -8.74775598e+00] [-2.47425032e-02 -3.85373586e-04 9.99693783e-01 -9.44282852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06591999999995 meters Centerline goodness [0,1] 0.9975711311589174 Centerline is valid? [True, True] Translation: X:283.70, Y:-8.77, Z:-0.94 [[ 7.05628571e-01 7.08359868e-01 1.77374701e-02 2.83698030e+02] [-7.08149793e-01 7.05851365e-01 -1.72546264e-02 -8.77040158e+00] [-2.47425024e-02 -3.85428367e-04 9.99693783e-01 -9.44310848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09592 meters Centerline goodness [0,1] 0.9972707423580786 Centerline is valid? [True, True] Translation: X:283.72, Y:-8.79, Z:-0.94 [[ 7.07341313e-01 7.06665335e-01 1.70988637e-02 2.83722988e+02] [-7.06469515e-01 7.07547883e-01 -1.66377996e-02 -8.79054458e+00] [-2.38556211e-02 -3.11222985e-04 9.99715366e-01 -9.43926815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12591999999995 meters Centerline goodness [0,1] 0.9975165151740922 Centerline is valid? [True, True] Translation: X:283.75, Y:-8.81, Z:-0.94 [[ 7.08350292e-01 7.05654853e-01 1.70614163e-02 2.83746656e+02] [-7.05459494e-01 7.08555681e-01 -1.66057096e-02 -8.81198994e+00] [-2.38068631e-02 -2.73478853e-04 9.99716539e-01 -9.44799033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15592 meters Centerline goodness [0,1] 0.9976197560249925 Centerline is valid? [True, True] Translation: X:283.77, Y:-8.83, Z:-0.95 [[ 7.09476370e-01 7.04520562e-01 1.71481226e-02 2.83770953e+02] [-7.04322774e-01 7.09683538e-01 -1.66944977e-02 -8.83282929e+00] [-2.39313572e-02 -2.33461648e-04 9.99713577e-01 -9.45014349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18591999999995 meters Centerline goodness [0,1] 0.9984139571768438 Centerline is valid? [True, True] Translation: X:283.80, Y:-8.85, Z:-0.94 [[ 7.12578346e-01 7.01410567e-01 1.59786720e-02 2.83797537e+02] [-7.01237964e-01 7.12757464e-01 -1.55600574e-02 -8.85129218e+00] [-2.23029064e-02 -1.17091474e-04 9.99751252e-01 -9.44958778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21592 meters Centerline goodness [0,1] 0.9984136426730121 Centerline is valid? [True, True] Translation: X:283.82, Y:-8.87, Z:-0.95 [[ 7.14543915e-01 6.99409915e-01 1.58985570e-02 2.83822414e+02] [-6.99238452e-01 7.14720762e-01 -1.54860997e-02 -8.87194544e+00] [-2.21941605e-02 -5.13840822e-05 9.99753678e-01 -9.45445439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24591999999996 meters Centerline goodness [0,1] 0.9992064279337367 Centerline is valid? [True, True] Translation: X:283.85, Y:-8.89, Z:-0.95 [[ 7.18706190e-01 6.95160310e-01 1.46135822e-02 2.83848789e+02] [-6.95014487e-01 7.18854741e-01 -1.42381651e-02 -8.89164108e+00] [-2.04028501e-02 7.64061033e-05 9.99791837e-01 -9.45355628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27592 meters Centerline goodness [0,1] 0.9995037220843672 Centerline is valid? [True, True] Translation: X:283.87, Y:-8.91, Z:-0.94 [[ 7.20622732e-01 6.93190654e-01 1.37693446e-02 2.83873314e+02] [-6.93060768e-01 7.20754258e-01 -1.34190604e-02 -8.91299739e+00] [-1.92262810e-02 1.27087388e-04 9.99815150e-01 -9.44682548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30591999999996 meters Centerline goodness [0,1] 0.9996529671310297 Centerline is valid? [True, True] Translation: X:283.90, Y:-8.93, Z:-0.95 [[ 7.23079904e-01 6.90615807e-01 1.43269151e-02 2.83897626e+02] [-6.90474608e-01 7.23221795e-01 -1.39660705e-02 -8.93423703e+00] [-2.00067263e-02 2.06213806e-04 9.99799824e-01 -9.45645837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:283.92, Y:-8.96, Z:-0.95 [[ 7.26842880e-01 6.86624626e-01 1.56860431e-02 2.83921591e+02] [-6.86454344e-01 7.27012037e-01 -1.52948437e-02 -8.95556877e+00] [-2.19057585e-02 3.49195871e-04 9.99759979e-01 -9.46403218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.95, Y:-8.98, Z:-0.95 [[ 7.29547126e-01 6.83724497e-01 1.67869611e-02 2.83945683e+02] [-6.83528604e-01 7.29740084e-01 -1.63724424e-02 -8.97695510e+00] [-2.34443584e-02 4.70100230e-04 9.99725033e-01 -9.46920318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.97, Y:-9.00, Z:-0.95 [[ 7.30673956e-01 6.82517686e-01 1.68872092e-02 2.83968688e+02] [-6.82319027e-01 7.30868896e-01 -1.64743014e-02 -8.99936830e+00] [-2.35863380e-02 5.14878839e-04 9.99721671e-01 -9.47749571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.99, Y:-9.02, Z:-0.95 [[ 7.30961477e-01 6.82231562e-01 1.59817162e-02 2.83990372e+02] [-6.82053485e-01 7.31135997e-01 -1.55947706e-02 -9.02308506e+00] [-2.23240527e-02 4.98791308e-04 9.99750663e-01 -9.47304671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.01, Y:-9.05, Z:-0.95 [[ 7.31692699e-01 6.81470287e-01 1.49680336e-02 2.84012589e+02] [-6.81313816e-01 7.31845616e-01 -1.46109259e-02 -9.04709372e+00] [-2.09112016e-02 4.92779716e-04 9.99781215e-01 -9.46104219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.03, Y:-9.07, Z:-0.95 [[ 7.31756152e-01 6.81389389e-01 1.55381635e-02 2.84031833e+02] [-6.81220688e-01 7.31920921e-01 -1.51703557e-02 -9.07274003e+00] [-2.17096263e-02 5.16082676e-04 9.99764185e-01 -9.45704295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51592 meters Centerline goodness [0,1] 0.9999008034917171 Centerline is valid? [True, True] Translation: X:284.05, Y:-9.10, Z:-0.95 [[ 7.31799985e-01 6.81334092e-01 1.58945898e-02 2.84051918e+02] [-6.81157465e-01 7.31972385e-01 -1.55221235e-02 -9.09845235e+00] [-2.22101527e-02 5.32371250e-04 9.99753182e-01 -9.45488452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.07, Y:-9.12, Z:-0.95 [[ 7.31438493e-01 6.81731399e-01 1.54929038e-02 2.84072760e+02] [-6.81563596e-01 7.31602378e-01 -1.51335570e-02 -9.12312754e+00] [-2.16516662e-02 5.09866913e-04 9.99765445e-01 -9.45809453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.09, Y:-9.15, Z:-0.95 [[ 7.30587661e-01 6.82639487e-01 1.56524854e-02 2.84093658e+02] [-6.82468334e-01 7.30755151e-01 -1.52932134e-02 -9.14793786e+00] [-2.18778857e-02 4.90707342e-04 9.99760530e-01 -9.46553479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.11, Y:-9.17, Z:-0.95 [[ 7.29118151e-01 6.84220694e-01 1.51249576e-02 2.84114331e+02] [-6.84061147e-01 7.29274884e-01 -1.47814401e-02 -9.17271945e+00] [-2.11440189e-02 4.31020376e-04 9.99776347e-01 -9.45584116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.13, Y:-9.20, Z:-0.95 [[ 7.25904172e-01 6.87588205e-01 1.68994958e-02 2.84134116e+02] [-6.87389597e-01 7.26100760e-01 -1.65296030e-02 -9.19871844e+00] [-2.36362968e-02 3.82370141e-04 9.99720551e-01 -9.45733820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66591999999997 meters Centerline goodness [0,1] 0.9999503968253968 Centerline is valid? [True, True] Translation: X:284.15, Y:-9.22, Z:-0.95 [[ 7.22402118e-01 6.91265700e-01 1.69384819e-02 2.84153709e+02] [-6.91066835e-01 7.22600621e-01 -1.65822842e-02 -9.22415567e+00] [-2.37025218e-02 2.73454200e-04 9.99719018e-01 -9.45448956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.18, Y:-9.25, Z:-0.95 [[ 7.20840150e-01 6.92871425e-01 1.78512216e-02 2.84176313e+02] [-6.92650597e-01 7.21061113e-01 -1.74934941e-02 -9.24838366e+00] [-2.49925639e-02 2.45353601e-04 9.99687607e-01 -9.46031081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72592 meters Centerline goodness [0,1] 0.9999503968253968 Centerline is valid? [True, True] Translation: X:284.20, Y:-9.27, Z:-0.95 [[ 7.19362055e-01 6.94413142e-01 1.75676311e-02 2.84198177e+02] [-6.94199355e-01 7.19576506e-01 -1.72309835e-02 -9.27184613e+00] [-2.46066760e-02 1.99877554e-04 9.99697190e-01 -9.46118294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.22, Y:-9.30, Z:-0.95 [[ 7.18766881e-01 6.95064329e-01 1.61166994e-02 2.84220185e+02] [-6.94884249e-01 7.18947528e-01 -1.58218793e-02 -9.29514264e+00] [-2.25842851e-02 1.73002262e-04 9.99744928e-01 -9.46036893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.24, Y:-9.32, Z:-0.95 [[ 7.18388350e-01 6.95455553e-01 1.61168308e-02 2.84242752e+02] [-6.95275206e-01 7.18569095e-01 -1.58380652e-02 -9.31908469e+00] [-2.25957269e-02 1.72248627e-04 9.99744669e-01 -9.46438012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.27, Y:-9.34, Z:-0.95 [[ 7.18670228e-01 6.95157471e-01 1.64070970e-02 2.84266376e+02] [-6.94970108e-01 7.18857462e-01 -1.61399484e-02 -9.34289483e+00] [-2.30141698e-02 1.96858381e-04 9.99735120e-01 -9.45911726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.29, Y:-9.37, Z:-0.95 [[ 7.20174632e-01 6.93571339e-01 1.75298834e-02 2.84288423e+02] [-6.93356597e-01 7.20387896e-01 -1.72600043e-02 -9.36647343e+00] [-2.45993601e-02 2.75756906e-04 9.99697352e-01 -9.46254117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87591999999995 meters Centerline goodness [0,1] 0.9999504140427431 Centerline is valid? [True, True] Translation: X:284.31, Y:-9.39, Z:-0.95 [[ 7.20747580e-01 6.92973865e-01 1.76110245e-02 2.84311193e+02] [-6.92756520e-01 7.20962639e-01 -1.73573481e-02 -9.38995509e+00] [-2.47250793e-02 3.10114632e-04 9.99694240e-01 -9.46315367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90592 meters Centerline goodness [0,1] 0.9999008084114467 Centerline is valid? [True, True] Translation: X:284.33, Y:-9.41, Z:-0.95 [[ 7.21644744e-01 6.92072066e-01 1.62824884e-02 2.84332380e+02] [-6.91885728e-01 7.21828338e-01 -1.60620310e-02 -9.41433413e+00] [-2.28692445e-02 3.25458911e-04 9.99738412e-01 -9.45745676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93591999999995 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:284.35, Y:-9.44, Z:-0.95 [[ 7.21747745e-01 6.91944448e-01 1.71193614e-02 2.84353698e+02] [-6.91738066e-01 7.21950658e-01 -1.69025018e-02 -9.43839722e+00] [-2.40549266e-02 3.57228612e-04 9.99710575e-01 -9.46658397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.38, Y:-9.46, Z:-0.95 [[ 7.22595414e-01 6.91064307e-01 1.69112962e-02 2.84375517e+02] [-6.90862272e-01 7.22793172e-01 -1.67138402e-02 -9.46370810e+00] [-2.37737078e-02 3.93967760e-04 9.99717288e-01 -9.46896563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.40, Y:-9.49, Z:-0.95 [[ 7.23241420e-01 6.90379475e-01 1.72635321e-02 2.84396240e+02] [-6.90168375e-01 7.23447297e-01 -1.70769851e-02 -9.48812277e+00] [-2.42788556e-02 4.36039095e-04 9.99705130e-01 -9.46412558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.42, Y:-9.52, Z:-0.95 [[ 7.24625102e-01 6.88912745e-01 1.78238965e-02 2.84415390e+02] [-6.88686886e-01 7.24844099e-01 -1.76466783e-02 -9.51500798e+00] [-2.50765678e-02 5.12142224e-04 9.99685402e-01 -9.46511451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05591999999996 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:284.44, Y:-9.54, Z:-0.95 [[ 7.25524209e-01 6.87975632e-01 1.74399724e-02 2.84436493e+02] [-6.87758760e-01 7.25733584e-01 -1.72816009e-02 -9.53934846e+00] [-2.45460939e-02 5.43726038e-04 9.99698551e-01 -9.46913461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.45, Y:-9.57, Z:-0.95 [[ 7.27508498e-01 6.85892250e-01 1.68287319e-02 2.84454637e+02] [-6.85689417e-01 7.27702863e-01 -1.66903030e-02 -9.56726528e+00] [-2.36940659e-02 6.03053918e-04 9.99719074e-01 -9.47280523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.47, Y:-9.59, Z:-0.95 [[ 7.27696060e-01 6.85676835e-01 1.74848823e-02 2.84474675e+02] [-6.85457443e-01 7.27905806e-01 -1.73560572e-02 -9.59235953e+00] [-2.46279937e-02 6.44791707e-04 9.99696477e-01 -9.47660556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.50, Y:-9.62, Z:-0.95 [[ 7.26732371e-01 6.86683244e-01 1.80605636e-02 2.84495478e+02] [-6.86449021e-01 7.26956469e-01 -1.79452873e-02 -9.61844238e+00] [-2.54519716e-02 6.43765001e-04 9.99675839e-01 -9.47391997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17591999999996 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:284.51, Y:-9.65, Z:-0.95 [[ 7.23493819e-01 6.90079738e-01 1.86185093e-02 2.84511728e+02] [-6.89831511e-01 7.23733135e-01 -1.85158436e-02 -9.64720189e+00] [-2.62522406e-02 5.52463974e-04 9.99655198e-01 -9.46893100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:284.53, Y:-9.67, Z:-0.95 [[ 7.21055809e-01 6.92590640e-01 1.99179937e-02 2.84531830e+02] [-6.92306942e-01 7.21330679e-01 -1.98280022e-02 -9.67326097e+00] [-2.81001487e-02 5.07730864e-04 9.99604984e-01 -9.48378353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.55, Y:-9.70, Z:-0.95 [[ 7.19462386e-01 6.94258347e-01 1.94736635e-02 2.84551874e+02] [-6.93987307e-01 7.19725746e-01 -1.94027895e-02 -9.69856969e+00] [-2.74862455e-02 4.45101948e-04 9.99622083e-01 -9.47046173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26592 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:284.57, Y:-9.73, Z:-0.95 [[ 7.16519363e-01 6.97276999e-01 2.01193808e-02 2.84569186e+02] [-6.96988359e-01 7.16801689e-01 -2.00640317e-02 -9.72619829e+00] [-2.84117940e-02 3.53293041e-04 9.99596241e-01 -9.47637154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.59, Y:-9.75, Z:-0.95 [[ 7.15086853e-01 6.98732927e-01 2.05691586e-02 2.84590333e+02] [-6.98431225e-01 7.15382552e-01 -2.05335708e-02 -9.75182569e+00] [-2.90622992e-02 3.17143845e-04 9.99577552e-01 -9.47776843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32592 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:284.61, Y:-9.78, Z:-0.95 [[ 7.12848364e-01 7.01024171e-01 2.03057233e-02 2.84608828e+02] [-7.00730551e-01 7.13137474e-01 -2.02888590e-02 -9.77827989e+00] [-2.87037528e-02 2.34039271e-04 9.99587935e-01 -9.48807105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35591999999997 meters Centerline goodness [0,1] 0.9998012916045703 Centerline is valid? [True, True] Translation: X:284.63, Y:-9.80, Z:-0.95 [[ 7.11752422e-01 7.02132135e-01 2.04683755e-02 2.84630284e+02] [-7.01833637e-01 7.12046643e-01 -2.04725098e-02 -9.80297536e+00] [-2.89488451e-02 2.05964017e-04 9.99580873e-01 -9.48460578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38592 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:284.62, Y:-9.83, Z:0.93 [[ 7.51774342e-01 -6.59083496e-01 2.10780479e-02 2.84624097e+02] [-6.58832792e-01 -7.52069742e-01 -1.81784116e-02 -9.82637900e+00] [ 2.78332531e-02 -2.20845750e-04 -9.99612556e-01 9.34565378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.65, Y:-9.85, Z:-0.95 [[ 7.55861352e-01 6.54323888e-01 2.31055651e-02 2.84649421e+02] [-6.54017028e-01 7.56214420e-01 -2.00369213e-02 -9.84532812e+00] [-3.05833977e-02 3.37014305e-05 9.99532218e-01 -9.48664988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:284.67, Y:-9.87, Z:-0.95 [[ 7.53965012e-01 6.56534185e-01 2.23522700e-02 2.84672812e+02] [-6.56247442e-01 7.54296269e-01 -1.94018903e-02 -9.86798329e+00] [-2.95982381e-02 -4.02735559e-05 9.99561875e-01 -9.48642364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47592 meters Centerline goodness [0,1] 0.9995029326970872 Centerline is valid? [True, True] Translation: X:284.69, Y:-9.89, Z:-0.95 [[ 7.50008110e-01 6.61057458e-01 2.21556397e-02 2.84694881e+02] [-6.60777504e-01 7.50335253e-01 -1.92379233e-02 -9.89136639e+00] [-2.93415302e-02 -2.11349781e-04 9.99569422e-01 -9.48580527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50591999999995 meters Centerline goodness [0,1] 0.9996023066215948 Centerline is valid? [True, True] Translation: X:284.72, Y:-9.91, Z:-0.95 [[ 7.47832828e-01 6.63547150e-01 2.12424078e-02 2.84719322e+02] [-6.63290260e-01 7.48134413e-01 -1.84643044e-02 -9.91381476e+00] [-2.81441128e-02 -2.81669254e-04 9.99603836e-01 -9.48168832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53592 meters Centerline goodness [0,1] 0.9994043482577186 Centerline is valid? [True, True] Translation: X:284.74, Y:-9.94, Z:-0.95 [[ 7.45878061e-01 6.65718513e-01 2.20177203e-02 2.84743647e+02] [-6.65442944e-01 7.46202874e-01 -1.91561506e-02 -9.93518811e+00] [-2.91822903e-02 -3.63384191e-04 9.99574040e-01 -9.48416360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56591999999995 meters Centerline goodness [0,1] 0.9985585764700035 Centerline is valid? [True, True] Translation: X:284.77, Y:-9.96, Z:-0.95 [[ 7.43695015e-01 6.68141529e-01 2.24637998e-02 2.84768586e+02] [-6.67855239e-01 7.44034066e-01 -1.95624256e-02 -9.95501887e+00] [-2.97843013e-02 -4.54087977e-04 9.99556246e-01 -9.48237495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59592 meters Centerline goodness [0,1] 0.9983609814244562 Centerline is valid? [True, True] Translation: X:284.79, Y:-9.98, Z:-0.95 [[ 7.43672129e-01 6.68179070e-01 2.21019469e-02 2.84793692e+02] [-6.67901423e-01 7.44000364e-01 -1.92651740e-02 -9.97508638e+00] [-2.93164426e-02 -4.34948795e-04 9.99570086e-01 -9.47903840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62591999999995 meters Centerline goodness [0,1] 0.9978657931308318 Centerline is valid? [True, True] Translation: X:284.82, Y:-10.00, Z:-0.95 [[ 7.43741377e-01 6.68086360e-01 2.25694245e-02 2.84819256e+02] [-6.67796172e-01 7.44083621e-01 -1.96935977e-02 -9.99599129e+00] [-2.99505631e-02 -4.24831862e-04 9.99551291e-01 -9.49430532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65592 meters Centerline goodness [0,1] 0.9977617508082567 Centerline is valid? [True, True] Translation: X:284.85, Y:-10.01, Z:-0.95 [[ 7.45513859e-01 6.66132885e-01 2.18189068e-02 2.84846021e+02] [-6.65860326e-01 7.45833008e-01 -1.90565178e-02 -1.00142640e+01] [-2.89674341e-02 -3.21446286e-04 9.99580304e-01 -9.48614341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68591999999995 meters Centerline goodness [0,1] 0.9978138818502509 Centerline is valid? [True, True] Translation: X:284.87, Y:-10.03, Z:-0.95 [[ 7.46516094e-01 6.65016160e-01 2.16154374e-02 2.84871898e+02] [-6.64747682e-01 7.46828921e-01 -1.88965902e-02 -1.00339242e+01] [-2.87095716e-02 -2.62203229e-04 9.99587761e-01 -9.48249793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71592 meters Centerline goodness [0,1] 0.9970183372260597 Centerline is valid? [True, True] Translation: X:284.90, Y:-10.05, Z:-0.95 [[ 7.46939228e-01 6.64516474e-01 2.23527553e-02 2.84898863e+02] [-6.64228510e-01 7.47273578e-01 -1.95623535e-02 -1.00534884e+01] [-2.97031296e-02 -2.35448122e-04 9.99558737e-01 -9.48516605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74591999999996 meters Centerline goodness [0,1] 0.9972692517749864 Centerline is valid? [True, True] Translation: X:284.92, Y:-10.07, Z:-0.95 [[ 7.46918833e-01 6.64536022e-01 2.24528874e-02 2.84924466e+02] [-6.64244850e-01 7.47256198e-01 -1.96711338e-02 -1.00740949e+01] [-2.98502363e-02 -2.21474546e-04 9.99554358e-01 -9.48476600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77592 meters Centerline goodness [0,1] 0.9977664168362536 Centerline is valid? [True, True] Translation: X:284.95, Y:-10.09, Z:-0.95 [[ 7.46145871e-01 6.65374026e-01 2.33183281e-02 2.84948441e+02] [-6.65059823e-01 7.46510109e-01 -2.04472374e-02 -1.00948558e+01] [-3.10124283e-02 -2.51461412e-04 9.99518967e-01 -9.49332043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80591999999996 meters Centerline goodness [0,1] 0.9974687313877308 Centerline is valid? [True, True] Translation: X:284.97, Y:-10.12, Z:-0.95 [[ 7.46525404e-01 6.64995265e-01 2.19344098e-02 2.84972674e+02] [-6.64716569e-01 7.46847544e-01 -1.92517170e-02 -1.01165264e+01] [-2.91839608e-02 -2.08269805e-04 9.99574036e-01 -9.48787859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83592 meters Centerline goodness [0,1] 0.9976170381770342 Centerline is valid? [True, True] Translation: X:285.00, Y:-10.14, Z:-0.95 [[ 7.47213263e-01 6.64246517e-01 2.11873740e-02 2.84997295e+02] [-6.63985689e-01 7.47513572e-01 -1.86135715e-02 -1.01373993e+01] [-2.82018496e-02 -1.59805638e-04 9.99602236e-01 -9.48985158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86591999999996 meters Centerline goodness [0,1] 0.9971220165732149 Centerline is valid? [True, True] Translation: X:285.02, Y:-10.16, Z:-0.95 [[ 7.49183776e-01 6.62028368e-01 2.10264163e-02 2.85021631e+02] [-6.61770127e-01 7.49478776e-01 -1.84895449e-02 -1.01579182e+01] [-2.79994560e-02 -6.25871419e-05 9.99607936e-01 -9.50094256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89592 meters Centerline goodness [0,1] 0.9973709013343915 Centerline is valid? [True, True] Translation: X:285.05, Y:-10.18, Z:-0.95 [[ 7.49933772e-01 6.61202793e-01 2.02534949e-02 2.85045390e+02] [-6.60962440e-01 7.50207215e-01 -1.78265795e-02 -1.01790561e+01] [-2.69813022e-02 -1.80454180e-05 9.99635938e-01 -9.50471813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92591999999996 meters Centerline goodness [0,1] 0.9971705137751303 Centerline is valid? [True, True] Translation: X:285.07, Y:-10.20, Z:-0.95 [[ 7.50621185e-01 6.60432402e-01 1.99218141e-02 2.85069702e+02] [-6.60199091e-01 7.50885505e-01 -1.75533016e-02 -1.02016697e+01] [-2.65517706e-02 2.35164471e-05 9.99647439e-01 -9.50565297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95592 meters Centerline goodness [0,1] 0.9966751029725572 Centerline is valid? [True, True] Translation: X:285.09, Y:-10.22, Z:-0.95 [[ 7.52645451e-01 6.58149517e-01 1.90797941e-02 2.85092862e+02] [-6.57934321e-01 7.52887242e-01 -1.68294170e-02 -1.02249846e+01] [-2.54412062e-02 1.13332744e-04 9.99676314e-01 -9.51022149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98591999999996 meters Centerline goodness [0,1] 0.9966751029725572 Centerline is valid? [True, True] Translation: X:285.12, Y:-10.25, Z:-0.95 [[ 7.52299543e-01 6.58545137e-01 1.90709421e-02 2.85117469e+02] [-6.58329813e-01 7.52541221e-01 -1.68394472e-02 -1.02462618e+01] [-2.54412061e-02 1.13338664e-04 9.99676314e-01 -9.51050077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01592 meters Centerline goodness [0,1] 0.9965286387304736 Centerline is valid? [True, True] Translation: X:285.14, Y:-10.27, Z:-0.95 [[ 7.52954714e-01 6.57816933e-01 1.83325083e-02 2.85141524e+02] [-6.57617331e-01 7.53177842e-01 -1.62044752e-02 -1.02689461e+01] [-2.44672172e-02 1.45460835e-04 9.99700622e-01 -9.50113427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04591999999997 meters Centerline goodness [0,1] 0.9967193558007754 Centerline is valid? [True, True] Translation: X:285.16, Y:-10.29, Z:-0.95 [[ 7.53876964e-01 6.56742943e-01 1.89269875e-02 2.85163426e+02] [-6.56529452e-01 7.54114493e-01 -1.67454645e-02 -1.02921400e+01] [-2.52705811e-02 1.97895198e-04 9.99680628e-01 -9.51256333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07592 meters Centerline goodness [0,1] 0.9967201709486657 Centerline is valid? [True, True] Translation: X:285.19, Y:-10.31, Z:-0.95 [[ 7.54247685e-01 6.56335939e-01 1.82637868e-02 2.85186937e+02] [-6.56136617e-01 7.54468746e-01 -1.61756314e-02 -1.03148171e+01] [-2.43961046e-02 2.16893254e-04 9.99702347e-01 -9.51522064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10591999999997 meters Centerline goodness [0,1] 0.9968103663094942 Centerline is valid? [True, True] Translation: X:285.21, Y:-10.34, Z:-0.95 [[ 7.53466804e-01 6.57240341e-01 1.79696600e-02 2.85210328e+02] [-6.57047242e-01 7.53681030e-01 -1.59319256e-02 -1.03376603e+01] [-2.40144961e-02 1.97261488e-04 9.99711591e-01 -9.50971016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13592 meters Centerline goodness [0,1] 0.9966196062835554 Centerline is valid? [True, True] Translation: X:285.23, Y:-10.36, Z:-0.95 [[ 7.52212281e-01 6.58685455e-01 1.76112601e-02 2.85232214e+02] [-6.58500038e-01 7.52418399e-01 -1.56285915e-02 -1.03611808e+01] [-2.35453620e-02 1.59002999e-04 9.99722757e-01 -9.52389255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16591999999997 meters Centerline goodness [0,1] 0.9965222575516693 Centerline is valid? [True, True] Translation: X:285.26, Y:-10.38, Z:-0.95 [[ 7.51376480e-01 6.59620171e-01 1.82924855e-02 2.85255704e+02] [-6.59419989e-01 7.51599101e-01 -1.62502180e-02 -1.03843331e+01] [-2.44675872e-02 1.47601050e-04 9.99700613e-01 -9.53882241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19592 meters Centerline goodness [0,1] 0.9963222503851697 Centerline is valid? [True, True] Translation: X:285.28, Y:-10.41, Z:-0.95 [[ 7.50401843e-01 6.60725958e-01 1.83924526e-02 2.85279007e+02] [-6.60523718e-01 7.50627200e-01 -1.63469832e-02 -1.04083846e+01] [-2.46067513e-02 1.18155192e-04 9.99697201e-01 -9.52832604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22592 meters Centerline goodness [0,1] 0.9969186422146017 Centerline is valid? [True, True] Translation: X:285.30, Y:-10.43, Z:-0.95 [[ 7.48630431e-01 6.62741480e-01 1.80612182e-02 2.85300070e+02] [-6.62546686e-01 7.48848267e-01 -1.60674128e-02 -1.04336670e+01] [-2.41736529e-02 6.21539057e-05 9.99707773e-01 -9.51829061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25591999999995 meters Centerline goodness [0,1] 0.9969238402381543 Centerline is valid? [True, True] Translation: X:285.32, Y:-10.46, Z:-0.95 [[ 7.48016904e-01 6.63446361e-01 1.75965134e-02 2.85323871e+02] [-6.63261264e-01 7.48223846e-01 -1.56707540e-02 -1.04572055e+01] [-2.35628356e-02 5.09031654e-05 9.99722357e-01 -9.51765583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28592 meters Centerline goodness [0,1] 0.9963782496527088 Centerline is valid? [True, True] Translation: X:285.35, Y:-10.48, Z:-0.95 [[ 7.45514731e-01 6.66280295e-01 1.66839538e-02 2.85345602e+02] [-6.66114296e-01 7.45701393e-01 -1.48720394e-02 -1.04806364e+01] [-2.23501944e-02 -2.60957042e-05 9.99750203e-01 -9.51393954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31591999999995 meters Centerline goodness [0,1] 0.9968580120692235 Centerline is valid? [True, True] Translation: X:285.37, Y:-10.50, Z:-0.95 [[ 7.44235473e-01 6.67688603e-01 1.74782535e-02 2.85369190e+02] [-6.67506675e-01 7.44440679e-01 -1.55856966e-02 -1.05030302e+01] [-2.34179149e-02 -6.74225841e-05 9.99725761e-01 -9.51240179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34592 meters Centerline goodness [0,1] 0.9972697939935468 Centerline is valid? [True, True] Translation: X:285.39, Y:-10.53, Z:-0.95 [[ 7.42831794e-01 6.69238478e-01 1.79104742e-02 2.85393222e+02] [-6.69047480e-01 7.43047675e-01 -1.59881738e-02 -1.05256349e+01] [-2.40082373e-02 -1.06433787e-04 9.99711755e-01 -9.50842481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37591999999995 meters Centerline goodness [0,1] 0.9971620612397312 Centerline is valid? [True, True] Translation: X:285.42, Y:-10.55, Z:-0.95 [[ 7.41967657e-01 6.70118724e-01 2.06129305e-02 2.85415659e+02] [-6.69865582e-01 7.42253916e-01 -1.84180866e-02 -1.05483382e+01] [-2.76423331e-02 -1.42268140e-04 9.99617868e-01 -9.50653810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40592 meters Centerline goodness [0,1] 0.9972680309954302 Centerline is valid? [True, True] Translation: X:285.44, Y:-10.57, Z:-0.95 [[ 7.41129836e-01 6.71089444e-01 1.91187023e-02 2.85439382e+02] [-6.70871590e-01 7.41376379e-01 -1.70989724e-02 -1.05704132e+01] [-2.56490941e-02 -1.53635636e-04 9.99670996e-01 -9.49953376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43591999999995 meters Centerline goodness [0,1] 0.9971170096431057 Centerline is valid? [True, True] Translation: X:285.46, Y:-10.59, Z:-0.95 [[ 7.40747588e-01 6.71529330e-01 1.84762186e-02 2.85463246e+02] [-6.71325626e-01 7.40977960e-01 -1.65398525e-02 -1.05918321e+01] [-2.47974668e-02 -1.51703154e-04 9.99692484e-01 -9.50396674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46592 meters Centerline goodness [0,1] 0.9974176888315042 Centerline is valid? [True, True] Translation: X:285.49, Y:-10.61, Z:-0.95 [[ 7.39479375e-01 6.72930903e-01 1.82825989e-02 2.85487218e+02] [-6.72731444e-01 7.39705324e-01 -1.63840598e-02 -1.06149875e+01] [-2.45490759e-02 -1.83604830e-04 9.99698609e-01 -9.50764088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49591999999996 meters Centerline goodness [0,1] 0.9971655892590751 Centerline is valid? [True, True] Translation: X:285.51, Y:-10.64, Z:-0.95 [[ 7.38802385e-01 6.73703529e-01 1.71636606e-02 2.85510552e+02] [-6.73527615e-01 7.39001706e-01 -1.53957905e-02 -1.06365968e+01] [-2.30561729e-02 -1.85752624e-04 9.99734154e-01 -9.50128150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52592 meters Centerline goodness [0,1] 0.9974166625267028 Centerline is valid? [True, True] Translation: X:285.54, Y:-10.66, Z:-0.95 [[ 7.38505894e-01 6.74012519e-01 1.77811294e-02 2.85535458e+02] [-6.73823400e-01 7.38719899e-01 -1.59667670e-02 -1.06581837e+01] [-2.38970749e-02 -1.89789502e-04 9.99714406e-01 -9.48908050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55591999999996 meters Centerline goodness [0,1] 0.9974691082328421 Centerline is valid? [True, True] Translation: X:285.56, Y:-10.68, Z:-0.95 [[ 7.37954883e-01 6.74601929e-01 1.82982865e-02 2.85559549e+02] [-6.74401394e-01 7.38181682e-01 -1.64488396e-02 -1.06800389e+01] [-2.46038789e-02 -2.01888405e-04 9.99697258e-01 -9.50069983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58592 meters Centerline goodness [0,1] 0.9976152623211447 Centerline is valid? [True, True] Translation: X:285.58, Y:-10.70, Z:-0.95 [[ 7.38480429e-01 6.74021931e-01 1.84686955e-02 2.85583686e+02] [-6.73817021e-01 7.38711315e-01 -1.66197289e-02 -1.07024036e+01] [-2.48450961e-02 -1.71176865e-04 9.99691298e-01 -9.50447401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61591999999996 meters Centerline goodness [0,1] 0.9974180734856007 Centerline is valid? [True, True] Translation: X:285.61, Y:-10.73, Z:-0.95 [[ 7.38405815e-01 6.74094102e-01 1.88147127e-02 2.85607893e+02] [-6.73881003e-01 7.38645459e-01 -1.69492995e-02 -1.07253130e+01] [-2.53228250e-02 -1.63416200e-04 9.99679313e-01 -9.50604113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64592 meters Centerline goodness [0,1] 0.9975150340440336 Centerline is valid? [True, True] Translation: X:285.63, Y:-10.75, Z:-0.95 [[ 7.38612840e-01 6.73877648e-01 1.84387478e-02 2.85632519e+02] [-6.73672475e-01 7.38842944e-01 -1.66283282e-02 -1.07474520e+01] [-2.48287975e-02 -1.39780139e-04 9.99691708e-01 -9.50834009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67591999999996 meters Centerline goodness [0,1] 0.9983615510649918 Centerline is valid? [True, True] Translation: X:285.66, Y:-10.77, Z:-0.95 [[ 7.39074451e-01 6.73348467e-01 1.92561365e-02 2.85658188e+02] [-6.73124030e-01 7.39325253e-01 -1.73842186e-02 -1.07680505e+01] [-2.59421850e-02 -1.13536361e-04 9.99663438e-01 -9.50232066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70592 meters Centerline goodness [0,1] 0.9985610796864146 Centerline is valid? [True, True] Translation: X:285.68, Y:-10.79, Z:-0.95 [[ 7.38938889e-01 6.73512895e-01 1.87002313e-02 2.85681532e+02] [-6.73300880e-01 7.39175466e-01 -1.68984162e-02 -1.07898773e+01] [-2.52040534e-02 -1.03985245e-04 9.99682322e-01 -9.50531611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73591999999996 meters Centerline goodness [0,1] 0.9992055610724926 Centerline is valid? [True, True] Translation: X:285.71, Y:-10.81, Z:-0.95 [[ 7.39597179e-01 6.72773823e-01 1.92716078e-02 2.85705036e+02] [-6.72547912e-01 7.39848213e-01 -1.74335435e-02 -1.08133987e+01] [-2.59868963e-02 -6.72799965e-05 9.99662281e-01 -9.51293628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76592 meters Centerline goodness [0,1] 0.9992058765137979 Centerline is valid? [True, True] Translation: X:285.73, Y:-10.84, Z:-0.95 [[ 7.39443665e-01 6.72967717e-01 1.83716736e-02 2.85729365e+02] [-6.72762083e-01 7.39671852e-01 -1.66352046e-02 -1.08350591e+01] [-2.47839655e-02 -5.89687808e-05 9.99692829e-01 -9.51140298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79591999999997 meters Centerline goodness [0,1] 0.9992551025475492 Centerline is valid? [True, True] Translation: X:285.75, Y:-10.86, Z:-0.95 [[ 7.40542675e-01 6.71728808e-01 1.94153554e-02 2.85753478e+02] [-6.71498280e-01 7.40797144e-01 -1.75969024e-02 -1.08566858e+01] [-2.62031861e-02 -6.12054724e-06 9.99656638e-01 -9.51162574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82592 meters Centerline goodness [0,1] 0.9993048314216197 Centerline is valid? [True, True] Translation: X:285.78, Y:-10.88, Z:-0.95 [[ 7.41837480e-01 6.70332282e-01 1.82149815e-02 2.85776216e+02] [-6.70128577e-01 7.42061068e-01 -1.65245666e-02 -1.08790245e+01] [-2.45935791e-02 5.21632153e-05 9.99697531e-01 -9.49875432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85591999999997 meters Centerline goodness [0,1] 0.9993538125062134 Centerline is valid? [True, True] Translation: X:285.80, Y:-10.90, Z:-0.95 [[ 7.42683073e-01 6.69387528e-01 1.84983866e-02 2.85799324e+02] [-6.69176694e-01 7.42913405e-01 -1.67995671e-02 -1.09022831e+01] [-2.49881201e-02 9.80649063e-05 9.99687743e-01 -9.49875644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88592 meters Centerline goodness [0,1] 0.9995018679950187 Centerline is valid? [True, True] Translation: X:285.82, Y:-10.93, Z:-0.95 [[ 7.44681174e-01 6.67196213e-01 1.72962905e-02 2.85821464e+02] [-6.67010908e-01 7.44881993e-01 -1.57246604e-02 -1.09272755e+01] [-2.33751292e-02 1.73044197e-04 9.99726749e-01 -9.49957040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91591999999997 meters Centerline goodness [0,1] 0.9992037820353322 Centerline is valid? [True, True] Translation: X:285.84, Y:-10.95, Z:-0.95 [[ 7.45388986e-01 6.66404986e-01 1.73105161e-02 2.85844882e+02] [-6.66218769e-01 7.45589935e-01 -1.57544178e-02 -1.09507924e+01] [-2.34053691e-02 2.10578745e-04 9.99726035e-01 -9.49439277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94592 meters Centerline goodness [0,1] 0.9990046780133374 Centerline is valid? [True, True] Translation: X:285.87, Y:-10.98, Z:-0.95 [[ 7.46699264e-01 6.64943971e-01 1.70212792e-02 2.85866648e+02] [-6.64763168e-01 7.46893196e-01 -1.55075605e-02 -1.09759776e+01] [-2.30247364e-02 2.64364515e-04 9.99734861e-01 -9.49664515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97592 meters Centerline goodness [0,1] 0.9989564698867024 Centerline is valid? [True, True] Translation: X:285.89, Y:-11.00, Z:-0.95 [[ 7.46620687e-01 6.65041489e-01 1.66543576e-02 2.85889155e+02] [-6.64868300e-01 7.46806367e-01 -1.51787023e-02 -1.09993964e+01] [-2.25320471e-02 2.59778696e-04 9.99746087e-01 -9.49002167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00591999999995 meters Centerline goodness [0,1] 0.9992552135054618 Centerline is valid? [True, True] Translation: X:285.91, Y:-11.02, Z:-0.95 [[ 7.45534142e-01 6.66251871e-01 1.69495301e-02 2.85912130e+02] [-6.66072428e-01 7.45726751e-01 -1.54639435e-02 -1.10229188e+01] [-2.29425993e-02 2.39283211e-04 9.99736755e-01 -9.50338575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03592 meters Centerline goodness [0,1] 0.9996515679442509 Centerline is valid? [True, True] Translation: X:285.93, Y:-11.05, Z:-0.95 [[ 7.43592976e-01 6.68427796e-01 1.65459489e-02 2.85932082e+02] [-6.68257155e-01 7.43777017e-01 -1.51037264e-02 -1.10486097e+01] [-2.24022470e-02 1.74076103e-04 9.99749023e-01 -9.49792971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06591999999995 meters Centerline goodness [0,1] 0.9998013705432516 Centerline is valid? [True, True] Translation: X:285.95, Y:-11.07, Z:-0.95 [[ 7.42363167e-01 6.69793931e-01 1.65232464e-02 2.85954988e+02] [-6.69623738e-01 7.42547014e-01 -1.50990419e-02 -1.10730590e+01] [-2.23825339e-02 1.44614570e-04 9.99749469e-01 -9.49701188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:285.98, Y:-11.10, Z:-0.95 [[ 7.40753471e-01 6.71571508e-01 1.66134004e-02 2.85978034e+02] [-6.71399525e-01 7.40939741e-01 -1.51979897e-02 -1.10965084e+01] [-2.25160654e-02 1.03734521e-04 9.99746476e-01 -9.49333946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12591999999995 meters Centerline goodness [0,1] 0.9997518610421836 Centerline is valid? [True, True] Translation: X:286.00, Y:-11.12, Z:-0.95 [[ 7.39923988e-01 6.72482226e-01 1.67375895e-02 2.86002883e+02] [-6.72307520e-01 7.40113267e-01 -1.53281094e-02 -1.11183746e+01] [-2.26955932e-02 8.88285714e-05 9.99742418e-01 -9.49513093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15592 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:286.03, Y:-11.14, Z:-0.95 [[ 7.39912519e-01 6.72481801e-01 1.72537177e-02 2.86027696e+02] [-6.72295754e-01 7.40113651e-01 -1.58178099e-02 -1.11402772e+01] [-2.34069012e-02 1.04194440e-04 9.99726016e-01 -9.50187082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18591999999995 meters Centerline goodness [0,1] 0.9996528122210098 Centerline is valid? [True, True] Translation: X:286.05, Y:-11.16, Z:-0.95 [[ 7.41021317e-01 6.71236903e-01 1.81225833e-02 2.86050110e+02] [-6.71030883e-01 7.41242871e-01 -1.66300849e-02 -1.11629085e+01] [-2.45959624e-02 1.62434324e-04 9.99697460e-01 -9.48957273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21592 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:286.07, Y:-11.18, Z:-0.95 [[ 7.41759912e-01 6.70406024e-01 1.86546441e-02 2.86073676e+02] [-6.70187059e-01 7.41994420e-01 -1.71343510e-02 -1.11846722e+01] [-2.53286140e-02 2.07473638e-04 9.99679158e-01 -9.49310117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24591999999996 meters Centerline goodness [0,1] 0.9997518979804496 Centerline is valid? [True, True] Translation: X:286.10, Y:-11.21, Z:-0.95 [[ 7.43029170e-01 6.68983800e-01 1.91918638e-02 2.86097720e+02] [-6.68751137e-01 7.43276933e-01 -1.76442109e-02 -1.12063902e+01] [-2.60685609e-02 2.75582576e-04 9.99660119e-01 -9.48425405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:286.12, Y:-11.23, Z:-0.95 [[ 7.45475740e-01 6.66230250e-01 2.00792245e-02 2.86120984e+02] [-6.65974104e-01 7.45745997e-01 -1.84770076e-02 -1.12283077e+01] [-2.72839427e-02 4.01917381e-04 9.99627643e-01 -9.49069825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30591999999996 meters Centerline goodness [0,1] 0.9998009356026675 Centerline is valid? [True, True] Translation: X:286.14, Y:-11.25, Z:-0.95 [[ 7.46563246e-01 6.65056516e-01 1.85243257e-02 2.86143614e+02] [-6.64837759e-01 7.46792911e-01 -1.70617144e-02 -1.12505723e+01] [-2.51808394e-02 4.21977704e-04 9.99682823e-01 -9.47822354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.17, Y:-11.28, Z:-0.95 [[ 7.47655167e-01 6.63854352e-01 1.75826629e-02 2.86165265e+02] [-6.63656540e-01 7.47861749e-01 -1.62111371e-02 -1.12755892e+01] [-2.39112349e-02 4.51491227e-04 9.99713984e-01 -9.48578322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36591999999996 meters Centerline goodness [0,1] 0.9995539254559873 Centerline is valid? [True, True] Translation: X:286.19, Y:-11.30, Z:-0.95 [[ 7.47623764e-01 6.63907639e-01 1.68924120e-02 2.86188537e+02] [-6.63724699e-01 7.47814448e-01 -1.55908569e-02 -1.12987825e+01] [-2.29832788e-02 4.44184053e-04 9.99735751e-01 -9.48897529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39592 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:286.21, Y:-11.32, Z:-0.95 [[ 7.47426474e-01 6.64164999e-01 1.54441273e-02 2.86211070e+02] [-6.64011869e-01 7.47585906e-01 -1.42671125e-02 -1.13217495e+01] [-2.10215287e-02 4.08533789e-04 9.99778940e-01 -9.49264988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42591999999996 meters Centerline goodness [0,1] 0.9999504140427431 Centerline is valid? [True, True] Translation: X:286.23, Y:-11.35, Z:-0.95 [[ 7.46608255e-01 6.65074250e-01 1.58856906e-02 2.86231110e+02] [-6.64912113e-01 7.46777127e-01 -1.46902805e-02 -1.13486567e+01] [-2.16331976e-02 4.05296572e-04 9.99765893e-01 -9.48765224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.25, Y:-11.37, Z:-0.95 [[ 7.45989459e-01 6.65766864e-01 1.59439788e-02 2.86253127e+02] [-6.65603359e-01 7.46159718e-01 -1.47595338e-02 -1.13734535e+01] [-2.17231633e-02 3.98090804e-04 9.99763945e-01 -9.48075824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48591999999996 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:286.27, Y:-11.40, Z:-0.95 [[ 7.45007153e-01 6.66875664e-01 1.55302921e-02 2.86273666e+02] [-6.66720649e-01 7.45168919e-01 -1.43825654e-02 -1.13992798e+01] [-2.11640739e-02 3.60747629e-04 9.99775951e-01 -9.47426243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51592 meters Centerline goodness [0,1] 0.9997520333267209 Centerline is valid? [True, True] Translation: X:286.30, Y:-11.42, Z:-0.95 [[ 7.44078143e-01 6.67932537e-01 1.46233665e-02 2.86295534e+02] [-6.67795060e-01 7.44221757e-01 -1.35548795e-02 -1.14228361e+01] [-1.99367726e-02 3.20477662e-04 9.99801191e-01 -9.48329777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54591999999997 meters Centerline goodness [0,1] 0.9998511683286203 Centerline is valid? [True, True] Translation: X:286.31, Y:-11.45, Z:-0.95 [[ 7.41979341e-01 6.70281260e-01 1.37727937e-02 2.86313614e+02] [-6.70159495e-01 7.42107115e-01 -1.27781470e-02 -1.14501576e+01] [-1.87858407e-02 2.51152605e-04 9.99823499e-01 -9.48883673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57592 meters Centerline goodness [0,1] 0.9999007591921798 Centerline is valid? [True, True] Translation: X:286.34, Y:-11.47, Z:-0.95 [[ 7.40444926e-01 6.71963347e-01 1.43726026e-02 2.86335298e+02] [-6.71830785e-01 7.40584369e-01 -1.33487200e-02 -1.14748686e+01] [-1.96139754e-02 2.28035090e-04 9.99807601e-01 -9.48676241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60591999999997 meters Centerline goodness [0,1] 0.9998513526905163 Centerline is valid? [True, True] Translation: X:286.36, Y:-11.50, Z:-0.95 [[ 7.38563049e-01 6.74013350e-01 1.51864029e-02 2.86358082e+02] [-6.73865466e-01 7.38719139e-01 -1.41197517e-02 -1.14990292e+01] [-2.07353876e-02 1.94734348e-04 9.99784980e-01 -9.48191942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63592 meters Centerline goodness [0,1] 0.9998013113451222 Centerline is valid? [True, True] Translation: X:286.38, Y:-11.52, Z:-0.95 [[ 7.37115449e-01 6.75600174e-01 1.50073371e-02 2.86380752e+02] [-6.75455813e-01 7.37268187e-01 -1.39665590e-02 -1.15224023e+01] [-2.05002419e-02 1.58173255e-04 9.99789835e-01 -9.47198885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66591999999997 meters Centerline goodness [0,1] 0.9996518798488164 Centerline is valid? [True, True] Translation: X:286.40, Y:-11.55, Z:-0.95 [[ 7.34220259e-01 6.78751616e-01 1.47259894e-02 2.86401057e+02] [-6.78612989e-01 7.34367917e-01 -1.37176514e-02 -1.15477007e+01] [-2.01251722e-02 7.85298575e-05 9.99797465e-01 -9.45601408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69592 meters Centerline goodness [0,1] 0.999651359697181 Centerline is valid? [True, True] Translation: X:286.42, Y:-11.57, Z:-0.95 [[ 7.32598799e-01 6.80494743e-01 1.50301177e-02 2.86423714e+02] [-6.80350381e-01 7.32752962e-01 -1.40162488e-02 -1.15715752e+01] [-2.05513469e-02 4.25407771e-05 9.99788798e-01 -9.45560052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72592 meters Centerline goodness [0,1] 0.9996526226986254 Centerline is valid? [True, True] Translation: X:286.45, Y:-11.60, Z:-0.94 [[ 7.28413414e-01 6.84989250e-01 1.42697265e-02 2.86446174e+02] [-6.84859703e-01 7.28553170e-01 -1.33215962e-02 -1.15958355e+01] [-1.95214046e-02 -6.91312949e-05 9.99809437e-01 -9.44005391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75591999999995 meters Centerline goodness [0,1] 0.9996023461576697 Centerline is valid? [True, True] Translation: X:286.47, Y:-11.62, Z:-0.94 [[ 7.25993772e-01 6.87566157e-01 1.36316788e-02 2.86470282e+02] [-6.87448137e-01 7.26121729e-01 -1.27394673e-02 -1.16185917e+01] [-1.86574848e-02 -1.22298314e-04 9.99825927e-01 -9.44420779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78592 meters Centerline goodness [0,1] 0.9995034510154427 Centerline is valid? [True, True] Translation: X:286.49, Y:-11.64, Z:-0.94 [[ 7.23738057e-01 6.89946946e-01 1.32829330e-02 2.86494027e+02] [-6.89835050e-01 7.23859919e-01 -1.24266597e-02 -1.16410876e+01] [-1.81887187e-02 -1.69386198e-04 9.99834557e-01 -9.44281181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81591999999995 meters Centerline goodness [0,1] 0.9993052453972507 Centerline is valid? [True, True] Translation: X:286.52, Y:-11.66, Z:-0.94 [[ 7.21511628e-01 6.92282562e-01 1.28772971e-02 2.86517072e+02] [-6.92177653e-01 7.21626501e-01 -1.20536108e-02 -1.16627936e+01] [-1.76371034e-02 -2.16556934e-04 9.99844431e-01 -9.44987043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84592 meters Centerline goodness [0,1] 0.9994537689939418 Centerline is valid? [True, True] Translation: X:286.54, Y:-11.68, Z:-0.94 [[ 7.18303912e-01 6.95619349e-01 1.23778824e-02 2.86541850e+02] [-6.95522738e-01 7.18410498e-01 -1.15964340e-02 -1.16837374e+01] [-1.69591046e-02 -2.79334757e-04 9.99856145e-01 -9.44957610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87591999999995 meters Centerline goodness [0,1] 0.9994537689939418 Centerline is valid? [True, True] Translation: X:286.57, Y:-11.71, Z:-0.94 [[ 7.17947047e-01 6.95987768e-01 1.23719671e-02 2.86565754e+02] [-6.95891103e-01 7.18053584e-01 -1.16027446e-02 -1.17057059e+01] [-1.69591036e-02 -2.79385662e-04 9.99856145e-01 -9.44985529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90592 meters Centerline goodness [0,1] 0.9994049390062482 Centerline is valid? [True, True] Translation: X:286.59, Y:-11.73, Z:-0.94 [[ 7.16598832e-01 6.97372955e-01 1.25329766e-02 2.86590466e+02] [-6.97273787e-01 7.16708355e-01 -1.17643837e-02 -1.17268214e+01] [-1.71866521e-02 -3.08572485e-04 9.99852251e-01 -9.44700246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93591999999995 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:286.62, Y:-11.75, Z:-0.94 [[ 7.14963829e-01 6.99043021e-01 1.28676783e-02 2.86616617e+02] [-6.98938563e-01 7.15079528e-01 -1.20893786e-02 -1.17457437e+01] [-1.76524091e-02 -3.50248151e-04 9.99844123e-01 -9.44112577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96592 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:286.64, Y:-11.77, Z:-0.94 [[ 7.14652156e-01 6.99372843e-01 1.22442888e-02 2.86642559e+02] [-6.99278113e-01 7.14756963e-01 -1.15153837e-02 -1.17656120e+01] [-1.68052373e-02 -3.32669392e-04 9.99858727e-01 -9.43179407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99591999999996 meters Centerline goodness [0,1] 0.9999008084114467 Centerline is valid? [True, True] Translation: X:286.67, Y:-11.79, Z:-0.94 [[ 7.14583445e-01 6.99430119e-01 1.29618480e-02 2.86669511e+02] [-6.99323745e-01 7.14700910e-01 -1.22028142e-02 -1.17852066e+01] [-1.77988603e-02 -3.44599035e-04 9.99841528e-01 -9.44386791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.70, Y:-11.80, Z:-0.94 [[ 7.16605863e-01 6.97328423e-01 1.44605496e-02 2.86698060e+02] [-6.97195352e-01 7.16751680e-01 -1.36261244e-02 -1.18019786e+01] [-1.98665070e-02 -3.17267300e-04 9.99802591e-01 -9.44631468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05591999999996 meters Centerline goodness [0,1] 0.9999007197815836 Centerline is valid? [True, True] Translation: X:286.72, Y:-11.82, Z:-0.94 [[ 7.17883901e-01 6.96017792e-01 1.42104882e-02 2.86723288e+02] [-6.95888790e-01 7.18024486e-01 -1.34026286e-02 -1.18222134e+01] [-1.95319464e-02 -2.67388119e-04 9.99809198e-01 -9.43591290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08592 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:286.75, Y:-11.84, Z:-0.94 [[ 7.19610923e-01 6.94235233e-01 1.40556046e-02 2.86747858e+02] [-6.94108454e-01 7.19748149e-01 -1.32686301e-02 -1.18427130e+01] [-1.93280459e-02 -2.07862816e-04 9.99813174e-01 -9.43564075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11591999999996 meters Centerline goodness [0,1] 0.9999504017458586 Centerline is valid? [True, True] Translation: X:286.77, Y:-11.86, Z:-0.94 [[ 7.22784711e-01 6.90950358e-01 1.30331910e-02 2.86773419e+02] [-6.90840738e-01 7.22902200e-01 -1.23078486e-02 -1.18631456e+01] [-1.79258348e-02 -1.07934552e-04 9.99839313e-01 -9.43374052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.80, Y:-11.89, Z:-0.94 [[ 7.24058602e-01 6.89613441e-01 1.31317635e-02 2.86798367e+02] [-6.89501704e-01 7.24177670e-01 -1.24137799e-02 -1.18851480e+01] [-1.80704394e-02 -6.60691602e-05 9.99836714e-01 -9.44213687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17591999999996 meters Centerline goodness [0,1] 0.9999502660764907 Centerline is valid? [True, True] Translation: X:286.82, Y:-11.91, Z:-0.94 [[ 7.25170632e-01 6.88423771e-01 1.41515079e-02 2.86822207e+02] [-6.88293498e-01 7.25308700e-01 -1.33921841e-02 -1.19078323e+01] [-1.94837096e-02 -2.87722773e-05 9.99810174e-01 -9.43549669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20592 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:286.85, Y:-11.93, Z:-0.94 [[ 7.25297033e-01 6.88281015e-01 1.46102034e-02 2.86845947e+02] [-6.88141830e-01 7.25444170e-01 -1.38411496e-02 -1.19311239e+01] [-2.01254874e-02 -1.49474133e-05 9.99797462e-01 -9.43101887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23591999999996 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:286.87, Y:-11.96, Z:-0.94 [[ 7.24144316e-01 6.89495912e-01 1.45050680e-02 2.86867719e+02] [-6.89358671e-01 7.24289573e-01 -1.37563369e-02 -1.19567395e+01] [-1.99908076e-02 -3.76212190e-05 9.99800163e-01 -9.43889332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26592 meters Centerline goodness [0,1] 0.9999504017458586 Centerline is valid? [True, True] Translation: X:286.89, Y:-11.98, Z:-0.94 [[ 7.23547589e-01 6.90141219e-01 1.35640842e-02 2.86889221e+02] [-6.90021096e-01 7.23674717e-01 -1.28759885e-02 -1.19801612e+01] [-1.87022352e-02 -4.31137746e-05 9.99825097e-01 -9.43556989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29591999999997 meters Centerline goodness [0,1] 0.999603410668253 Centerline is valid? [True, True] Translation: X:286.91, Y:-12.00, Z:-0.94 [[ 7.22813773e-01 6.90894214e-01 1.43329492e-02 2.86911818e+02] [-6.90759947e-01 7.22955864e-01 -1.36203494e-02 -1.20048104e+01] [-1.97723103e-02 -5.56510247e-05 9.99804507e-01 -9.44360899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32592 meters Centerline goodness [0,1] 0.999553748512495 Centerline is valid? [True, True] Translation: X:286.93, Y:-12.03, Z:-0.94 [[ 7.21845548e-01 6.91926486e-01 1.32944582e-02 2.86933274e+02] [-6.91810932e-01 7.21967958e-01 -1.26452517e-02 -1.20284068e+01] [-1.83477574e-02 -6.93328555e-05 9.99831663e-01 -9.43957522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35591999999997 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:286.95, Y:-12.05, Z:-0.94 [[ 7.19133777e-01 6.94729725e-01 1.40435239e-02 2.86953485e+02] [-6.94601071e-01 7.19270874e-01 -1.33701903e-02 -1.20535343e+01] [-1.93897664e-02 -1.39691309e-04 9.99811991e-01 -9.43759423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.98, Y:-12.08, Z:-0.94 [[ 7.17103297e-01 6.96819800e-01 1.43187468e-02 2.86975835e+02] [-6.96686221e-01 7.17246212e-01 -1.36447732e-02 -1.20762440e+01] [-1.97780150e-02 -1.90961754e-04 9.99804378e-01 -9.43351079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.00, Y:-12.10, Z:-0.94 [[ 7.15064825e-01 6.98940012e-01 1.28512817e-02 2.86999762e+02] [-6.98832528e-01 7.15180267e-01 -1.22590683e-02 -1.20994385e+01] [-1.77593364e-02 -2.14865083e-04 9.99842267e-01 -9.41931615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.02, Y:-12.12, Z:-0.94 [[ 7.10420101e-01 7.03657336e-01 1.30243404e-02 2.87022824e+02] [-7.03547519e-01 7.10539404e-01 -1.24355635e-02 -1.21222776e+01] [-1.80046825e-02 -3.28768127e-04 9.99837849e-01 -9.42328541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.05, Y:-12.14, Z:-0.94 [[ 7.07572990e-01 7.06507295e-01 1.37078477e-02 2.87046700e+02] [-7.06385956e-01 7.07705638e-01 -1.30999974e-02 -1.21442410e+01] [-1.89563649e-02 -4.13826752e-04 9.99820226e-01 -9.42797797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.07, Y:-12.17, Z:-0.94 [[ 7.02823728e-01 7.11230513e-01 1.37828065e-02 2.87070496e+02] [-7.11108548e-01 7.02958655e-01 -1.31819112e-02 -1.21655790e+01] [-1.90641206e-02 -5.36511495e-04 9.99818119e-01 -9.42876627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.09, Y:-12.19, Z:-0.94 [[ 7.01064126e-01 7.12945000e-01 1.47823754e-02 2.87094301e+02] [-7.12804829e-01 7.01219685e-01 -1.41502273e-02 -1.21867605e+01] [-2.04540264e-02 -6.16731806e-04 9.99790604e-01 -9.43391452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.12, Y:-12.21, Z:-0.94 [[ 6.99452169e-01 7.14541851e-01 1.40216539e-02 2.87118501e+02] [-7.14415830e-01 6.99592423e-01 -1.34337092e-02 -1.22078727e+01] [-1.94083902e-02 -6.21054466e-04 9.99811447e-01 -9.42690120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.14, Y:-12.23, Z:-0.94 [[ 6.98491941e-01 7.15499881e-01 1.29972573e-02 2.87144813e+02] [-7.15391546e-01 6.98612604e-01 -1.24645712e-02 -1.22284562e+01] [-1.79984470e-02 -5.91725462e-04 9.99837840e-01 -9.41767491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.17, Y:-12.25, Z:-0.94 [[ 6.98645770e-01 7.15327501e-01 1.41652560e-02 2.87169854e+02] [-7.15198516e-01 6.98789073e-01 -1.35983185e-02 -1.22497985e+01] [-1.96257773e-02 -6.30562401e-04 9.99807197e-01 -9.42754104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.19, Y:-12.27, Z:-0.94 [[ 7.00114224e-01 7.13853832e-01 1.58990481e-02 2.87194634e+02] [-7.13690658e-01 7.00294425e-01 -1.52762283e-02 -1.22702928e+01] [-2.20390089e-02 -6.51897348e-04 9.99756899e-01 -9.43521676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.22, Y:-12.29, Z:-0.94 [[ 7.00823432e-01 7.13174655e-01 1.51138749e-02 2.87219102e+02] [-7.13026941e-01 7.00986131e-01 -1.45266845e-02 -1.22919998e+01] [-2.09546799e-02 -5.95959070e-04 9.99780249e-01 -9.42471143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.24, Y:-12.31, Z:-0.94 [[ 7.00976701e-01 7.13018628e-01 1.53655800e-02 2.87244020e+02] [-7.12865608e-01 7.01144840e-01 -1.47830555e-02 -1.23135239e+01] [-2.13140911e-02 -5.91016093e-04 9.99772654e-01 -9.42367445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.27, Y:-12.33, Z:-0.94 [[ 7.01637914e-01 7.12372387e-01 1.51598225e-02 2.87268833e+02] [-7.12223181e-01 7.01801446e-01 -1.45901020e-02 -1.23348136e+01] [-2.10327712e-02 -5.60208277e-04 9.99778630e-01 -9.43030927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.29, Y:-12.36, Z:-0.94 [[ 7.01586885e-01 7.12426155e-01 1.49939011e-02 2.87292841e+02] [-7.12279914e-01 7.01746875e-01 -1.44446750e-02 -1.23574007e+01] [-2.08126875e-02 -5.45660028e-04 9.99783244e-01 -9.43818928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.32, Y:-12.38, Z:-0.94 [[ 7.03324567e-01 7.10690911e-01 1.59054324e-02 2.87316849e+02] [-7.10525601e-01 7.03504203e-01 -1.53364248e-02 -1.23782147e+01] [-2.20889963e-02 -5.14732569e-04 9.99755876e-01 -9.43578812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.34, Y:-12.40, Z:-0.94 [[ 7.04506228e-01 7.09509232e-01 1.63592419e-02 2.87340581e+02] [-7.09333715e-01 7.04695976e-01 -1.57880523e-02 -1.23998495e+01] [-2.27300608e-02 -4.81380663e-04 9.99741523e-01 -9.43447818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.36, Y:-12.42, Z:-0.94 [[ 7.06047365e-01 7.07978253e-01 1.62453884e-02 2.87364245e+02] [-7.07804448e-01 7.06234110e-01 -1.56922267e-02 -1.24220723e+01] [-2.25828027e-02 -4.19102797e-04 9.99744888e-01 -9.43050605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.39, Y:-12.44, Z:-0.94 [[ 7.10186431e-01 7.03838988e-01 1.56815876e-02 2.87388113e+02] [-7.03675890e-01 7.10359490e-01 -1.51537536e-02 -1.24443759e+01] [-2.18053672e-02 -2.72764903e-04 9.99762198e-01 -9.42107700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.41, Y:-12.47, Z:-0.94 [[ 7.11700547e-01 7.02284479e-01 1.66985891e-02 2.87412443e+02] [-7.02098725e-01 7.11896382e-01 -1.61530402e-02 -1.24672631e+01] [-2.32316946e-02 -2.27930552e-04 9.99730082e-01 -9.43364787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.44, Y:-12.49, Z:-0.94 [[ 7.13079231e-01 7.00856679e-01 1.78304708e-02 2.87436911e+02] [-7.00643988e-01 7.13302098e-01 -1.72661084e-02 -1.24900477e+01] [-2.48195797e-02 -1.80708867e-04 9.99691930e-01 -9.44039937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98591999999996 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:287.46, Y:-12.51, Z:-0.94 [[ 7.15154265e-01 6.98731792e-01 1.81179240e-02 2.87459842e+02] [-6.98511035e-01 7.15383725e-01 -1.75630447e-02 -1.25136858e+01] [-2.52331256e-02 -9.52835308e-05 9.99681589e-01 -9.43311583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01592 meters Centerline goodness [0,1] 0.999900823167708 Centerline is valid? [True, True] Translation: X:287.48, Y:-12.54, Z:-0.94 [[ 7.15978028e-01 6.97897902e-01 1.77195187e-02 2.87481998e+02] [-6.97686094e-01 7.16197260e-01 -1.71929971e-02 -1.25365947e+01] [-2.46896274e-02 -5.28536881e-05 9.99695163e-01 -9.44248533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04591999999997 meters Centerline goodness [0,1] 0.9999504165013884 Centerline is valid? [True, True] Translation: X:287.50, Y:-12.56, Z:-0.94 [[ 7.16905942e-01 6.97011263e-01 1.48717583e-02 2.87503855e+02] [-6.96861604e-01 7.17060178e-01 -1.44432005e-02 -1.25607604e+01] [-2.07310191e-02 -9.14102605e-06 9.99785089e-01 -9.43566808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07592 meters Centerline goodness [0,1] 0.9999504017458586 Centerline is valid? [True, True] Translation: X:287.53, Y:-12.58, Z:-0.94 [[ 7.16970242e-01 6.96947996e-01 1.47364362e-02 2.87526937e+02] [-6.96800720e-01 7.17121671e-01 -1.43271237e-02 -1.25837311e+01] [-2.05530779e-02 3.76202678e-06 9.99788763e-01 -9.42848213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10591999999997 meters Centerline goodness [0,1] 0.9998016955034456 Centerline is valid? [True, True] Translation: X:287.55, Y:-12.61, Z:-0.94 [[ 7.16840122e-01 6.97060793e-01 1.57000241e-02 2.87549019e+02] [-6.96893334e-01 7.17012030e-01 -1.52784310e-02 -1.26071084e+01] [-2.19071013e-02 1.09501692e-05 9.99760011e-01 -9.43522098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13592 meters Centerline goodness [0,1] 0.9999007591921798 Centerline is valid? [True, True] Translation: X:287.57, Y:-12.63, Z:-0.94 [[ 7.16847452e-01 6.97038000e-01 1.63632829e-02 2.87570916e+02] [-6.96855698e-01 7.17034187e-01 -1.59408294e-02 -1.26313314e+01] [-2.28443971e-02 2.42959536e-05 9.99739032e-01 -9.43308687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16591999999997 meters Centerline goodness [0,1] 0.9998512642538423 Centerline is valid? [True, True] Translation: X:287.59, Y:-12.66, Z:-0.94 [[ 7.16490090e-01 6.97389115e-01 1.70403750e-02 2.87591964e+02] [-6.97191088e-01 7.16692697e-01 -1.66181915e-02 -1.26576278e+01] [-2.38020582e-02 2.63719488e-05 9.99716691e-01 -9.44068234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19592 meters Centerline goodness [0,1] 0.9998017151638329 Centerline is valid? [True, True] Translation: X:287.61, Y:-12.68, Z:-0.94 [[ 7.15926442e-01 6.97980572e-01 1.65060855e-02 2.87614180e+02] [-6.97794533e-01 7.16116695e-01 -1.61142636e-02 -1.26815022e+01] [-2.30677263e-02 1.87711365e-05 9.99733904e-01 -9.43732049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22592 meters Centerline goodness [0,1] 0.9997520702137155 Centerline is valid? [True, True] Translation: X:287.63, Y:-12.71, Z:-0.94 [[ 7.14793246e-01 6.99160093e-01 1.56773564e-02 2.87633977e+02] [-6.98992238e-01 7.14965149e-01 -1.53195162e-02 -1.27065431e+01] [-2.19195578e-02 -8.06368245e-06 9.99759738e-01 -9.44391446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25591999999995 meters Centerline goodness [0,1] 0.9998508056494927 Centerline is valid? [True, True] Translation: X:287.66, Y:-12.73, Z:-0.94 [[ 7.14075589e-01 6.99901575e-01 1.52917520e-02 2.87656694e+02] [-6.99741707e-01 7.14239305e-01 -1.49585570e-02 -1.27309760e+01] [-2.13914879e-02 -1.87362302e-05 9.99771176e-01 -9.44169251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28592 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:287.68, Y:-12.75, Z:-0.94 [[ 7.13800324e-01 7.00181205e-01 1.53420350e-02 2.87679557e+02] [-7.00020002e-01 7.13965181e-01 -1.50238793e-02 -1.27546442e+01] [-2.14731168e-02 -1.56814587e-05 9.99769426e-01 -9.43274374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.70, Y:-12.78, Z:-0.94 [[ 7.14156484e-01 6.99811153e-01 1.56482158e-02 2.87701962e+02] [-6.99643004e-01 7.14327901e-01 -1.53400328e-02 -1.27789881e+01] [-2.19130832e-02 7.01920581e-06 9.99759880e-01 -9.42656255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:287.72, Y:-12.80, Z:-0.94 [[ 7.14770358e-01 6.99166183e-01 1.64311611e-02 2.87724086e+02] [-6.98980268e-01 7.14959192e-01 -1.61226107e-02 -1.28028058e+01] [-2.30199938e-02 3.89068904e-05 9.99735004e-01 -9.43182901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37591999999995 meters Centerline goodness [0,1] 0.9998513084853291 Centerline is valid? [True, True] Translation: X:287.74, Y:-12.83, Z:-0.94 [[ 7.16659805e-01 6.97230267e-01 1.63914255e-02 2.87744823e+02] [-6.97044349e-01 7.16847224e-01 -1.61006977e-02 -1.28283119e+01] [-2.29760416e-02 1.13172398e-04 9.99736010e-01 -9.43279868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40592 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:287.77, Y:-12.85, Z:-0.94 [[ 7.18055271e-01 6.95787727e-01 1.66152694e-02 2.87766981e+02] [-6.95595905e-01 7.18247457e-01 -1.63379219e-02 -1.28522892e+01] [-2.33016005e-02 1.74017548e-04 9.99728466e-01 -9.43207795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43591999999995 meters Centerline goodness [0,1] 0.9998513674197385 Centerline is valid? [True, True] Translation: X:287.79, Y:-12.88, Z:-0.94 [[ 7.19663655e-01 6.94139313e-01 1.59636403e-02 2.87789713e+02] [-6.93961463e-01 7.19840650e-01 -1.57138834e-02 -1.28765643e+01] [-2.23989015e-02 2.30559540e-04 9.99749087e-01 -9.43035470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46592 meters Centerline goodness [0,1] 0.999702366188799 Centerline is valid? [True, True] Translation: X:287.81, Y:-12.90, Z:-0.94 [[ 7.23041879e-01 6.90623547e-01 1.57973851e-02 2.87809281e+02] [-6.90448221e-01 7.23214350e-01 -1.55646687e-02 -1.29024795e+01] [-2.21742223e-02 3.46630889e-04 9.99754062e-01 -9.42966884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49591999999996 meters Centerline goodness [0,1] 0.9996029579631743 Centerline is valid? [True, True] Translation: X:287.83, Y:-12.93, Z:-0.94 [[ 7.23814670e-01 6.89820834e-01 1.54770839e-02 2.87830077e+02] [-6.89652011e-01 7.23980024e-01 -1.52652584e-02 -1.29277792e+01] [-2.17353929e-02 3.75415931e-04 9.99763688e-01 -9.42266755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52592 meters Centerline goodness [0,1] 0.9996037053549314 Centerline is valid? [True, True] Translation: X:287.85, Y:-12.95, Z:-0.94 [[ 7.24228609e-01 6.89379118e-01 1.57909268e-02 2.87850467e+02] [-6.89202949e-01 7.24400625e-01 -1.55893695e-02 -1.29532936e+01] [-2.21859430e-02 4.07114049e-04 9.99753779e-01 -9.42660572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55591999999996 meters Centerline goodness [0,1] 0.9998019017432647 Centerline is valid? [True, True] Translation: X:287.87, Y:-12.98, Z:-0.94 [[ 7.23924479e-01 6.89683523e-01 1.64313048e-02 2.87868737e+02] [-6.89492454e-01 7.24110804e-01 -1.62388126e-02 -1.29815679e+01] [-2.30977268e-02 4.26413304e-04 9.99733121e-01 -9.42362030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58592 meters Centerline goodness [0,1] 0.9996535339536725 Centerline is valid? [True, True] Translation: X:287.89, Y:-13.01, Z:-0.94 [[ 7.23822593e-01 6.89804224e-01 1.58425435e-02 2.87890002e+02] [-6.89626265e-01 7.23995827e-01 -1.56734827e-02 -1.30065083e+01] [-2.22815700e-02 4.19386733e-04 9.99751647e-01 -9.42219511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61591999999996 meters Centerline goodness [0,1] 0.999554058071549 Centerline is valid? [True, True] Translation: X:287.91, Y:-13.03, Z:-0.94 [[ 7.23351425e-01 6.90287648e-01 1.62996738e-02 2.87911471e+02] [-6.90098999e-01 7.23534919e-01 -1.61428756e-02 -1.30316111e+01] [-2.29366108e-02 4.28583474e-04 9.99736829e-01 -9.42117821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64592 meters Centerline goodness [0,1] 0.9996030761597618 Centerline is valid? [True, True] Translation: X:287.93, Y:-13.06, Z:-0.94 [[ 7.23408904e-01 6.90219302e-01 1.66394636e-02 2.87930452e+02] [-6.90022275e-01 7.23600104e-01 -1.64969507e-02 -1.30591739e+01] [-2.34268314e-02 4.52440432e-04 9.99725452e-01 -9.42095935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67591999999996 meters Centerline goodness [0,1] 0.9993067590987869 Centerline is valid? [True, True] Translation: X:287.95, Y:-13.09, Z:-0.94 [[ 7.23076886e-01 6.90555277e-01 1.71238637e-02 2.87950852e+02] [-6.90346269e-01 7.23279470e-01 -1.69952154e-02 -1.30852112e+01] [-2.41214747e-02 4.67452058e-04 9.99708926e-01 -9.41820771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70592 meters Centerline goodness [0,1] 0.9995046316936642 Centerline is valid? [True, True] Translation: X:287.97, Y:-13.11, Z:-0.94 [[ 7.22895642e-01 6.90760076e-01 1.65047883e-02 2.87969096e+02] [-6.90565561e-01 7.23083888e-01 -1.63980854e-02 -1.31140854e+01] [-2.32614892e-02 4.56466113e-04 9.99729311e-01 -9.42336240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73591999999996 meters Centerline goodness [0,1] 0.9994063520332442 Centerline is valid? [True, True] Translation: X:287.99, Y:-13.14, Z:-0.94 [[ 7.22708453e-01 6.90962639e-01 1.62210674e-02 2.87990772e+02] [-6.90774416e-01 7.22890327e-01 -1.61332578e-02 -1.31394837e+01] [-2.28735311e-02 4.54543430e-04 9.99738263e-01 -9.42002515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76592 meters Centerline goodness [0,1] 0.9993069306930693 Centerline is valid? [True, True] Translation: X:288.01, Y:-13.16, Z:-0.94 [[ 7.22850257e-01 6.90815060e-01 1.61882343e-02 2.88012042e+02] [-6.90627173e-01 7.23031349e-01 -1.61175583e-02 -1.31647967e+01] [-2.28388529e-02 4.70546648e-04 9.99739049e-01 -9.41502767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79591999999997 meters Centerline goodness [0,1] 0.9993069306930693 Centerline is valid? [True, True] Translation: X:288.04, Y:-13.19, Z:-0.94 [[ 7.22483066e-01 6.91199275e-01 1.61796682e-02 2.88035235e+02] [-6.91011292e-01 7.22664058e-01 -1.61261572e-02 -1.31874722e+01] [-2.28388529e-02 4.70542061e-04 9.99739049e-01 -9.41530698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82592 meters Centerline goodness [0,1] 0.9991582491582491 Centerline is valid? [True, True] Translation: X:288.06, Y:-13.21, Z:-0.94 [[ 7.22224318e-01 6.91459292e-01 1.66157249e-02 2.88056653e+02] [-6.91260695e-01 7.22415261e-01 -1.65783688e-02 -1.32120361e+01] [-2.34667203e-02 4.87503549e-04 9.99724500e-01 -9.41433214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85591999999997 meters Centerline goodness [0,1] 0.9994067629029069 Centerline is valid? [True, True] Translation: X:288.08, Y:-13.24, Z:-0.94 [[ 7.21197213e-01 6.92520747e-01 1.70174652e-02 2.88075896e+02] [-6.92312292e-01 7.21397801e-01 -1.69971642e-02 -1.32388311e+01] [-2.40472508e-02 4.76907141e-04 9.99710709e-01 -9.40620180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88592 meters Centerline goodness [0,1] 0.9994052634187441 Centerline is valid? [True, True] Translation: X:288.10, Y:-13.26, Z:-0.94 [[ 7.19955288e-01 6.93815827e-01 1.68517611e-02 2.88096544e+02] [-6.93611392e-01 7.20152348e-01 -1.68473370e-02 -1.32636043e+01] [-2.38247843e-02 4.40755837e-04 9.99716052e-01 -9.40951380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91591999999997 meters Centerline goodness [0,1] 0.9993072050673001 Centerline is valid? [True, True] Translation: X:288.11, Y:-13.29, Z:-0.94 [[ 7.17411650e-01 6.96459998e-01 1.62479416e-02 2.88114673e+02] [-6.96270255e-01 7.17595531e-01 -1.62599332e-02 -1.32913728e+01] [-2.29838433e-02 3.52107063e-04 9.99735775e-01 -9.41007917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94592 meters Centerline goodness [0,1] 0.9995052444092618 Centerline is valid? [True, True] Translation: X:288.43, Y:-13.03, Z:0.92 [[ 7.51323363e-01 -6.59762688e-01 1.50465969e-02 2.88429665e+02] [-6.59638658e-01 -7.51473951e-01 -1.27961868e-02 -1.30324485e+01] [ 1.97495722e-02 -3.11242933e-04 -9.99804910e-01 9.18856839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97592 meters Centerline goodness [0,1] 0.9997522790328973 Centerline is valid? [True, True] Translation: X:288.18, Y:-13.37, Z:-0.94 [[ 7.63613039e-01 6.45462824e-01 1.65187589e-02 2.88179662e+02] [-6.45307568e-01 7.63791674e-01 -1.41570440e-02 -1.33717680e+01] [-2.17547361e-02 1.50823285e-04 9.99763326e-01 -9.42310487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00591999999995 meters Centerline goodness [0,1] 0.9998014494192395 Centerline is valid? [True, True] Translation: X:288.20, Y:-13.39, Z:-0.94 [[ 7.61296219e-01 6.48181659e-01 1.69883350e-02 2.88203355e+02] [-6.48017777e-01 7.61485738e-01 -1.45750481e-02 -1.33944009e+01] [-2.23836536e-02 8.71859036e-05 9.99749451e-01 -9.42573993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.23, Y:-13.42, Z:-0.94 [[ 7.58805873e-01 6.51081805e-01 1.74965682e-02 2.88226771e+02] [-6.50908362e-01 7.59007565e-01 -1.50273327e-02 -1.34176507e+01] [-2.30640505e-02 1.41657490e-05 9.99733989e-01 -9.42699195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.25, Y:-13.44, Z:-0.94 [[ 7.54966877e-01 6.55509068e-01 1.82449042e-02 2.88249403e+02] [-6.55321404e-01 7.55187294e-01 -1.56846380e-02 -1.34401938e+01] [-2.40597423e-02 -1.14894034e-04 9.99710516e-01 -9.43627292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.27, Y:-13.46, Z:-0.94 [[ 7.52417698e-01 6.58440951e-01 1.79755698e-02 2.88274158e+02] [-6.58259246e-01 7.52632365e-01 -1.54689664e-02 -1.34611861e+01] [-2.37143965e-02 -1.93460885e-04 9.99718755e-01 -9.43012153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12591999999995 meters Centerline goodness [0,1] 0.999900882148875 Centerline is valid? [True, True] Translation: X:288.30, Y:-13.48, Z:-0.94 [[ 7.48715511e-01 6.62672699e-01 1.70287256e-02 2.88299121e+02] [-6.62510425e-01 7.48909076e-01 -1.46674023e-02 -1.34813323e+01] [-2.24726543e-02 -2.99996626e-04 9.99747413e-01 -9.43514373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.32, Y:-13.50, Z:-0.94 [[ 7.46749985e-01 6.64897480e-01 1.66072507e-02 2.88323442e+02] [-6.64743405e-01 7.46934548e-01 -1.43173546e-02 -1.35020610e+01] [-2.19241023e-02 -3.48076032e-04 9.99759577e-01 -9.42047759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.35, Y:-13.52, Z:-0.94 [[ 7.45804074e-01 6.65983941e-01 1.55458189e-02 2.88348949e+02] [-6.65848889e-01 7.45965998e-01 -1.34159144e-02 -1.35228779e+01] [-2.05314358e-02 -3.45522594e-04 9.99789148e-01 -9.41773527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.38, Y:-13.54, Z:-0.94 [[ 7.44004432e-01 6.67989072e-01 1.57481537e-02 2.88375858e+02] [-6.67850676e-01 7.44170977e-01 -1.36026642e-02 -1.35404641e+01] [-2.08057499e-02 -3.96972679e-04 9.99783458e-01 -9.41571426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.40, Y:-13.56, Z:-0.94 [[ 7.43015167e-01 6.69090184e-01 1.57094725e-02 2.88402120e+02] [-6.68952424e-01 7.43181104e-01 -1.35831603e-02 -1.35606917e+01] [-2.07633423e-02 -4.16395571e-04 9.99784332e-01 -9.41672852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.43, Y:-13.58, Z:-0.94 [[ 7.41301616e-01 6.70994604e-01 1.54322891e-02 2.88428939e+02] [-6.70861833e-01 7.41462094e-01 -1.33553002e-02 -1.35786252e+01] [-2.04037917e-02 -4.52628103e-04 9.99791719e-01 -9.41605960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.46, Y:-13.60, Z:-0.94 [[ 7.40984857e-01 6.71314364e-01 1.66872967e-02 2.88455345e+02] [-6.71158917e-01 7.41172575e-01 -1.44541785e-02 -1.35976740e+01] [-2.20714643e-02 -4.89500601e-04 9.99756276e-01 -9.42657377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.48, Y:-13.62, Z:-0.94 [[ 7.40396198e-01 6.71971092e-01 1.63805127e-02 2.88481884e+02] [-6.71821158e-01 7.40577216e-01 -1.42027823e-02 -1.36172101e+01] [-2.16748936e-02 -4.89089013e-04 9.99764952e-01 -9.42477870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.51, Y:-13.63, Z:-0.94 [[ 7.39256712e-01 6.73179486e-01 1.81353905e-02 2.88509496e+02] [-6.72995731e-01 7.39478907e-01 -1.57382598e-02 -1.36338491e+01] [-2.40054124e-02 -5.70426127e-04 9.99711666e-01 -9.43766628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.54, Y:-13.65, Z:-0.94 [[ 7.38273914e-01 6.74240157e-01 1.87573500e-02 2.88535570e+02] [-6.74043569e-01 7.38511904e-01 -1.62921817e-02 -1.36532406e+01] [-2.48373693e-02 -6.15178401e-04 9.99691316e-01 -9.43784945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.56, Y:-13.67, Z:-0.94 [[ 7.37727126e-01 6.74840124e-01 1.86947571e-02 2.88563587e+02] [-6.74644636e-01 7.37963699e-01 -1.62540598e-02 -1.36718121e+01] [-2.47649438e-02 -6.21256792e-04 9.99693109e-01 -9.43921178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.59, Y:-13.69, Z:-0.94 [[ 7.37057128e-01 6.75580792e-01 1.83680113e-02 2.88590336e+02] [-6.75391921e-01 7.37285702e-01 -1.59858318e-02 -1.36913599e+01] [-2.43421930e-02 -6.23135152e-04 9.99703491e-01 -9.43679228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.62, Y:-13.71, Z:-0.94 [[ 7.37077078e-01 6.75576945e-01 1.76966590e-02 2.88616084e+02] [-6.75401312e-01 7.37289253e-01 -1.54150796e-02 -1.37108849e+01] [-2.34616289e-02 -5.90244924e-04 9.99724564e-01 -9.44893498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51592 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:288.64, Y:-13.73, Z:-0.94 [[ 7.36924985e-01 6.75766047e-01 1.67874201e-02 2.88641295e+02] [-6.75607763e-01 7.37115962e-01 -1.46358921e-02 -1.37308960e+01] [-2.22647143e-02 -5.56156800e-04 9.99751956e-01 -9.44690618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.67, Y:-13.75, Z:-0.95 [[ 7.37506326e-01 6.75140141e-01 1.64380474e-02 2.88665845e+02] [-6.74987949e-01 7.37689313e-01 -1.43438332e-02 -1.37510861e+01] [-2.18102694e-02 -5.16816215e-04 9.99761994e-01 -9.45216594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.69, Y:-13.77, Z:-0.95 [[ 7.37353844e-01 6.75306475e-01 1.64461131e-02 2.88690382e+02] [-6.75153860e-01 7.37537053e-01 -1.43653060e-02 -1.37726317e+01] [-2.18306020e-02 -5.11343150e-04 9.99761553e-01 -9.46108464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.72, Y:-13.79, Z:-0.95 [[ 7.37794545e-01 6.74826339e-01 1.63896487e-02 2.88715181e+02] [-6.74674376e-01 7.37976406e-01 -1.43286510e-02 -1.37927108e+01] [-2.17645252e-02 -4.86075474e-04 9.99763007e-01 -9.45066497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.74, Y:-13.81, Z:-0.95 [[ 7.37033008e-01 6.75663335e-01 1.61679409e-02 2.88740426e+02] [-6.75515351e-01 7.37210156e-01 -1.41490520e-02 -1.38135144e+01] [-2.14791659e-02 -4.93373963e-04 9.99769174e-01 -9.45210654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.76, Y:-13.83, Z:-0.94 [[ 7.35031510e-01 6.77840885e-01 1.61373439e-02 2.88764943e+02] [-6.77693716e-01 7.35208430e-01 -1.41347929e-02 -1.38340384e+01] [-2.14454518e-02 -5.46658352e-04 9.99769870e-01 -9.44245277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.79, Y:-13.86, Z:-0.95 [[ 7.33005618e-01 6.80029520e-01 1.62054341e-02 2.88789452e+02] [-6.79881370e-01 7.33184484e-01 -1.42068617e-02 -1.38553666e+01] [-2.15426582e-02 -6.04063262e-04 9.99767748e-01 -9.45355946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.81, Y:-13.88, Z:-0.94 [[ 7.31117311e-01 6.82060455e-01 1.61558905e-02 2.88814041e+02] [-6.81913441e-01 7.31295501e-01 -1.41756588e-02 -1.38755714e+01] [-2.14833864e-02 -6.52849327e-04 9.99768992e-01 -9.44133865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.84, Y:-13.90, Z:-0.94 [[ 7.25702593e-01 6.87835702e-01 1.54205421e-02 2.88839819e+02] [-6.87702800e-01 7.25865996e-01 -1.35430909e-02 -1.38955607e+01] [-2.05086686e-02 -7.76493769e-04 9.99789374e-01 -9.41863244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.87, Y:-13.92, Z:-0.94 [[ 7.22796058e-01 6.90880938e-01 1.57920540e-02 2.88865582e+02] [-6.90742005e-01 7.22968025e-01 -1.38822307e-02 -1.39155817e+01] [-2.10081186e-02 -8.74213409e-04 9.99778923e-01 -9.42562548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.89, Y:-13.94, Z:-0.94 [[ 7.19304108e-01 6.94528481e-01 1.52246074e-02 2.88890666e+02] [-6.94400017e-01 7.19464596e-01 -1.33906896e-02 -1.39354864e+01] [-2.02537813e-02 -9.39989590e-04 9.99794429e-01 -9.41861639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84592 meters Centerline goodness [0,1] 0.9998512199960325 Centerline is valid? [True, True] Translation: X:288.92, Y:-13.95, Z:-0.94 [[ 7.13218536e-01 7.00754477e-01 1.62013335e-02 2.88919344e+02] [-7.00610327e-01 7.13401551e-01 -1.42616993e-02 -1.39522867e+01] [-2.15520061e-02 -1.17911323e-03 9.99767033e-01 -9.42118568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87591999999995 meters Centerline goodness [0,1] 0.9997517501613624 Centerline is valid? [True, True] Translation: X:288.95, Y:-13.97, Z:-0.94 [[ 7.10997722e-01 7.02981957e-01 1.72802415e-02 2.88946138e+02] [-7.02818326e-01 7.11206457e-01 -1.52242380e-02 -1.39703195e+01] [-2.29921840e-02 -1.32047183e-03 9.99734773e-01 -9.42226612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:288.98, Y:-13.98, Z:-0.94 [[ 7.07498780e-01 7.06484496e-01 1.80314347e-02 2.88976896e+02] [-7.06307316e-01 7.07726946e-01 -1.58917083e-02 -1.39844162e+01] [-2.39885777e-02 -1.49237002e-03 9.99711119e-01 -9.41241446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93591999999995 meters Centerline goodness [0,1] 0.9999503229011426 Centerline is valid? [True, True] Translation: X:289.00, Y:-14.00, Z:-0.94 [[ 7.05977928e-01 7.07993422e-01 1.84520789e-02 2.89004419e+02] [-7.07808069e-01 7.06217281e-01 -1.62754239e-02 -1.40015546e+01] [-2.45540701e-02 -1.57044034e-03 9.99697270e-01 -9.40996941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.03, Y:-14.02, Z:-0.94 [[ 7.05386499e-01 7.08609906e-01 1.73749529e-02 2.89032701e+02] [-7.08445419e-01 7.05598884e-01 -1.53395944e-02 -1.40193006e+01] [-2.31295359e-02 -1.48886300e-03 9.99731368e-01 -9.40702721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99591999999996 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:289.07, Y:-14.03, Z:-0.94 [[ 7.05539981e-01 7.08482319e-01 1.63137556e-02 2.89065854e+02] [-7.08337025e-01 7.05727202e-01 -1.44144312e-02 -1.40307085e+01] [-2.17254308e-02 -1.38567963e-03 9.99763015e-01 -9.40479499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:289.10, Y:-14.05, Z:-0.94 [[ 7.06407103e-01 7.07604758e-01 1.68674620e-02 2.89095049e+02] [-7.07448911e-01 7.06607074e-01 -1.49158418e-02 -1.40466332e+01] [-2.24731886e-02 -1.39621109e-03 9.99746471e-01 -9.40693971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05591999999996 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:289.12, Y:-14.06, Z:-0.94 [[ 7.07882809e-01 7.06120357e-01 1.72037769e-02 2.89123767e+02] [-7.05957686e-01 7.08090501e-01 -1.52180343e-02 -1.40634652e+01] [-2.29275949e-02 -1.37255368e-03 9.99736186e-01 -9.41398213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.16, Y:-14.07, Z:-0.94 [[ 7.10888133e-01 7.03026951e-01 1.97779883e-02 2.89157189e+02] [-7.02810664e-01 7.11161706e-01 -1.74984934e-02 -1.40729494e+01] [-2.63672604e-02 -1.46070980e-03 9.99651256e-01 -9.41973809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.19, Y:-14.09, Z:-0.94 [[ 7.13432730e-01 7.00440323e-01 1.99272251e-02 2.89186484e+02] [-7.00219667e-01 7.13709653e-01 -1.76337457e-02 -1.40881410e+01] [-2.65736395e-02 -1.37294359e-03 9.99645916e-01 -9.41558704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.22, Y:-14.10, Z:-0.94 [[ 7.18116568e-01 6.95691375e-01 1.79472931e-02 2.89219282e+02] [-6.95510615e-01 7.18340009e-01 -1.58939239e-02 -1.40988556e+01] [-2.39495245e-02 -1.06884276e-03 9.99712598e-01 -9.42184170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.25, Y:-14.12, Z:-0.94 [[ 7.20879450e-01 6.92831395e-01 1.78179018e-02 2.89246620e+02] [-6.92652100e-01 7.21098980e-01 -1.57901689e-02 -1.41152062e+01] [-2.37883956e-02 -9.58798809e-04 9.99716556e-01 -9.42297880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.27, Y:-14.13, Z:-0.94 [[ 7.24225141e-01 6.89304298e-01 1.89084437e-02 2.89273895e+02] [-6.89100860e-01 7.24471394e-01 -1.67691078e-02 -1.41319580e+01] [-2.52576447e-02 -8.85215377e-04 9.99680583e-01 -9.43756720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.30, Y:-14.15, Z:-0.94 [[ 7.27979812e-01 6.85329575e-01 1.92033122e-02 2.89300639e+02] [-6.85118068e-01 7.28232662e-01 -1.70417698e-02 -1.41485843e+01] [-2.56637080e-02 -7.50471818e-04 9.99670351e-01 -9.42943809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26592 meters Centerline goodness [0,1] 0.999900551936751 Centerline is valid? [True, True] Translation: X:289.33, Y:-14.16, Z:-0.94 [[ 7.34290943e-01 6.78533205e-01 2.02361393e-02 2.89330555e+02] [-6.78295598e-01 7.34569536e-01 -1.79632468e-02 -1.41629705e+01] [-2.70535109e-02 -5.35834812e-04 9.99633843e-01 -9.44758886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29591999999997 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:289.36, Y:-14.18, Z:-0.94 [[ 7.39469922e-01 6.72930226e-01 1.86854159e-02 2.89358937e+02] [-6.72725762e-01 7.39705901e-01 -1.65900301e-02 -1.41788786e+01] [-2.49856451e-02 -3.02332384e-04 9.99687764e-01 -9.44710916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32592 meters Centerline goodness [0,1] 0.9998016266613767 Centerline is valid? [True, True] Translation: X:289.39, Y:-14.20, Z:-0.94 [[ 7.40520108e-01 6.71800775e-01 1.77112521e-02 2.89385088e+02] [-6.71616418e-01 7.40731842e-01 -1.57392981e-02 -1.41983657e+01] [-2.36929610e-02 -2.39900955e-04 9.99719254e-01 -9.44626392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.41, Y:-14.22, Z:-0.95 [[ 7.42193159e-01 6.69968025e-01 1.70927042e-02 2.89410904e+02] [-6.69795712e-01 7.42389935e-01 -1.51950251e-02 -1.42185236e+01] [-2.28696325e-02 -1.70976302e-04 9.99738441e-01 -9.45146237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38592 meters Centerline goodness [0,1] 0.9996525709747865 Centerline is valid? [True, True] Translation: X:289.44, Y:-14.24, Z:-0.95 [[ 7.43230286e-01 6.68817854e-01 1.70710329e-02 2.89436648e+02] [-6.68645307e-01 7.43426299e-01 -1.51917837e-02 -1.42387308e+01] [-2.28515910e-02 -1.23472325e-04 9.99738861e-01 -9.45185766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41591999999997 meters Centerline goodness [0,1] 0.9997515034044033 Centerline is valid? [True, True] Translation: X:289.46, Y:-14.26, Z:-0.95 [[ 7.45673362e-01 6.66051902e-01 1.86037834e-02 2.89463314e+02] [-6.65845716e-01 7.45905398e-01 -1.65716546e-02 -1.42569243e+01] [-2.49142445e-02 -3.02080831e-05 9.99689592e-01 -9.45073309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44592 meters Centerline goodness [0,1] 0.9999005074121978 Centerline is valid? [True, True] Translation: X:289.49, Y:-14.28, Z:-0.95 [[ 7.46987545e-01 6.64539373e-01 1.99255941e-02 2.89489079e+02] [-6.64301850e-01 7.47253251e-01 -1.77660270e-02 -1.42769399e+01] [-2.66956894e-02 3.43918654e-05 9.99643606e-01 -9.46637113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47592 meters Centerline goodness [0,1] 0.9998015577714938 Centerline is valid? [True, True] Translation: X:289.51, Y:-14.30, Z:-0.95 [[ 7.47845626e-01 6.63556732e-01 2.04788357e-02 2.89514278e+02] [-6.63304924e-01 7.48125962e-01 -1.82790313e-02 -1.42982025e+01] [-2.74499229e-02 8.61810912e-05 9.99623176e-01 -9.47483889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50591999999995 meters Centerline goodness [0,1] 0.9998011137629276 Centerline is valid? [True, True] Translation: X:289.54, Y:-14.32, Z:-0.95 [[ 7.49221427e-01 6.62050112e-01 1.88918811e-02 2.89539349e+02] [-6.61835190e-01 7.49459560e-01 -1.68685820e-02 -1.43191803e+01] [-2.53265475e-02 1.34991341e-04 9.99679222e-01 -9.47233781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53592 meters Centerline goodness [0,1] 0.9999007936507937 Centerline is valid? [True, True] Translation: X:289.56, Y:-14.34, Z:-0.95 [[ 7.49559760e-01 6.61668642e-01 1.88354609e-02 2.89564809e+02] [-6.61454440e-01 7.49796360e-01 -1.68357313e-02 -1.43400797e+01] [-2.52624355e-02 1.60587509e-04 9.99680841e-01 -9.47287597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.59, Y:-14.36, Z:-0.95 [[ 7.49065695e-01 6.62209698e-01 1.94653956e-02 2.89590905e+02] [-6.61980625e-01 7.49318551e-01 -1.74172787e-02 -1.43603424e+01] [-2.61196729e-02 1.60971250e-04 9.99658810e-01 -9.46201917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.62, Y:-14.38, Z:-0.95 [[ 7.48578076e-01 6.62749621e-01 1.98444737e-02 2.89615969e+02] [-6.62511220e-01 7.48841047e-01 -1.77755267e-02 -1.43823903e+01] [-2.66410801e-02 1.59183128e-04 9.99645051e-01 -9.46725151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.64, Y:-14.40, Z:-0.95 [[ 7.46523611e-01 6.65072752e-01 1.95123680e-02 2.89639491e+02] [-6.64842625e-01 7.46778566e-01 -1.74944993e-02 -1.44045433e+01] [-2.62065330e-02 8.74028797e-05 9.99656546e-01 -9.46983866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.66, Y:-14.43, Z:-0.95 [[ 7.45364612e-01 6.66371224e-01 1.95188701e-02 2.89664458e+02] [-6.66140894e-01 7.45620137e-01 -1.75191423e-02 -1.44263122e+01] [-2.62279149e-02 5.58310940e-05 9.99655988e-01 -9.47096644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.69, Y:-14.45, Z:-0.95 [[ 7.45009941e-01 6.66768000e-01 1.95095400e-02 2.89688863e+02] [-6.66537535e-01 7.45265342e-01 -1.75295316e-02 -1.44477899e+01] [-2.62279147e-02 5.58345940e-05 9.99655988e-01 -9.47124487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.71, Y:-14.47, Z:-0.95 [[ 7.43550892e-01 6.68388952e-01 1.97048238e-02 2.89713602e+02] [-6.68153914e-01 7.43811944e-01 -1.77239759e-02 -1.44695201e+01] [-2.65031930e-02 1.28229407e-05 9.99648729e-01 -9.47124879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.74, Y:-14.49, Z:-0.95 [[ 7.42163009e-01 6.69895785e-01 2.08255928e-02 2.89737896e+02] [-6.69633338e-01 7.42455141e-01 -1.87498538e-02 -1.44908490e+01] [-2.80225165e-02 -3.00632703e-05 9.99607292e-01 -9.47374877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77592 meters Centerline goodness [0,1] 0.999950411583854 Centerline is valid? [True, True] Translation: X:289.76, Y:-14.51, Z:-0.95 [[ 7.40906987e-01 6.71305854e-01 2.01317542e-02 2.89761990e+02] [-6.71060663e-01 7.41180441e-01 -1.81422115e-02 -1.45123868e+01] [-2.71002352e-02 -6.79370338e-05 9.99632719e-01 -9.46126183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.79, Y:-14.53, Z:-0.95 [[ 7.39303937e-01 6.73104578e-01 1.89714437e-02 2.89786691e+02] [-6.72887025e-01 7.39547303e-01 -1.71125077e-02 -1.45330482e+01] [-2.55487873e-02 -1.14293980e-04 9.99673570e-01 -9.45006091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.81, Y:-14.55, Z:-0.95 [[ 7.38266154e-01 6.74235703e-01 1.92172513e-02 2.89811699e+02] [-6.74012374e-01 7.38516213e-01 -1.73528648e-02 -1.45542632e+01] [-2.58921726e-02 -1.41632413e-04 9.99664731e-01 -9.45138931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.84, Y:-14.58, Z:-0.94 [[ 7.37294400e-01 6.75317228e-01 1.85367195e-02 2.89836466e+02] [-6.75109327e-01 7.37527366e-01 -1.67564903e-02 -1.45761772e+01] [-2.49872845e-02 -1.59845816e-04 9.99687756e-01 -9.44956334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.86, Y:-14.60, Z:-0.94 [[ 7.36386126e-01 6.76351110e-01 1.68715624e-02 2.89860448e+02] [-6.76178833e-01 7.36579356e-01 -1.52655776e-02 -1.45975202e+01] [-2.27521349e-02 -1.66833803e-04 9.99741123e-01 -9.44185828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.89, Y:-14.62, Z:-0.94 [[ 7.36004534e-01 6.76779191e-01 1.63478639e-02 2.89885353e+02] [-6.76617199e-01 7.36186050e-01 -1.48076258e-02 -1.46194479e+01] [-2.20565624e-02 -1.62766153e-04 9.99756711e-01 -9.43742869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.91, Y:-14.64, Z:-0.94 [[ 7.35030541e-01 6.77821834e-01 1.69606831e-02 2.89908906e+02] [-6.77647411e-01 7.35226173e-01 -1.53772953e-02 -1.46407156e+01] [-2.28930046e-02 -1.90581307e-04 9.99737903e-01 -9.44223799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.93, Y:-14.66, Z:-0.94 [[ 7.34442407e-01 6.78424575e-01 1.82878928e-02 2.89932190e+02] [-6.78221583e-01 7.34670028e-01 -1.65962438e-02 -1.46630861e+01] [-2.46948664e-02 -2.14258385e-04 9.99695012e-01 -9.43936116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.96, Y:-14.69, Z:-0.94 [[ 7.33524902e-01 6.79416590e-01 1.82843137e-02 2.89956314e+02] [-6.79213549e-01 7.33752712e-01 -1.66106100e-02 -1.46860647e+01] [-2.47016888e-02 -2.34657482e-04 9.99694839e-01 -9.44622524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.98, Y:-14.71, Z:-0.94 [[ 7.32253654e-01 6.80816808e-01 1.71190317e-02 2.89978693e+02] [-6.80638870e-01 7.32453692e-01 -1.55665551e-02 -1.47094540e+01] [-2.31368703e-02 -2.53211572e-04 9.99732275e-01 -9.44637842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.00, Y:-14.73, Z:-0.94 [[ 7.30994909e-01 6.82175599e-01 1.68194594e-02 2.90002678e+02] [-6.82003828e-01 7.31188330e-01 -1.53102990e-02 -1.47325499e+01] [-2.27425049e-02 -2.79185063e-04 9.99741317e-01 -9.44782588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.03, Y:-14.76, Z:-0.94 [[ 7.28234762e-01 6.85154120e-01 1.54260809e-02 2.90025468e+02] [-6.85009989e-01 7.28398053e-01 -1.40567296e-02 -1.47567748e+01] [-2.08673535e-02 -3.30420368e-04 9.99782198e-01 -9.44931269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.05, Y:-14.78, Z:-0.94 [[ 7.26508266e-01 6.86979567e-01 1.56465293e-02 2.90048175e+02] [-6.86831450e-01 7.26676634e-01 -1.42698763e-02 -1.47788762e+01] [-2.11730807e-02 -3.79345310e-04 9.99775753e-01 -9.44490136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.07, Y:-14.80, Z:-0.94 [[ 7.24767092e-01 6.88830875e-01 1.49895998e-02 2.90071948e+02] [-6.88695042e-01 7.24921970e-01 -1.36849089e-02 -1.48018852e+01] [-2.02928780e-02 -4.04891453e-04 9.99793996e-01 -9.44724302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.09, Y:-14.82, Z:-0.94 [[ 7.23043714e-01 6.90638754e-01 1.50299181e-02 2.90094703e+02] [-6.90502324e-01 7.23199772e-01 -1.37342691e-02 -1.48242278e+01] [-2.03550518e-02 -4.47716419e-04 9.99792714e-01 -9.44888161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.12, Y:-14.85, Z:-0.94 [[ 7.20346489e-01 6.93418698e-01 1.64755823e-02 2.90117213e+02] [-6.93255319e-01 7.20534650e-01 -1.50625483e-02 -1.48464006e+01] [-2.23158805e-02 -5.71531274e-04 9.99750806e-01 -9.44390872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25591999999995 meters Centerline goodness [0,1] 0.9997021593447506 Centerline is valid? [True, True] Translation: X:290.14, Y:-14.87, Z:-0.94 [[ 7.18751725e-01 6.95059165e-01 1.69916186e-02 2.90140865e+02] [-6.94885529e-01 7.18952264e-01 -1.55480977e-02 -1.48682847e+01] [-2.30230105e-02 -6.32007852e-04 9.99734736e-01 -9.44664767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28592 meters Centerline goodness [0,1] 0.9991560762509929 Centerline is valid? [True, True] Translation: X:290.16, Y:-14.89, Z:-0.95 [[ 7.15214855e-01 6.98678391e-01 1.77825172e-02 2.90164777e+02] [-6.98488998e-01 7.15435468e-01 -1.62853004e-02 -1.48892598e+01] [-2.41004310e-02 -7.73403903e-04 9.99709243e-01 -9.45898453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31591999999995 meters Centerline goodness [0,1] 0.9988594098685841 Centerline is valid? [True, True] Translation: X:290.19, Y:-14.91, Z:-0.95 [[ 7.13213785e-01 7.00731258e-01 1.73724150e-02 2.90189458e+02] [-7.00550780e-01 7.13424868e-01 -1.59236255e-02 -1.49093042e+01] [-2.35520950e-02 -8.13309685e-04 9.99722280e-01 -9.46221981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34592 meters Centerline goodness [0,1] 0.9989567290973222 Centerline is valid? [True, True] Translation: X:290.21, Y:-14.93, Z:-0.95 [[ 7.11610345e-01 7.02372410e-01 1.68438456e-02 2.90213727e+02] [-7.02202893e-01 7.11809179e-01 -1.54528194e-02 -1.49300729e+01] [-2.28432379e-02 -8.31410926e-04 9.99738713e-01 -9.45504388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37591999999995 meters Centerline goodness [0,1] 0.9984111221449851 Centerline is valid? [True, True] Translation: X:290.24, Y:-14.95, Z:-0.94 [[ 7.08514074e-01 7.05513085e-01 1.60964115e-02 2.90239664e+02] [-7.05358824e-01 7.08696344e-01 -1.47790803e-02 -1.49485776e+01] [-2.18343025e-02 -8.82559562e-04 9.99761214e-01 -9.44748077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40592 meters Centerline goodness [0,1] 0.9985108706442967 Centerline is valid? [True, True] Translation: X:290.26, Y:-14.97, Z:-0.94 [[ 7.06547865e-01 7.07470163e-01 1.66157254e-02 2.90264338e+02] [-7.07306026e-01 7.06742555e-01 -1.52691417e-02 -1.49689671e+01] [-2.25455024e-02 -9.64023234e-04 9.99745353e-01 -9.44638909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43591999999995 meters Centerline goodness [0,1] 0.9985582898334576 Centerline is valid? [True, True] Translation: X:290.29, Y:-14.99, Z:-0.94 [[ 7.05307427e-01 7.08698616e-01 1.69618666e-02 2.90291396e+02] [-7.08527611e-01 7.05510625e-01 -1.56007097e-02 -1.49872339e+01] [-2.30229785e-02 -1.01465435e-03 9.99734421e-01 -9.44576305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46592 meters Centerline goodness [0,1] 0.9982615606218646 Centerline is valid? [True, True] Translation: X:290.32, Y:-15.01, Z:-0.94 [[ 7.04717095e-01 7.09291261e-01 1.67249304e-02 2.90317585e+02] [-7.09124824e-01 7.04914810e-01 -1.53978997e-02 -1.50071720e+01] [-2.27112468e-02 -1.00890025e-03 9.99741557e-01 -9.44899227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49591999999996 meters Centerline goodness [0,1] 0.9981147988291909 Centerline is valid? [True, True] Translation: X:290.34, Y:-15.03, Z:-0.95 [[ 7.04218751e-01 7.09777399e-01 1.70878725e-02 2.90344066e+02] [-7.09603440e-01 7.04425277e-01 -1.57476107e-02 -1.50274200e+01] [-2.32144275e-02 -1.03585038e-03 9.99729972e-01 -9.45399252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52592 meters Centerline goodness [0,1] 0.9980119284294234 Centerline is valid? [True, True] Translation: X:290.37, Y:-15.05, Z:-0.95 [[ 7.04188161e-01 7.09762215e-01 1.88847060e-02 2.90370519e+02] [-7.09549347e-01 7.04440425e-01 -1.74187043e-02 -1.50464461e+01] [-2.56662884e-02 -1.13358547e-03 9.99669924e-01 -9.46241666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55591999999996 meters Centerline goodness [0,1] 0.9982117132780289 Centerline is valid? [True, True] Translation: X:290.40, Y:-15.07, Z:-0.95 [[ 7.04353510e-01 7.09573690e-01 1.97816016e-02 2.90396783e+02] [-7.09339562e-01 7.04630268e-01 -1.82639162e-02 -1.50670558e+01] [-2.68983097e-02 -1.16761913e-03 9.99637493e-01 -9.46457320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58592 meters Centerline goodness [0,1] 0.9982134881643591 Centerline is valid? [True, True] Translation: X:290.42, Y:-15.08, Z:-0.94 [[ 7.06300246e-01 7.07664650e-01 1.87271547e-02 2.90424507e+02] [-7.07454029e-01 7.06547717e-01 -1.72950755e-02 -1.50839500e+01] [-2.54707420e-02 -1.03308496e-03 9.99675034e-01 -9.44783848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61591999999996 meters Centerline goodness [0,1] 0.9977188197371684 Centerline is valid? [True, True] Translation: X:290.45, Y:-15.10, Z:-0.94 [[ 7.06972465e-01 7.07047742e-01 1.65355511e-02 2.90449398e+02] [-7.06883077e-01 7.07165264e-01 -1.52841628e-02 -1.51047087e+01] [-2.25000001e-02 -8.83218976e-04 9.99746453e-01 -9.44230628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64592 meters Centerline goodness [0,1] 0.9979660680623078 Centerline is valid? [True, True] Translation: X:290.47, Y:-15.13, Z:-0.94 [[ 7.09652469e-01 7.04364523e-01 1.62478507e-02 2.90473918e+02] [-7.04204762e-01 7.09838015e-01 -1.50214770e-02 -1.51252245e+01] [-2.21139376e-02 -7.81785578e-04 9.99755151e-01 -9.44859313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67591999999996 meters Centerline goodness [0,1] 0.9980595084087969 Centerline is valid? [True, True] Translation: X:290.50, Y:-15.15, Z:-0.95 [[ 7.10880113e-01 7.03082143e-01 1.80267543e-02 2.90499015e+02] [-7.02884718e-01 7.11108176e-01 -1.66803817e-02 -1.51452376e+01] [-2.45466509e-02 -8.12978494e-04 9.99698355e-01 -9.45721530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70592 meters Centerline goodness [0,1] 0.9980139026812314 Centerline is valid? [True, True] Translation: X:290.53, Y:-15.17, Z:-0.95 [[ 7.12982177e-01 7.00984815e-01 1.66344409e-02 2.90525103e+02] [-7.00816023e-01 7.13175874e-01 -1.53972530e-02 -1.51651807e+01] [-2.26565224e-02 -6.79715740e-04 9.99743077e-01 -9.45135310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73591999999996 meters Centerline goodness [0,1] 0.9980123235937189 Centerline is valid? [True, True] Translation: X:290.55, Y:-15.18, Z:-0.95 [[ 7.15144743e-01 6.98719637e-01 1.89437447e-02 2.90551520e+02] [-6.98499524e-01 7.15395279e-01 -1.75501970e-02 -1.51838973e+01] [-2.58149328e-02 -6.81265486e-04 9.99666507e-01 -9.46189282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76592 meters Centerline goodness [0,1] 0.9978686493184634 Centerline is valid? [True, True] Translation: X:290.58, Y:-15.21, Z:-0.95 [[ 7.16102947e-01 6.97786482e-01 1.70468390e-02 2.90575753e+02] [-6.97607657e-01 7.16305589e-01 -1.58069512e-02 -1.52050223e+01] [-2.32406230e-02 -5.72601092e-04 9.99729736e-01 -9.45249730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79591999999997 meters Centerline goodness [0,1] 0.9981148923504316 Centerline is valid? [True, True] Translation: X:290.60, Y:-15.22, Z:-0.95 [[ 7.18108683e-01 6.95689360e-01 1.83366503e-02 2.90600614e+02] [-6.95481376e-01 7.18342558e-01 -1.70183544e-02 -1.52249370e+01] [-2.50114843e-02 -5.31770723e-04 9.99687022e-01 -9.45801605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82592 meters Centerline goodness [0,1] 0.9977667493796526 Centerline is valid? [True, True] Translation: X:290.63, Y:-15.25, Z:-0.95 [[ 7.17812003e-01 6.96017602e-01 1.74764423e-02 2.90625304e+02] [-6.95828423e-01 7.18024540e-01 -1.62346963e-02 -1.52458209e+01] [-2.38481488e-02 -5.07145474e-04 9.99715464e-01 -9.45326298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85591999999997 meters Centerline goodness [0,1] 0.9982636305005705 Centerline is valid? [True, True] Translation: X:290.65, Y:-15.27, Z:-0.95 [[ 7.17352012e-01 6.96493107e-01 1.74196122e-02 2.90650273e+02] [-6.96304898e-01 7.17563302e-01 -1.61986708e-02 -1.52671934e+01] [-2.37819370e-02 -5.09212231e-04 9.99717040e-01 -9.46073899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88592 meters Centerline goodness [0,1] 0.9979147013554441 Centerline is valid? [True, True] Translation: X:290.67, Y:-15.29, Z:-0.95 [[ 7.17474753e-01 6.96381250e-01 1.68265709e-02 2.90674812e+02] [-6.96205280e-01 7.17671879e-01 -1.56614747e-02 -1.52880333e+01] [-2.29823140e-02 -4.78034845e-04 9.99735757e-01 -9.46488427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91591999999997 meters Centerline goodness [0,1] 0.9981650466177345 Centerline is valid? [True, True] Translation: X:290.70, Y:-15.31, Z:-0.95 [[ 7.17161203e-01 6.96692515e-01 1.73016634e-02 2.90700239e+02] [-6.96506162e-01 7.17369709e-01 -1.61204038e-02 -1.53097074e+01] [-2.36426539e-02 -4.89786942e-04 9.99720353e-01 -9.46120118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94592 meters Centerline goodness [0,1] 0.9982109134280887 Centerline is valid? [True, True] Translation: X:290.73, Y:-15.33, Z:-0.95 [[ 7.16549686e-01 6.97322482e-01 1.72598796e-02 2.90725861e+02] [-6.97136813e-01 7.16757357e-01 -1.60983053e-02 -1.53306522e+01] [-2.35968559e-02 -4.97261823e-04 9.99721432e-01 -9.45826221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97592 meters Centerline goodness [0,1] 0.9979553161779373 Centerline is valid? [True, True] Translation: X:290.75, Y:-15.35, Z:-0.95 [[ 7.16484759e-01 6.97400997e-01 1.67761358e-02 2.90749499e+02] [-6.97225280e-01 7.16680977e-01 -1.56616181e-02 -1.53528894e+01] [-2.29455654e-02 -4.75435295e-04 9.99736603e-01 -9.45807983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00591999999995 meters Centerline goodness [0,1] 0.9980619191969389 Centerline is valid? [True, True] Translation: X:290.77, Y:-15.37, Z:-0.95 [[ 7.17039220e-01 6.96846284e-01 1.61249336e-02 2.90773836e+02] [-6.96683687e-01 7.17220375e-01 -1.50589997e-02 -1.53747183e+01] [-2.20589389e-02 -4.36084805e-04 9.99756577e-01 -9.45391119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03592 meters Centerline goodness [0,1] 0.9978625043495551 Centerline is valid? [True, True] Translation: X:290.80, Y:-15.40, Z:-0.95 [[ 7.16828444e-01 6.97031475e-01 1.74385900e-02 2.90798347e+02] [-6.96841008e-01 7.17040379e-01 -1.63004734e-02 -1.53957459e+01] [-2.38661162e-02 -4.67281585e-04 9.99715054e-01 -9.45939312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06591999999995 meters Centerline goodness [0,1] 0.9983622828784119 Centerline is valid? [True, True] Translation: X:290.82, Y:-15.42, Z:-0.95 [[ 7.18012574e-01 6.95825869e-01 1.68613019e-02 2.90823474e+02] [-6.95647344e-01 7.18210410e-01 -1.57663973e-02 -1.54167061e+01] [-2.30806297e-02 -4.09048352e-04 9.99733523e-01 -9.47037828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09592 meters Centerline goodness [0,1] 0.9978160520176701 Centerline is valid? [True, True] Translation: X:290.85, Y:-15.44, Z:-0.95 [[ 7.18462666e-01 6.95356327e-01 1.70580099e-02 2.90848224e+02] [-6.95173096e-01 7.18665033e-01 -1.59667724e-02 -1.54384645e+01] [-2.33615915e-02 -3.86739660e-04 9.99727006e-01 -9.46923488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12591999999995 meters Centerline goodness [0,1] 0.9977660841938046 Centerline is valid? [True, True] Translation: X:290.87, Y:-15.46, Z:-0.95 [[ 7.19086957e-01 6.94702782e-01 1.73779498e-02 2.90873554e+02] [-6.94512007e-01 7.19296820e-01 -1.62836640e-02 -1.54602531e+01] [-2.38122107e-02 -3.59824375e-04 9.99716384e-01 -9.46718522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15592 meters Centerline goodness [0,1] 0.9978169188786902 Centerline is valid? [True, True] Translation: X:290.90, Y:-15.48, Z:-0.95 [[ 7.19241110e-01 6.94544598e-01 1.73213065e-02 2.90899497e+02] [-6.94354606e-01 7.19449571e-01 -1.62479458e-02 -1.54811320e+01] [-2.37467295e-02 -3.40938396e-04 9.99717949e-01 -9.46514781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18591999999995 meters Centerline goodness [0,1] 0.9979656643842414 Centerline is valid? [True, True] Translation: X:290.92, Y:-15.50, Z:-0.95 [[ 7.19312088e-01 6.94469142e-01 1.73991856e-02 2.90924482e+02] [-6.94276998e-01 7.19522414e-01 -1.63384999e-02 -1.55034108e+01] [-2.38656880e-02 -3.27373879e-04 9.99715120e-01 -9.46634965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21592 meters Centerline goodness [0,1] 0.9980643240023823 Centerline is valid? [True, True] Translation: X:290.95, Y:-15.53, Z:-0.95 [[ 7.20158245e-01 6.93558649e-01 1.86682232e-02 2.90948308e+02] [-6.93336661e-01 7.20400102e-01 -1.75489861e-02 -1.55262187e+01] [-2.56198409e-02 -3.05316499e-04 9.99671711e-01 -9.46566908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24591999999996 meters Centerline goodness [0,1] 0.997915115413254 Centerline is valid? [True, True] Translation: X:290.97, Y:-15.55, Z:-0.95 [[ 7.21357819e-01 6.92319682e-01 1.83399662e-02 2.90971722e+02] [-6.92104625e-01 7.21590880e-01 -1.72566025e-02 -1.55477018e+01] [-2.51810379e-02 -2.44990305e-04 9.99682877e-01 -9.46341378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27592 meters Centerline goodness [0,1] 0.9979161498387497 Centerline is valid? [True, True] Translation: X:291.00, Y:-15.57, Z:-0.95 [[ 7.22276808e-01 6.91357085e-01 1.84822502e-02 2.90996353e+02] [-6.91137891e-01 7.22513212e-01 -1.74090111e-02 -1.55702528e+01] [-2.53895131e-02 -1.99658507e-04 9.99677614e-01 -9.45868609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30591999999996 meters Centerline goodness [0,1] 0.9981660470879802 Centerline is valid? [True, True] Translation: X:291.02, Y:-15.59, Z:-0.95 [[ 7.22754140e-01 6.90829390e-01 1.95245174e-02 2.91020332e+02] [-6.90584123e-01 7.23017788e-01 -1.84078108e-02 -1.55911440e+01] [-2.68332301e-02 -1.79000234e-04 9.99639908e-01 -9.46398216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33592 meters Centerline goodness [0,1] 0.9982154364744956 Centerline is valid? [True, True] Translation: X:291.05, Y:-15.61, Z:-0.95 [[ 7.23160787e-01 6.90412489e-01 1.92112195e-02 2.91045164e+02] [-6.90174376e-01 7.23415906e-01 -1.81316450e-02 -1.56136099e+01] [-2.64160159e-02 -1.46996766e-04 9.99651025e-01 -9.46393696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36591999999996 meters Centerline goodness [0,1] 0.9983636634105222 Centerline is valid? [True, True] Translation: X:291.07, Y:-15.64, Z:-0.95 [[ 7.24298624e-01 6.89186642e-01 2.03291975e-02 2.91068686e+02] [-6.88919023e-01 7.24583856e-01 -1.92045908e-02 -1.56355349e+01] [-2.79657558e-02 -9.53121794e-05 9.99608877e-01 -9.47240740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39592 meters Centerline goodness [0,1] 0.9986625055728935 Centerline is valid? [True, True] Translation: X:291.09, Y:-15.66, Z:-0.95 [[ 7.25508667e-01 6.87939171e-01 1.94131602e-02 2.91092316e+02] [-6.87694228e-01 7.25768349e-01 -1.83562593e-02 -1.56574660e+01] [-2.67174470e-02 -3.26929813e-05 9.99643025e-01 -9.47218967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42591999999996 meters Centerline goodness [0,1] 0.9985580747812252 Centerline is valid? [True, True] Translation: X:291.12, Y:-15.68, Z:-0.95 [[ 7.26227703e-01 6.87180785e-01 1.93879292e-02 2.91116526e+02] [-6.86935689e-01 7.26486454e-01 -1.83518772e-02 -1.56798569e+01] [-2.66961253e-02 9.38119046e-06 9.99643595e-01 -9.47380362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45592 meters Centerline goodness [0,1] 0.9993058654370569 Centerline is valid? [True, True] Translation: X:291.14, Y:-15.70, Z:-0.95 [[ 7.28419812e-01 6.84884197e-01 1.83906199e-02 2.91139354e+02] [-6.84662524e-01 7.28651924e-01 -1.74241490e-02 -1.57027634e+01] [-2.53338849e-02 1.00727131e-04 9.99679041e-01 -9.48140217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48591999999996 meters Centerline goodness [0,1] 0.9994042003872697 Centerline is valid? [True, True] Translation: X:291.16, Y:-15.73, Z:-0.95 [[ 7.29090446e-01 6.84194022e-01 1.74831858e-02 2.91162461e+02] [-6.83993125e-01 7.29300023e-01 -1.65795315e-02 -1.57255563e+01] [-2.40941041e-02 1.29599116e-04 9.99709687e-01 -9.47461250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51592 meters Centerline goodness [0,1] 0.9998017151638329 Centerline is valid? [True, True] Translation: X:291.19, Y:-15.75, Z:-0.95 [[ 7.30704946e-01 6.82488467e-01 1.67264695e-02 2.91186147e+02] [-6.82303756e-01 7.30896338e-01 -1.58785358e-02 -1.57482778e+01] [-2.30622329e-02 1.89991624e-04 9.99734013e-01 -9.46735655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54591999999997 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:291.21, Y:-15.77, Z:-0.95 [[ 7.31696891e-01 6.81388523e-01 1.81477039e-02 2.91209307e+02] [-6.81170349e-01 7.31921864e-01 -1.72435687e-02 -1.57708518e+01] [-2.50322711e-02 2.55387849e-04 9.99686611e-01 -9.46918035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.23, Y:-15.79, Z:-0.95 [[ 7.31722093e-01 6.81335747e-01 1.90887214e-02 2.91232864e+02] [-6.81093905e-01 7.31970983e-01 -1.81541075e-02 -1.57934415e+01] [-2.63414326e-02 2.82549725e-04 9.99652964e-01 -9.47459595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.26, Y:-15.82, Z:-0.95 [[ 7.31371768e-01 6.81712045e-01 1.90794214e-02 2.91256656e+02] [-6.81470077e-01 7.31620536e-01 -1.81638812e-02 -1.58156318e+01] [-2.63414331e-02 2.82495184e-04 9.99652964e-01 -9.47487439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.28, Y:-15.84, Z:-0.95 [[ 7.32605533e-01 6.80353816e-01 2.01945087e-02 2.91278595e+02] [-6.80081730e-01 7.32883724e-01 -1.92428391e-02 -1.58391342e+01] [-2.78921658e-02 3.63493996e-04 9.99610872e-01 -9.47424987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66591999999997 meters Centerline goodness [0,1] 0.9999008772364574 Centerline is valid? [True, True] Translation: X:291.30, Y:-15.86, Z:-0.95 [[ 7.32342341e-01 6.80648753e-01 1.97982472e-02 2.91302022e+02] [-6.80386818e-01 7.32609818e-01 -1.88847110e-02 -1.58628851e+01] [-2.73582453e-02 3.59607129e-04 9.99625628e-01 -9.46645465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69592 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:291.33, Y:-15.89, Z:-0.95 [[ 7.32866968e-01 6.80088745e-01 1.96291974e-02 2.91325718e+02] [-6.79830540e-01 7.33129692e-01 -1.87427930e-02 -1.58865164e+01] [-2.71375101e-02 3.91446015e-04 9.99631633e-01 -9.47516151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.35, Y:-15.91, Z:-0.95 [[ 7.33017880e-01 6.79941733e-01 1.90795010e-02 2.91347913e+02] [-6.79697246e-01 7.33266037e-01 -1.82365804e-02 -1.59111670e+01] [-2.63901621e-02 3.99455197e-04 9.99651639e-01 -9.47489743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.37, Y:-15.93, Z:-0.95 [[ 7.32012256e-01 6.80987234e-01 2.03579173e-02 2.91369928e+02] [-6.80708784e-01 7.32295178e-01 -1.94762155e-02 -1.59348141e+01] [-2.81710588e-02 3.99015349e-04 9.99603037e-01 -9.47962133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.39, Y:-15.96, Z:-0.95 [[ 7.30554225e-01 6.82567358e-01 1.98072269e-02 2.91390619e+02] [-6.82304090e-01 7.30822612e-01 -1.89588933e-02 -1.59604446e+01] [-2.74162910e-02 3.35947689e-04 9.99624046e-01 -9.47181416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.41, Y:-15.98, Z:-0.95 [[ 7.28741534e-01 6.84510205e-01 1.95334810e-02 2.91413065e+02] [-6.84254695e-01 7.29003231e-01 -1.87030070e-02 -1.59842845e+01] [-2.70423699e-02 2.63781873e-04 9.99634253e-01 -9.47594836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.43, Y:-16.01, Z:-0.95 [[ 7.25144277e-01 6.88329131e-01 1.92037632e-02 2.91433263e+02] [-6.88083068e-01 7.25398504e-01 -1.84038387e-02 -1.60094440e+01] [-2.65982794e-02 1.31654034e-04 9.99646195e-01 -9.47061187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.45, Y:-16.03, Z:-0.95 [[ 7.23163853e-01 6.90389697e-01 1.99024603e-02 2.91454958e+02] [-6.90125619e-01 7.23437669e-01 -1.90936978e-02 -1.60346440e+01] [-2.75802818e-02 7.26743026e-05 9.99619589e-01 -9.47766729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.48, Y:-16.06, Z:-0.95 [[ 7.21670767e-01 6.91955754e-01 1.97113896e-02 2.91476207e+02] [-6.91696759e-01 7.21939910e-01 -1.89304053e-02 -1.60603027e+01] [-2.73294417e-02 2.72157873e-05 9.99626481e-01 -9.48422987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93591999999995 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:291.50, Y:-16.09, Z:-0.95 [[ 7.19077006e-01 6.94574625e-01 2.22339865e-02 2.91496104e+02] [-6.94245709e-01 7.19420660e-01 -2.13731088e-02 -1.60855420e+01] [-3.08408083e-02 -6.69385931e-05 9.99524307e-01 -9.49567440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96592 meters Centerline goodness [0,1] 0.9998015873015873 Centerline is valid? [True, True] Translation: X:291.52, Y:-16.11, Z:-0.95 [[ 7.17992018e-01 6.95678087e-01 2.27917124e-02 2.91518429e+02] [-6.95332374e-01 7.18353666e-01 -2.19294627e-02 -1.61084430e+01] [-3.16283568e-02 -1.02636343e-04 9.99499693e-01 -9.49252359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99591999999996 meters Centerline goodness [0,1] 0.9991571641051066 Centerline is valid? [True, True] Translation: X:291.54, Y:-16.13, Z:-0.95 [[ 7.16498540e-01 6.97229396e-01 2.23832977e-02 2.91539908e+02] [-6.96896005e-01 7.16848064e-01 -2.15594736e-02 -1.61343007e+01] [-3.10773223e-02 -1.51499437e-04 9.99516972e-01 -9.50643487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02592 meters Centerline goodness [0,1] 0.9991569969255182 Centerline is valid? [True, True] Translation: X:291.56, Y:-16.16, Z:-0.95 [[ 7.15073250e-01 6.98667029e-01 2.31220425e-02 2.91561878e+02] [-6.98311346e-01 7.15446951e-01 -2.22917825e-02 -1.61576771e+01] [-3.21171283e-02 -2.06127264e-04 9.99484091e-01 -9.51217053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05591999999996 meters Centerline goodness [0,1] 0.999006556725611 Centerline is valid? [True, True] Translation: X:291.59, Y:-16.18, Z:-0.95 [[ 7.15185494e-01 6.98544878e-01 2.33401452e-02 2.91585250e+02] [-6.98181612e-01 7.15566223e-01 -2.25259378e-02 -1.61808890e+01] [-3.24367980e-02 -1.85436289e-04 9.99473771e-01 -9.52022064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08592 meters Centerline goodness [0,1] 0.9987576405108582 Centerline is valid? [True, True] Translation: X:291.61, Y:-16.20, Z:-0.95 [[ 7.14632273e-01 6.99129108e-01 2.27860590e-02 2.91606880e+02] [-6.98782941e-01 7.14995419e-01 -2.19989120e-02 -1.62044148e+01] [-3.16720075e-02 -2.01376824e-04 9.99498296e-01 -9.51253351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11591999999996 meters Centerline goodness [0,1] 0.9975690827007987 Centerline is valid? [True, True] Translation: X:291.63, Y:-16.23, Z:-0.95 [[ 7.14385790e-01 6.99329366e-01 2.43183209e-02 2.91625861e+02] [-6.98934443e-01 7.14799548e-01 -2.35000114e-02 -1.62306061e+01] [-3.38169729e-02 -2.08837877e-04 9.99428021e-01 -9.52247872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14592 meters Centerline goodness [0,1] 0.9970226280269948 Centerline is valid? [True, True] Translation: X:291.65, Y:-16.25, Z:-0.95 [[ 7.14469421e-01 6.99214443e-01 2.51517333e-02 2.91647508e+02] [-6.98791105e-01 7.14911971e-01 -2.43282864e-02 -1.62546411e+01] [-3.49919644e-02 -1.93990828e-04 9.99387575e-01 -9.54102189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17591999999996 meters Centerline goodness [0,1] 0.9967266775777414 Centerline is valid? [True, True] Translation: X:291.67, Y:-16.28, Z:-0.96 [[ 7.13600301e-01 7.00082264e-01 2.56794269e-02 2.91668143e+02] [-6.99640702e-01 7.14062163e-01 -2.48619203e-02 -1.62796300e+01] [-3.57420966e-02 -2.24898445e-04 9.99361022e-01 -9.56401659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20592 meters Centerline goodness [0,1] 0.9968282287640003 Centerline is valid? [True, True] Translation: X:291.69, Y:-16.30, Z:-0.96 [[ 7.13172400e-01 7.00559364e-01 2.45297053e-02 2.91689623e+02] [-7.00156468e-01 7.13594089e-01 -2.37570103e-02 -1.63043266e+01] [-3.41474487e-02 -2.31787735e-04 9.99416779e-01 -9.56834379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23591999999996 meters Centerline goodness [0,1] 0.9968728283530229 Centerline is valid? [True, True] Translation: X:291.71, Y:-16.33, Z:-0.96 [[ 7.13272612e-01 7.00437595e-01 2.50869912e-02 2.91710886e+02] [-7.00015211e-01 7.13713619e-01 -2.43223048e-02 -1.63292966e+01] [-3.49411839e-02 -2.12841562e-04 9.99389348e-01 -9.58120449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26592 meters Centerline goodness [0,1] 0.9962747727611384 Centerline is valid? [True, True] Translation: X:291.73, Y:-16.36, Z:-0.96 [[ 7.13661339e-01 7.00109011e-01 2.31271533e-02 2.91729931e+02] [-6.99749218e-01 7.14035955e-01 -2.24429812e-02 -1.63556395e+01] [-3.22261524e-02 -1.66519466e-04 9.99480589e-01 -9.56553007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29591999999997 meters Centerline goodness [0,1] 0.996180934431108 Centerline is valid? [True, True] Translation: X:291.75, Y:-16.38, Z:-0.96 [[ 7.13502534e-01 7.00281898e-01 2.27903104e-02 2.91751408e+02] [-6.99931852e-01 7.13866402e-01 -2.21396041e-02 -1.63804848e+01] [-3.17732009e-02 -1.55000498e-04 9.99495092e-01 -9.56832970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32592 meters Centerline goodness [0,1] 0.9964802696807455 Centerline is valid? [True, True] Translation: X:291.77, Y:-16.41, Z:-0.96 [[ 7.15302743e-01 6.98458547e-01 2.23079297e-02 2.91769453e+02] [-6.98121648e-01 7.15650512e-01 -2.16912427e-02 -1.64077733e+01] [-3.11151151e-02 -5.78432323e-05 9.99515806e-01 -9.58151911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35591999999997 meters Centerline goodness [0,1] 0.9961259560941691 Centerline is valid? [True, True] Translation: X:291.79, Y:-16.43, Z:-0.96 [[ 7.16106675e-01 6.97647813e-01 2.18805584e-02 2.91790139e+02] [-6.97322713e-01 7.16440876e-01 -2.12956333e-02 -1.64323110e+01] [-3.05329785e-02 -7.86517775e-06 9.99533760e-01 -9.58702691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38592 meters Centerline goodness [0,1] 0.9957808001588405 Centerline is valid? [True, True] Translation: X:291.81, Y:-16.46, Z:-0.96 [[ 7.17813889e-01 6.95889842e-01 2.19213893e-02 2.91810587e+02] [-6.95562009e-01 7.18148536e-01 -2.13581539e-02 -1.64584264e+01] [-3.06057360e-02 8.34939399e-05 9.99531531e-01 -9.58105586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41591999999997 meters Centerline goodness [0,1] 0.9957828934312364 Centerline is valid? [True, True] Translation: X:291.83, Y:-16.48, Z:-0.96 [[ 7.18707058e-01 6.94953496e-01 2.23562716e-02 2.91831919e+02] [-6.94611431e-01 7.19054670e-01 -2.18023404e-02 -1.64829331e+01] [-3.12269942e-02 1.40574099e-04 9.99512309e-01 -9.57874319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44592 meters Centerline goodness [0,1] 0.9954333366425097 Centerline is valid? [True, True] Translation: X:291.85, Y:-16.51, Z:-0.96 [[ 7.19080060e-01 6.94573834e-01 2.21597938e-02 2.91853338e+02] [-6.94236863e-01 7.19421406e-01 -2.16337201e-02 -1.65082059e+01] [-3.09684459e-02 1.72230988e-04 9.99520348e-01 -9.57446726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47592 meters Centerline goodness [0,1] 0.9953319759646422 Centerline is valid? [True, True] Translation: X:291.87, Y:-16.54, Z:-0.96 [[ 7.19310106e-01 6.94374211e-01 2.09147334e-02 2.91872618e+02] [-6.94073406e-01 7.19614077e-01 -2.04373830e-02 -1.65350144e+01] [-2.92417283e-02 1.84455928e-04 9.99572352e-01 -9.57832092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50591999999995 meters Centerline goodness [0,1] 0.9956373010758018 Centerline is valid? [True, True] Translation: X:291.89, Y:-16.56, Z:-0.96 [[ 7.17656455e-01 6.96076710e-01 2.11287992e-02 2.91894526e+02] [-6.95769796e-01 7.17967406e-01 -2.06686777e-02 -1.65597278e+01] [-2.95567743e-02 1.32229632e-04 9.99563094e-01 -9.58403434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53592 meters Centerline goodness [0,1] 0.9954399008674102 Centerline is valid? [True, True] Translation: X:291.91, Y:-16.59, Z:-0.96 [[ 7.15217477e-01 6.98593899e-01 2.07491126e-02 2.91913061e+02] [-6.98298420e-01 7.15518388e-01 -2.03163319e-02 -1.65870083e+01] [-2.90392371e-02 4.15231105e-05 9.99578272e-01 -9.58444599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56591999999995 meters Centerline goodness [0,1] 0.995429252782194 Centerline is valid? [True, True] Translation: X:291.93, Y:-16.61, Z:-0.96 [[ 7.13874270e-01 6.99969814e-01 2.06345831e-02 2.91934614e+02] [-6.99677542e-01 7.14172430e-01 -2.02256690e-02 -1.66127152e+01] [-2.88940081e-02 1.03034103e-06 9.99582481e-01 -9.58355758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59592 meters Centerline goodness [0,1] 0.9955807140374398 Centerline is valid? [True, True] Translation: X:291.96, Y:-16.64, Z:-0.96 [[ 7.11260664e-01 7.02613721e-01 2.10291804e-02 2.91955125e+02] [-7.02310664e-01 7.11571465e-01 -2.06344732e-02 -1.66390972e+01] [-2.94618287e-02 -9.25285288e-05 9.99565902e-01 -9.58665831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62591999999995 meters Centerline goodness [0,1] 0.9956868771999405 Centerline is valid? [True, True] Translation: X:291.98, Y:-16.66, Z:-0.96 [[ 7.09143785e-01 7.04787663e-01 1.97343177e-02 2.91976747e+02] [-7.04521132e-01 7.09418301e-01 -1.93816715e-02 -1.66629284e+01] [-2.76598491e-02 -1.58852017e-04 9.99617381e-01 -9.57220329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65592 meters Centerline goodness [0,1] 0.9958831407172263 Centerline is valid? [True, True] Translation: X:292.00, Y:-16.69, Z:-0.96 [[ 7.08194069e-01 7.05717084e-01 2.06047951e-02 2.91998732e+02] [-7.05426373e-01 7.08493727e-01 -2.02551647e-02 -1.66868298e+01] [-2.88927838e-02 -1.90578397e-04 9.99582498e-01 -9.57703721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68591999999995 meters Centerline goodness [0,1] 0.9956845238095238 Centerline is valid? [True, True] Translation: X:292.02, Y:-16.71, Z:-0.96 [[ 7.06883214e-01 7.07070446e-01 1.91704795e-02 2.92019918e+02] [-7.06818842e-01 7.07143082e-01 -1.88623174e-02 -1.67116064e+01] [-2.68932591e-02 -2.16600598e-04 9.99638287e-01 -9.56466899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71592 meters Centerline goodness [0,1] 0.9954852153205 Centerline is valid? [True, True] Translation: X:292.04, Y:-16.73, Z:-0.96 [[ 7.06030105e-01 7.07907839e-01 1.96972728e-02 2.92042221e+02] [-7.07642051e-01 7.06304773e-01 -1.93983316e-02 -1.67343698e+01] [-2.76445088e-02 -2.42812413e-04 9.99617788e-01 -9.57759446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74591999999996 meters Centerline goodness [0,1] 0.9956825963972011 Centerline is valid? [True, True] Translation: X:292.07, Y:-16.76, Z:-0.96 [[ 7.04549949e-01 7.09395734e-01 1.91588484e-02 2.92065067e+02] [-7.09144304e-01 7.04810339e-01 -1.88875882e-02 -1.67579259e+01] [-2.69021290e-02 -2.79138898e-04 9.99638033e-01 -9.56003817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77592 meters Centerline goodness [0,1] 0.9954825258141382 Centerline is valid? [True, True] Translation: X:292.09, Y:-16.78, Z:-0.96 [[ 7.02872750e-01 7.11067184e-01 1.87978109e-02 2.92087584e+02] [-7.10825233e-01 7.03123997e-01 -1.85508096e-02 -1.67814190e+01] [-2.64080639e-02 -3.23099743e-04 9.99651194e-01 -9.55884935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80591999999996 meters Centerline goodness [0,1] 0.9959339515049338 Centerline is valid? [True, True] Translation: X:292.11, Y:-16.80, Z:-0.96 [[ 7.01518712e-01 7.12397893e-01 1.89931220e-02 2.92110010e+02] [-7.12150922e-01 7.01775683e-01 -1.87604569e-02 -1.68038041e+01] [-2.66938211e-02 -3.65157784e-04 9.99643590e-01 -9.55953787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83592 meters Centerline goodness [0,1] 0.9955872874212901 Centerline is valid? [True, True] Translation: X:292.13, Y:-16.83, Z:-0.95 [[ 6.99587654e-01 7.14325315e-01 1.77892794e-02 2.92133341e+02] [-7.14108834e-01 6.99813679e-01 -1.75893998e-02 -1.68265918e+01] [-2.50137347e-02 -3.98154618e-04 9.99687028e-01 -9.54671014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86591999999996 meters Centerline goodness [0,1] 0.995785820525533 Centerline is valid? [True, True] Translation: X:292.16, Y:-16.85, Z:-0.95 [[ 6.98497868e-01 7.15385465e-01 1.80101371e-02 2.92155694e+02] [-7.15163521e-01 6.98729885e-01 -1.78237770e-02 -1.68496895e+01] [-2.53350921e-02 -4.30322802e-04 9.99678922e-01 -9.54116037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89592 meters Centerline goodness [0,1] 0.9954360551642027 Centerline is valid? [True, True] Translation: X:292.18, Y:-16.87, Z:-0.95 [[ 6.97491047e-01 7.16324103e-01 1.96473798e-02 2.92177790e+02] [-7.16059856e-01 6.97767536e-01 -1.94614302e-02 -1.68733214e+01] [-2.76499954e-02 -4.94526618e-04 9.99617543e-01 -9.54513471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92591999999996 meters Centerline goodness [0,1] 0.9961758132604916 Centerline is valid? [True, True] Translation: X:292.20, Y:-16.90, Z:-0.95 [[ 6.97147095e-01 7.16660870e-01 1.95735850e-02 2.92201558e+02] [-7.16398193e-01 6.97421648e-01 -1.94080785e-02 -1.68963626e+01] [-2.75600523e-02 -4.92195354e-04 9.99620028e-01 -9.54370116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95592 meters Centerline goodness [0,1] 0.9958815064754627 Centerline is valid? [True, True] Translation: X:292.23, Y:-16.92, Z:-0.95 [[ 6.96664796e-01 7.17134370e-01 1.94025101e-02 2.92225501e+02] [-7.16875913e-01 6.96934754e-01 -1.92580632e-02 -1.69191134e+01] [-2.73329026e-02 -4.92777479e-04 9.99626265e-01 -9.54574489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98591999999996 meters Centerline goodness [0,1] 0.9958366375892149 Centerline is valid? [True, True] Translation: X:292.25, Y:-16.94, Z:-0.95 [[ 6.96454933e-01 7.17366530e-01 1.83245069e-02 2.92248056e+02] [-7.17135659e-01 6.96695807e-01 -1.82043632e-02 -1.69418404e+01] [-2.58258080e-02 -4.62638799e-04 9.99666351e-01 -9.53565728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01592 meters Centerline goodness [0,1] 0.9954887963513781 Centerline is valid? [True, True] Translation: X:292.27, Y:-16.96, Z:-0.95 [[ 6.96173577e-01 7.17665246e-01 1.72900398e-02 2.92271227e+02] [-7.17459427e-01 6.96388113e-01 -1.71920287e-02 -1.69645814e+01] [-2.43786997e-02 -4.36265986e-04 9.99702700e-01 -9.52673379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04591999999997 meters Centerline goodness [0,1] 0.9959282983266299 Centerline is valid? [True, True] Translation: X:292.30, Y:-16.99, Z:-0.95 [[ 6.95589467e-01 7.18233939e-01 1.71843500e-02 2.92295060e+02] [-7.18030375e-01 6.95801562e-01 -1.71045814e-02 -1.69874297e+01] [-2.42419885e-02 -4.41118608e-04 9.99706023e-01 -9.53031756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07592 meters Centerline goodness [0,1] 0.9959815448727489 Centerline is valid? [True, True] Translation: X:292.32, Y:-17.01, Z:-0.95 [[ 6.94574563e-01 7.19203778e-01 1.76663907e-02 2.92318910e+02] [-7.18988549e-01 6.94799034e-01 -1.76002539e-02 -1.70084731e+01] [-2.49327603e-02 -4.77243928e-04 9.99689017e-01 -9.52357856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10591999999997 meters Centerline goodness [0,1] 0.9959789515488483 Centerline is valid? [True, True] Translation: X:292.34, Y:-17.03, Z:-0.95 [[ 6.94186214e-01 7.19574980e-01 1.78142549e-02 2.92342968e+02] [-7.19355800e-01 6.94414584e-01 -1.77656335e-02 -1.70308839e+01] [-2.51541838e-02 -4.82129755e-04 9.99683467e-01 -9.52381356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13592 meters Centerline goodness [0,1] 0.9962773613937559 Centerline is valid? [True, True] Translation: X:292.37, Y:-17.05, Z:-0.95 [[ 6.94059521e-01 7.19688399e-01 1.81655932e-02 2.92368016e+02] [-7.19460052e-01 6.94297036e-01 -1.81344785e-02 -1.70523143e+01] [-2.56634913e-02 -4.83011142e-04 9.99670522e-01 -9.51404853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16591999999997 meters Centerline goodness [0,1] 0.9967780311291762 Centerline is valid? [True, True] Translation: X:292.39, Y:-17.07, Z:-0.95 [[ 6.94002651e-01 7.19737143e-01 1.84056070e-02 2.92392591e+02] [-7.19502249e-01 6.94246510e-01 -1.83928395e-02 -1.70746988e+01] [-2.60160382e-02 -4.78196261e-04 9.99661411e-01 -9.51848231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19592 meters Centerline goodness [0,1] 0.9970760233918129 Centerline is valid? [True, True] Translation: X:292.42, Y:-17.10, Z:-0.95 [[ 6.94153575e-01 7.19622140e-01 1.71694484e-02 2.92416233e+02] [-7.19417337e-01 6.94365747e-01 -1.71727880e-02 -1.70964672e+01] [-2.42797953e-02 -4.31446642e-04 9.99705109e-01 -9.50881890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22592 meters Centerline goodness [0,1] 0.9984634448574969 Centerline is valid? [True, True] Translation: X:292.61, Y:-16.96, Z:0.92 [[ 7.69107819e-01 -6.38894237e-01 1.69504200e-02 2.92606331e+02] [-6.38730598e-01 -7.69294525e-01 -1.44622468e-02 -1.69623545e+01] [ 2.22797114e-02 2.96275176e-04 -9.99751733e-01 9.19038242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25591999999995 meters Centerline goodness [0,1] 0.9989589013930891 Centerline is valid? [True, True] Translation: X:292.48, Y:-17.16, Z:-0.95 [[ 7.48626400e-01 6.62692105e-01 1.99420989e-02 2.92476276e+02] [-6.62470763e-01 7.48891864e-01 -1.71307942e-02 -1.71604201e+01] [-2.62869177e-02 -3.86492721e-04 9.99654365e-01 -9.52238571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28592 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:292.50, Y:-17.18, Z:-0.95 [[ 7.50198574e-01 6.60953952e-01 1.84924895e-02 2.92501652e+02] [-6.60762744e-01 7.50426404e-01 -1.58999216e-02 -1.71795558e+01] [-2.43863685e-02 -2.91049587e-04 9.99702566e-01 -9.51888605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31591999999995 meters Centerline goodness [0,1] 0.9999000799360511 Centerline is valid? [True, True] Translation: X:292.53, Y:-17.20, Z:-0.95 [[ 7.50473822e-01 6.60622582e-01 1.91532411e-02 2.92526974e+02] [-6.60416921e-01 7.50718141e-01 -1.64852281e-02 -1.72003312e+01] [-2.52691995e-02 -2.77392391e-04 9.99680644e-01 -9.52648308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.55, Y:-17.22, Z:-0.95 [[ 7.50107919e-01 6.61033151e-01 1.93205412e-02 2.92551695e+02] [-6.60823568e-01 7.50356645e-01 -1.66468390e-02 -1.72223513e+01] [-2.55014089e-02 -2.80543156e-04 9.99674747e-01 -9.52395068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37591999999995 meters Centerline goodness [0,1] 0.9998016758391591 Centerline is valid? [True, True] Translation: X:292.58, Y:-17.24, Z:-0.95 [[ 7.49813982e-01 6.61382847e-01 1.87542742e-02 2.92576318e+02] [-6.61185114e-01 7.50048435e-01 -1.61737331e-02 -1.72426501e+01] [-2.47636437e-02 -2.72755678e-04 9.99693297e-01 -9.51597437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40592 meters Centerline goodness [0,1] 0.9998016364988842 Centerline is valid? [True, True] Translation: X:292.60, Y:-17.26, Z:-0.95 [[ 7.48850552e-01 6.62411219e-01 2.08381135e-02 2.92600860e+02] [-6.62167039e-01 7.49140353e-01 -1.79873258e-02 -1.72629114e+01] [-2.75256781e-02 -3.28493067e-04 9.99621043e-01 -9.52503582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43591999999995 meters Centerline goodness [0,1] 0.9997518856689163 Centerline is valid? [True, True] Translation: X:292.63, Y:-17.28, Z:-0.95 [[ 7.47003617e-01 6.64508650e-01 2.03432941e-02 2.92626947e+02] [-6.64276214e-01 7.47280475e-01 -1.75784972e-02 -1.72835160e+01] [-2.68832099e-02 -3.82365399e-04 9.99638508e-01 -9.52269433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46592 meters Centerline goodness [0,1] 0.9995036481858341 Centerline is valid? [True, True] Translation: X:292.65, Y:-17.30, Z:-0.95 [[ 7.45567011e-01 6.66082754e-01 2.15313028e-02 2.92652019e+02] [-6.65822546e-01 7.45877711e-01 -1.86219586e-02 -1.73036852e+01] [-2.84634843e-02 -4.52108843e-04 9.99594731e-01 -9.54112150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49591999999996 meters Centerline goodness [0,1] 0.9995036481858341 Centerline is valid? [True, True] Translation: X:292.68, Y:-17.32, Z:-0.95 [[ 7.45227647e-01 6.66462726e-01 2.15218464e-02 2.92676790e+02] [-6.66202360e-01 7.45538216e-01 -1.86328866e-02 -1.73246925e+01] [-2.84634833e-02 -4.52162672e-04 9.99594731e-01 -9.54139911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52592 meters Centerline goodness [0,1] 0.9992562843968467 Centerline is valid? [True, True] Translation: X:292.70, Y:-17.34, Z:-0.95 [[ 7.43574123e-01 6.68279654e-01 2.23568265e-02 2.92701868e+02] [-6.67998992e-01 7.43909957e-01 -1.93732586e-02 -1.73447066e+01] [-2.95782204e-02 -5.28883815e-04 9.99562329e-01 -9.54236322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55591999999996 meters Centerline goodness [0,1] 0.9987609654557169 Centerline is valid? [True, True] Translation: X:292.73, Y:-17.36, Z:-0.95 [[ 7.42325355e-01 6.69624119e-01 2.35925308e-02 2.92729950e+02] [-6.69311671e-01 7.42699925e-01 -2.04623787e-02 -1.73619446e+01] [-3.12242732e-02 -6.01013668e-04 9.99512223e-01 -9.54556662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58592 meters Centerline goodness [0,1] 0.9987599206349206 Centerline is valid? [True, True] Translation: X:292.76, Y:-17.38, Z:-0.95 [[ 7.42080086e-01 6.69893559e-01 2.36593572e-02 2.92757018e+02] [-6.69578819e-01 7.42456909e-01 -2.05412586e-02 -1.73816613e+01] [-3.13265101e-02 -5.98545505e-04 9.99509025e-01 -9.54525828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61591999999996 meters Centerline goodness [0,1] 0.9991560762509929 Centerline is valid? [True, True] Translation: X:292.78, Y:-17.40, Z:-0.96 [[ 7.43414085e-01 6.68455441e-01 2.24236810e-02 2.92783967e+02] [-6.68171551e-01 7.43752027e-01 -1.94859328e-02 -1.73994328e+01] [-2.97031360e-02 -4.96748793e-04 9.99558641e-01 -9.55202389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64592 meters Centerline goodness [0,1] 0.9990067540723083 Centerline is valid? [True, True] Translation: X:292.81, Y:-17.42, Z:-0.96 [[ 7.44107990e-01 6.67652538e-01 2.33106597e-02 2.92810667e+02] [-6.67344699e-01 7.44472880e-01 -2.02776455e-02 -1.74191685e+01] [-3.08925754e-02 -4.67487166e-04 9.99522601e-01 -9.55525091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67591999999996 meters Centerline goodness [0,1] 0.9987594899022478 Centerline is valid? [True, True] Translation: X:292.84, Y:-17.44, Z:-0.96 [[ 7.44574827e-01 6.67147055e-01 2.28721262e-02 2.92837007e+02] [-6.66849903e-01 7.44925921e-01 -1.99142950e-02 -1.74381832e+01] [-3.03238029e-02 -4.24592348e-04 9.99540038e-01 -9.55200797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70592 meters Centerline goodness [0,1] 0.9985611510791367 Centerline is valid? [True, True] Translation: X:292.87, Y:-17.46, Z:-0.96 [[ 7.46045608e-01 6.65459696e-01 2.40695617e-02 2.92866110e+02] [-6.65129031e-01 7.46433698e-01 -2.09787387e-02 -1.74555940e+01] [-3.19268370e-02 -3.58268426e-04 9.99490144e-01 -9.55867622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73591999999996 meters Centerline goodness [0,1] 0.9988086373790023 Centerline is valid? [True, True] Translation: X:292.89, Y:-17.47, Z:-0.96 [[ 7.45880621e-01 6.65673530e-01 2.32561859e-02 2.92892281e+02] [-6.65364370e-01 7.46243014e-01 -2.02884051e-02 -1.74740207e+01] [-3.08602205e-02 -3.41109309e-04 9.99523652e-01 -9.55391779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76592 meters Centerline goodness [0,1] 0.998560722616507 Centerline is valid? [True, True] Translation: X:292.92, Y:-17.49, Z:-0.96 [[ 7.45390381e-01 6.66141907e-01 2.54586072e-02 2.92919967e+02] [-6.65770985e-01 7.45824923e-01 -2.22301567e-02 -1.74912107e+01] [-3.37961028e-02 -3.79457054e-04 9.99428677e-01 -9.57075484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79591999999997 meters Centerline goodness [0,1] 0.9982644054348904 Centerline is valid? [True, True] Translation: X:292.95, Y:-17.51, Z:-0.96 [[ 7.45201636e-01 6.66373473e-01 2.49181819e-02 2.92946175e+02] [-6.66017606e-01 7.45618038e-01 -2.17781757e-02 -1.75105793e+01] [-3.30918445e-02 -3.66815747e-04 9.99452248e-01 -9.56653644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82592 meters Centerline goodness [0,1] 0.9980621118012423 Centerline is valid? [True, True] Translation: X:292.97, Y:-17.53, Z:-0.96 [[ 7.44750994e-01 6.66898754e-01 2.43312298e-02 2.92972490e+02] [-6.66559110e-01 7.45148252e-01 -2.12846439e-02 -1.75294915e+01] [-3.23250758e-02 -3.66443194e-04 9.99477341e-01 -9.56644123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85591999999997 meters Centerline goodness [0,1] 0.9980650922802143 Centerline is valid? [True, True] Translation: X:293.00, Y:-17.55, Z:-0.96 [[ 7.44738040e-01 6.66901007e-01 2.46637079e-02 2.93001080e+02] [-6.66551268e-01 7.45146242e-01 -2.15982647e-02 -1.75475375e+01] [-3.27819737e-02 -3.54576438e-04 9.99462464e-01 -9.56945559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88592 meters Centerline goodness [0,1] 0.9981644093863175 Centerline is valid? [True, True] Translation: X:293.03, Y:-17.56, Z:-0.96 [[ 7.45339378e-01 6.66233110e-01 2.45490365e-02 2.93028702e+02] [-6.65885608e-01 7.45743487e-01 -2.15176560e-02 -1.75649055e+01] [-3.26430589e-02 -3.08893722e-04 9.99467026e-01 -9.56168486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91591999999997 meters Centerline goodness [0,1] 0.9980653802271938 Centerline is valid? [True, True] Translation: X:293.06, Y:-17.58, Z:-0.96 [[ 7.45055581e-01 6.66577134e-01 2.38139842e-02 2.93055142e+02] [-6.66250083e-01 7.45435999e-01 -2.08805706e-02 -1.75842476e+01] [-3.16703120e-02 -3.08883288e-04 9.99498322e-01 -9.55538559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94592 meters Centerline goodness [0,1] 0.9980140998907755 Centerline is valid? [True, True] Translation: X:293.08, Y:-17.60, Z:-0.96 [[ 7.44963217e-01 6.66688987e-01 2.35711527e-02 2.93082443e+02] [-6.66367957e-01 7.45335970e-01 -2.06890987e-02 -1.76027376e+01] [-3.13616223e-02 -2.94443309e-04 9.99508060e-01 -9.55740660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97592 meters Centerline goodness [0,1] 0.9980160698343419 Centerline is valid? [True, True] Translation: X:293.11, Y:-17.62, Z:-0.96 [[ 7.43818004e-01 6.68000975e-01 2.25715451e-02 2.93111080e+02] [-6.67706655e-01 7.44160329e-01 -1.98299988e-02 -1.76182762e+01] [-3.00433069e-02 -3.21260692e-04 9.99548546e-01 -9.56570034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00591999999995 meters Centerline goodness [0,1] 0.9979622266401591 Centerline is valid? [True, True] Translation: X:293.14, Y:-17.64, Z:-0.96 [[ 7.43453755e-01 6.68389297e-01 2.30708131e-02 2.93138106e+02] [-6.68081345e-01 7.43811562e-01 -2.02898267e-02 -1.76375379e+01] [-3.07218406e-02 -3.28632041e-04 9.99527919e-01 -9.56385957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03592 meters Centerline goodness [0,1] 0.9980594118525153 Centerline is valid? [True, True] Translation: X:293.17, Y:-17.65, Z:-0.96 [[ 7.44953699e-01 6.66736523e-01 2.25032240e-02 2.93166730e+02] [-6.66442233e-01 7.45293467e-01 -1.98090487e-02 -1.76533708e+01] [-2.99789220e-02 -2.40274775e-04 9.99550502e-01 -9.55093814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06591999999995 meters Centerline goodness [0,1] 0.9982123348892641 Centerline is valid? [True, True] Translation: X:293.19, Y:-17.67, Z:-0.96 [[ 7.46204759e-01 6.65345501e-01 2.22221172e-02 2.93193460e+02] [-6.65057357e-01 7.46535556e-01 -1.95799914e-02 -1.76718870e+01] [-2.96170598e-02 -1.68299728e-04 9.99561305e-01 -9.55593904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09592 meters Centerline goodness [0,1] 0.9980156761583491 Centerline is valid? [True, True] Translation: X:293.22, Y:-17.69, Z:-0.96 [[ 7.47438441e-01 6.63967785e-01 2.19671821e-02 2.93219068e+02] [-6.63685085e-01 7.47761172e-01 -1.93736116e-02 -1.76908957e+01] [-2.92896598e-02 -9.87090736e-05 9.99570961e-01 -9.55700411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12591999999995 meters Centerline goodness [0,1] 0.9980651882720643 Centerline is valid? [True, True] Translation: X:293.25, Y:-17.71, Z:-0.96 [[ 7.50909334e-01 6.60078843e-01 2.07627746e-02 2.93245497e+02] [-6.59824327e-01 7.51196324e-01 -1.83286893e-02 -1.77097525e+01] [-2.76953000e-02 6.34000482e-05 9.99616410e-01 -9.55829932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15592 meters Centerline goodness [0,1] 0.9977087069137278 Centerline is valid? [True, True] Translation: X:293.27, Y:-17.73, Z:-0.96 [[ 7.52970725e-01 6.57756997e-01 1.97691758e-02 2.93271111e+02] [-6.57525298e-01 7.53230185e-01 -1.74576890e-02 -1.77300729e+01] [-2.63736570e-02 1.46395480e-04 9.99652144e-01 -9.55251893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18591999999995 meters Centerline goodness [0,1] 0.9982151710461081 Centerline is valid? [True, True] Translation: X:293.30, Y:-17.75, Z:-0.96 [[ 7.54935549e-01 6.55489955e-01 2.01304372e-02 2.93297398e+02] [-6.55248466e-01 7.55203853e-01 -1.77929227e-02 -1.77488255e+01] [-2.68656658e-02 2.42071774e-04 9.99639024e-01 -9.55635620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21592 meters Centerline goodness [0,1] 0.9980118296137979 Centerline is valid? [True, True] Translation: X:293.32, Y:-17.77, Z:-0.96 [[ 7.56069485e-01 6.54179563e-01 2.01998293e-02 2.93322450e+02] [-6.53935770e-01 7.56339218e-01 -1.78604579e-02 -1.77697700e+01] [-2.69618696e-02 2.94356300e-04 9.99636419e-01 -9.55652203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24591999999996 meters Centerline goodness [0,1] 0.9980671061109184 Centerline is valid? [True, True] Translation: X:293.35, Y:-17.79, Z:-0.96 [[ 7.56240469e-01 6.53992732e-01 1.98458796e-02 2.93347444e+02] [-6.53756861e-01 7.56500767e-01 -1.75657514e-02 -1.77908368e+01] [-2.65012969e-02 3.09552152e-04 9.99648731e-01 -9.55623548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27592 meters Centerline goodness [0,1] 0.9981140503250782 Centerline is valid? [True, True] Translation: X:293.37, Y:-17.81, Z:-0.95 [[ 7.56560116e-01 6.53633822e-01 1.94837753e-02 2.93372247e+02] [-6.53405896e-01 7.56810886e-01 -1.72631924e-02 -1.78131603e+01] [-2.60293397e-02 3.29829165e-04 9.99661125e-01 -9.54954116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30591999999996 meters Centerline goodness [0,1] 0.99811395672027 Centerline is valid? [True, True] Translation: X:293.40, Y:-17.83, Z:-0.95 [[ 7.56397757e-01 6.53846361e-01 1.86378709e-02 2.93396928e+02] [-6.53637485e-01 7.56627276e-01 -1.65288832e-02 -1.78339835e+01] [-2.49092717e-02 3.19999111e-04 9.99689665e-01 -9.54449552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33592 meters Centerline goodness [0,1] 0.9980656680884833 Centerline is valid? [True, True] Translation: X:293.42, Y:-17.85, Z:-0.95 [[ 7.55771546e-01 6.54533036e-01 1.98965864e-02 2.93421216e+02] [-6.54294798e-01 7.56033330e-01 -1.76613163e-02 -1.78544142e+01] [-2.66023974e-02 3.29687338e-04 9.99646039e-01 -9.53532472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36591999999996 meters Centerline goodness [0,1] 0.997713831320511 Centerline is valid? [True, True] Translation: X:293.45, Y:-17.88, Z:-0.95 [[ 7.54912752e-01 6.55501578e-01 2.06013965e-02 2.93445706e+02] [-6.55245994e-01 7.55193735e-01 -1.83059791e-02 -1.78770411e+01] [-2.75576438e-02 3.20434542e-04 9.99620165e-01 -9.53686417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39592 meters Centerline goodness [0,1] 0.9980154792617583 Centerline is valid? [True, True] Translation: X:293.47, Y:-17.90, Z:-0.95 [[ 7.54494451e-01 6.56014891e-01 1.95598279e-02 2.93469150e+02] [-6.55784254e-01 7.54747888e-01 -1.73965008e-02 -1.78986081e+01] [-2.61751024e-02 2.98536206e-04 9.99657329e-01 -9.53131333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42591999999996 meters Centerline goodness [0,1] 0.9978632478632479 Centerline is valid? [True, True] Translation: X:293.49, Y:-17.92, Z:-0.95 [[ 7.54801609e-01 6.55654963e-01 1.97762721e-02 2.93492310e+02] [-6.55418907e-01 7.55060572e-01 -1.75951345e-02 -1.79216871e+01] [-2.64686206e-02 3.19093163e-04 9.99649594e-01 -9.53101896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45592 meters Centerline goodness [0,1] 0.9980651882720643 Centerline is valid? [True, True] Translation: X:293.52, Y:-17.94, Z:-0.95 [[ 7.54326612e-01 6.56186443e-01 2.02661101e-02 2.93516454e+02] [-6.55938226e-01 7.54598734e-01 -1.80497927e-02 -1.79437053e+01] [-2.71368103e-02 3.22122726e-04 9.99631677e-01 -9.54144031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48591999999996 meters Centerline goodness [0,1] 0.9979126285969883 Centerline is valid? [True, True] Translation: X:293.54, Y:-17.97, Z:-0.95 [[ 7.53160257e-01 6.57509567e-01 2.07556455e-02 2.93538158e+02] [-6.57249172e-01 7.53446138e-01 -1.85052335e-02 -1.79685671e+01] [-2.78056290e-02 2.95775646e-04 9.99613305e-01 -9.53895232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51592 meters Centerline goodness [0,1] 0.9980131134512219 Centerline is valid? [True, True] Translation: X:293.56, Y:-17.99, Z:-0.95 [[ 7.52066165e-01 6.58756923e-01 2.08758222e-02 2.93561181e+02] [-6.58493430e-01 7.52355797e-01 -1.86321611e-02 -1.79920685e+01] [-2.79801109e-02 2.66026178e-04 9.99608445e-01 -9.53043047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54591999999997 meters Centerline goodness [0,1] 0.9976683038150519 Centerline is valid? [True, True] Translation: X:293.58, Y:-18.02, Z:-0.95 [[ 7.49876320e-01 6.61258465e-01 2.05608217e-02 2.93583180e+02] [-6.61003329e-01 7.50158122e-01 -1.83681844e-02 -1.80152618e+01] [-2.75699848e-02 1.83094929e-04 9.99619859e-01 -9.53067989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57592 meters Centerline goodness [0,1] 0.9978640969600636 Centerline is valid? [True, True] Translation: X:293.61, Y:-18.04, Z:-0.95 [[ 7.48000662e-01 6.63397722e-01 1.99617706e-02 2.93606380e+02] [-6.63157552e-01 7.48266964e-01 -1.78496748e-02 -1.80373122e+01] [-2.67781671e-02 1.13769643e-04 9.99641394e-01 -9.53304300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60591999999997 meters Centerline goodness [0,1] 0.997515157539012 Centerline is valid? [True, True] Translation: X:293.63, Y:-18.06, Z:-0.95 [[ 7.46320698e-01 6.65300816e-01 1.94997580e-02 2.93629193e+02] [-6.65071856e-01 7.46575396e-01 -1.74529374e-02 -1.80598694e+01] [-2.61694930e-02 5.67481648e-05 9.99657519e-01 -9.53474018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63592 meters Centerline goodness [0,1] 0.9969218548307021 Centerline is valid? [True, True] Translation: X:293.65, Y:-18.08, Z:-0.95 [[ 7.42351163e-01 6.69706833e-01 2.01868494e-02 2.93651207e+02] [-6.69462608e-01 7.42625579e-01 -1.80849812e-02 -1.80836923e+01] [-2.71029062e-02 -8.89340082e-05 9.99632645e-01 -9.53485116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66591999999997 meters Centerline goodness [0,1] 0.996770346815065 Centerline is valid? [True, True] Translation: X:293.68, Y:-18.11, Z:-0.95 [[ 7.41021052e-01 6.71209206e-01 1.91311766e-02 2.93675079e+02] [-6.70989945e-01 7.41267958e-01 -1.71553894e-02 -1.81052615e+01] [-2.56961835e-02 -1.24322381e-04 9.99669791e-01 -9.53357495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69592 meters Centerline goodness [0,1] 0.9968782518210197 Centerline is valid? [True, True] Translation: X:293.70, Y:-18.13, Z:-0.95 [[ 7.38633820e-01 6.73824787e-01 1.94996448e-02 2.93697664e+02] [-6.73597469e-01 7.38891138e-01 -1.75024770e-02 -1.81277489e+01] [-2.62017176e-02 -2.06989960e-04 9.99656655e-01 -9.54857305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72592 meters Centerline goodness [0,1] 0.9968797979297707 Centerline is valid? [True, True] Translation: X:293.72, Y:-18.15, Z:-0.95 [[ 7.37747102e-01 6.74788878e-01 1.97277264e-02 2.93721438e+02] [-6.74556054e-01 7.38010784e-01 -1.77260433e-02 -1.81506645e+01] [-2.65206117e-02 -2.30120196e-04 9.99648240e-01 -9.54235646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75591999999995 meters Centerline goodness [0,1] 0.9970659903525785 Centerline is valid? [True, True] Translation: X:293.75, Y:-18.17, Z:-0.95 [[ 7.36865948e-01 6.75707056e-01 2.11789633e-02 2.93745396e+02] [-6.75438582e-01 7.37170198e-01 -1.90478393e-02 -1.81725709e+01] [-2.84832600e-02 -2.69384802e-04 9.99594233e-01 -9.54618255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78592 meters Centerline goodness [0,1] 0.9974704890387859 Centerline is valid? [True, True] Translation: X:293.77, Y:-18.20, Z:-0.95 [[ 7.35847434e-01 6.76828694e-01 2.07719458e-02 2.93769334e+02] [-6.76570336e-01 7.36140499e-01 -1.87015225e-02 -1.81951166e+01] [-2.79487976e-02 -2.92214998e-04 9.99609313e-01 -9.53525302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81591999999995 meters Centerline goodness [0,1] 0.9974681030630989 Centerline is valid? [True, True] Translation: X:293.79, Y:-18.22, Z:-0.95 [[ 7.35503901e-01 6.77206865e-01 2.06124593e-02 2.93794099e+02] [-6.76952063e-01 7.35792619e-01 -1.85775639e-02 -1.82173056e+01] [-2.77473492e-02 -2.89776136e-04 9.99614926e-01 -9.54372168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84592 meters Centerline goodness [0,1] 0.9984613093760858 Centerline is valid? [True, True] Translation: X:293.82, Y:-18.24, Z:-0.96 [[ 7.33889194e-01 6.78972483e-01 2.00753159e-02 2.93818959e+02] [-6.78730932e-01 7.34163645e-01 -1.81125644e-02 -1.82396278e+01] [-2.70364999e-02 -3.33122610e-04 9.99634392e-01 -9.55271297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87591999999995 meters Centerline goodness [0,1] 0.997765085671716 Centerline is valid? [True, True] Translation: X:293.84, Y:-18.26, Z:-0.95 [[ 7.32169151e-01 6.80810588e-01 2.06222860e-02 2.93842870e+02] [-6.80555944e-01 7.32459408e-01 -1.86231822e-02 -1.82608509e+01] [-2.77838471e-02 -3.99299835e-04 9.99613875e-01 -9.54623612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90592 meters Centerline goodness [0,1] 0.9974674744264574 Centerline is valid? [True, True] Translation: X:293.87, Y:-18.28, Z:-0.95 [[ 7.29539188e-01 6.83549949e-01 2.30660069e-02 2.93866767e+02] [-6.83232545e-01 7.29903524e-01 -2.08358934e-02 -1.82820038e+01] [-3.10783336e-02 -5.58845825e-04 9.99516796e-01 -9.54909821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93591999999995 meters Centerline goodness [0,1] 0.9974174323317606 Centerline is valid? [True, True] Translation: X:293.89, Y:-18.30, Z:-0.95 [[ 7.28182286e-01 6.85018139e-01 2.23764964e-02 2.93890919e+02] [-6.84719496e-01 7.28525774e-01 -2.02338239e-02 -1.83042533e+01] [-3.01623908e-02 -5.87711192e-04 9.99544839e-01 -9.54718580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96592 meters Centerline goodness [0,1] 0.9970683229813665 Centerline is valid? [True, True] Translation: X:293.91, Y:-18.33, Z:-0.96 [[ 7.26749009e-01 6.86511477e-01 2.31920232e-02 2.93914705e+02] [-6.86190827e-01 7.27118668e-01 -2.09902794e-02 -1.83259677e+01] [-3.12734207e-02 -6.59488829e-04 9.99510649e-01 -9.55561820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99591999999996 meters Centerline goodness [0,1] 0.996922465998213 Centerline is valid? [True, True] Translation: X:293.94, Y:-18.35, Z:-0.96 [[ 7.25478660e-01 6.87853308e-01 2.32064748e-02 2.93938797e+02] [-6.87532392e-01 7.25849385e-01 -2.10209437e-02 -1.83464940e+01] [-3.13037311e-02 -7.04957046e-04 9.99509670e-01 -9.56457796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02592 meters Centerline goodness [0,1] 0.996721474343053 Centerline is valid? [True, True] Translation: X:293.96, Y:-18.37, Z:-0.96 [[ 7.25262381e-01 6.88083434e-01 2.31444542e-02 2.93964030e+02] [-6.87763683e-01 7.25631243e-01 -2.09860927e-02 -1.83673788e+01] [-3.12345218e-02 -6.97491507e-04 9.99511840e-01 -9.56431973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05591999999996 meters Centerline goodness [0,1] 0.9968220864988331 Centerline is valid? [True, True] Translation: X:293.99, Y:-18.39, Z:-0.96 [[ 7.25710435e-01 6.87665754e-01 2.14517051e-02 2.93988138e+02] [-6.87390384e-01 7.26027155e-01 -1.94687043e-02 -1.83886376e+01] [-2.89624816e-02 -6.17053929e-04 9.99580309e-01 -9.56179975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08592 meters Centerline goodness [0,1] 0.9961255712298828 Centerline is valid? [True, True] Translation: X:294.01, Y:-18.41, Z:-0.96 [[ 7.25923084e-01 6.87432103e-01 2.17434992e-02 2.94012150e+02] [-6.87148490e-01 7.26248403e-01 -1.97537571e-02 -1.84109448e+01] [-2.93705484e-02 -6.01304328e-04 9.99568412e-01 -9.55922693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11591999999996 meters Centerline goodness [0,1] 0.9961653386454183 Centerline is valid? [True, True] Translation: X:294.04, Y:-18.43, Z:-0.96 [[ 7.25181245e-01 6.88242058e-01 2.08574025e-02 2.94035395e+02] [-6.87980945e-01 7.25480885e-01 -1.89658837e-02 -1.84328393e+01] [-2.81847656e-02 -5.95792295e-04 9.99602553e-01 -9.55282187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14592 meters Centerline goodness [0,1] 0.9956793802145412 Centerline is valid? [True, True] Translation: X:294.06, Y:-18.45, Z:-0.95 [[ 7.24270402e-01 6.89228852e-01 1.98991013e-02 2.94061983e+02] [-6.88991061e-01 7.24543470e-01 -1.81129351e-02 -1.84526846e+01] [-2.69017214e-02 -5.91640127e-04 9.99637908e-01 -9.53966248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17591999999996 meters Centerline goodness [0,1] 0.9955255046236452 Centerline is valid? [True, True] Translation: X:294.09, Y:-18.47, Z:-0.95 [[ 7.22448444e-01 6.91140627e-01 1.98212095e-02 2.94086909e+02] [-6.90904976e-01 7.22720011e-01 -1.80582495e-02 -1.84733397e+01] [-2.68059746e-02 -6.48417982e-04 9.99640445e-01 -9.54173678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20592 meters Centerline goodness [0,1] 0.9956344875483679 Centerline is valid? [True, True] Translation: X:294.11, Y:-18.49, Z:-0.95 [[ 7.19949641e-01 6.93713533e-01 2.08338572e-02 2.94111397e+02] [-6.93453779e-01 7.20250611e-01 -1.89977371e-02 -1.84940927e+01] [-2.81845857e-02 -7.69903036e-04 9.99602439e-01 -9.54982971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23591999999996 meters Centerline goodness [0,1] 0.9954199233334993 Centerline is valid? [True, True] Translation: X:294.14, Y:-18.51, Z:-0.95 [[ 7.18968898e-01 6.94747971e-01 2.02232720e-02 2.94136644e+02] [-6.94503120e-01 7.19252848e-01 -1.84596367e-02 -1.85147941e+01] [-2.73704411e-02 -7.73220818e-04 9.99625060e-01 -9.54640110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26592 meters Centerline goodness [0,1] 0.9948248407643312 Centerline is valid? [True, True] Translation: X:294.16, Y:-18.53, Z:-0.95 [[ 7.17825088e-01 6.95933791e-01 2.00823692e-02 2.94162069e+02] [-6.95692358e-01 7.18105505e-01 -1.83473700e-02 -1.85342208e+01] [-2.71898146e-02 -8.00948249e-04 9.99629968e-01 -9.54556630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29591999999997 meters Centerline goodness [0,1] 0.994984855255971 Centerline is valid? [True, True] Translation: X:294.19, Y:-18.55, Z:-0.96 [[ 7.16765776e-01 6.97029156e-01 1.99293295e-02 2.94189034e+02] [-6.96791374e-01 7.17042311e-01 -1.82237532e-02 -1.85519566e+01] [-2.69926598e-02 -8.24422317e-04 9.99635292e-01 -9.55091404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32592 meters Centerline goodness [0,1] 0.9953657564281443 Centerline is valid? [True, True] Translation: X:294.21, Y:-18.57, Z:-0.95 [[ 7.16662063e-01 6.97133534e-01 2.00080810e-02 2.94214241e+02] [-6.96893406e-01 7.16940839e-01 -1.83143191e-02 -1.85726137e+01] [-2.71121363e-02 -8.18321982e-04 9.99632064e-01 -9.54551347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35591999999997 meters Centerline goodness [0,1] 0.9953832406671962 Centerline is valid? [True, True] Translation: X:294.24, Y:-18.59, Z:-0.95 [[ 7.16531442e-01 6.97240097e-01 2.09508855e-02 2.94242022e+02] [-6.96976359e-01 7.16837169e-01 -1.91944860e-02 -1.85895472e+01] [-2.84015387e-02 -8.48819160e-04 9.99596235e-01 -9.53678339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38592 meters Centerline goodness [0,1] 0.9955861932156318 Centerline is valid? [True, True] Translation: X:294.27, Y:-18.61, Z:-0.95 [[ 7.16526058e-01 6.97226064e-01 2.15922060e-02 2.94269912e+02] [-6.96945333e-01 7.16850805e-01 -1.98021799e-02 -1.86085541e+01] [-2.92849862e-02 -8.59809335e-04 9.99570733e-01 -9.53658115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41591999999997 meters Centerline goodness [0,1] 0.9955861932156318 Centerline is valid? [True, True] Translation: X:294.29, Y:-18.63, Z:-0.95 [[ 7.16168784e-01 6.97593354e-01 2.15820570e-02 2.94294089e+02] [-6.97312457e-01 7.16493386e-01 -1.98132405e-02 -1.86303222e+01] [-2.92849860e-02 -8.59812903e-04 9.99570733e-01 -9.53685890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44592 meters Centerline goodness [0,1] 0.9953236157405104 Centerline is valid? [True, True] Translation: X:294.32, Y:-18.65, Z:-0.95 [[ 7.16473540e-01 6.97285213e-01 2.14242439e-02 2.94320510e+02] [-6.97007756e-01 7.16793307e-01 -1.96861093e-02 -1.86485008e+01] [-2.90835875e-02 -8.28287717e-04 9.99576640e-01 -9.54217745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47592 meters Centerline goodness [0,1] 0.9956275464573189 Centerline is valid? [True, True] Translation: X:294.35, Y:-18.67, Z:-0.95 [[ 7.17621288e-01 6.96132781e-01 2.04655146e-02 2.94346983e+02] [-6.95878663e-01 7.17912677e-01 -1.88221726e-02 -1.86668913e+01] [-2.77951838e-02 -7.34323229e-04 9.99613370e-01 -9.52979704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50591999999995 meters Centerline goodness [0,1] 0.9958835490750384 Centerline is valid? [True, True] Translation: X:294.37, Y:-18.69, Z:-0.95 [[ 7.17953256e-01 6.95750213e-01 2.17890493e-02 2.94372885e+02] [-6.95461444e-01 7.18283422e-01 -2.00575618e-02 -1.86868663e+01] [-2.96057658e-02 -7.53051884e-04 9.99561370e-01 -9.54942493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53592 meters Centerline goodness [0,1] 0.9961322953339614 Centerline is valid? [True, True] Translation: X:294.40, Y:-18.70, Z:-0.95 [[ 7.21321710e-01 6.92329047e-01 1.93773366e-02 2.94401341e+02] [-6.92099336e-01 7.21581733e-01 -1.78413058e-02 -1.87029497e+01] [-2.63343863e-02 -5.41720634e-04 9.99653043e-01 -9.53326434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56591999999995 meters Centerline goodness [0,1] 0.9955855364317246 Centerline is valid? [True, True] Translation: X:294.43, Y:-18.72, Z:-0.95 [[ 7.22661290e-01 6.90960056e-01 1.82991902e-02 2.94426608e+02] [-6.90754626e-01 7.22892792e-01 -1.68540195e-02 -1.87237294e+01] [-2.48738070e-02 -4.60502796e-04 9.99690493e-01 -9.52666698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59592 meters Centerline goodness [0,1] 0.9958275382475661 Centerline is valid? [True, True] Translation: X:294.45, Y:-18.74, Z:-0.95 [[ 7.25372069e-01 6.88097505e-01 1.88993499e-02 2.94450895e+02] [-6.87877255e-01 7.25618141e-01 -1.74125120e-02 -1.87446898e+01] [-2.56952171e-02 -3.69883070e-04 9.99669755e-01 -9.52347683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62591999999995 meters Centerline goodness [0,1] 0.9963748323980732 Centerline is valid? [True, True] Translation: X:294.48, Y:-18.76, Z:-0.95 [[ 7.30807245e-01 6.82327274e-01 1.87152741e-02 2.94475658e+02] [-6.82108984e-01 7.31046830e-01 -1.72587815e-02 -1.87649403e+01] [-2.54578792e-02 -1.53014057e-04 9.99675884e-01 -9.51911963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65592 meters Centerline goodness [0,1] 0.9962782850337435 Centerline is valid? [True, True] Translation: X:294.50, Y:-18.79, Z:-0.95 [[ 7.32697458e-01 6.80298817e-01 1.86535420e-02 2.94500149e+02] [-6.80080835e-01 7.32934864e-01 -1.72203965e-02 -1.87864250e+01] [-2.53868467e-02 -6.85756939e-05 9.99677700e-01 -9.52422523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68591999999995 meters Centerline goodness [0,1] 0.9962314672484752 Centerline is valid? [True, True] Translation: X:294.52, Y:-18.81, Z:-0.95 [[ 7.36194224e-01 6.76579578e-01 1.60667235e-02 2.94523219e+02] [-6.76416679e-01 7.36369520e-01 -1.48460703e-02 -1.88093757e+01] [-2.18755934e-02 6.17914229e-05 9.99760699e-01 -9.52025383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71592 meters Centerline goodness [0,1] 0.9961801766048219 Centerline is valid? [True, True] Translation: X:294.55, Y:-18.83, Z:-0.95 [[ 7.36693451e-01 6.76044278e-01 1.57128620e-02 2.94546611e+02] [-6.75888026e-01 7.36860996e-01 -1.45343987e-02 -1.88330020e+01] [-2.14040923e-02 8.72610340e-05 9.99770902e-01 -9.51627845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74591999999996 meters Centerline goodness [0,1] 0.996475552246215 Centerline is valid? [True, True] Translation: X:294.57, Y:-18.86, Z:-0.95 [[ 7.37152105e-01 6.75506826e-01 1.72424415e-02 2.94568514e+02] [-6.75318170e-01 7.37353723e-01 -1.59642283e-02 -1.88567022e+01] [-2.34977236e-02 1.23930462e-04 9.99723883e-01 -9.52011519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77592 meters Centerline goodness [0,1] 0.9966774113563104 Centerline is valid? [True, True] Translation: X:294.59, Y:-18.88, Z:-0.95 [[ 7.37105177e-01 6.75542745e-01 1.78313365e-02 2.94591970e+02] [-6.75340565e-01 7.37320812e-01 -1.65269830e-02 -1.88805498e+01] [-2.43120990e-02 1.39899849e-04 9.99704407e-01 -9.51920565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80591999999996 meters Centerline goodness [0,1] 0.9963249900675407 Centerline is valid? [True, True] Translation: X:294.61, Y:-18.90, Z:-0.95 [[ 7.37208945e-01 6.75431389e-01 1.77597841e-02 2.94614832e+02] [-6.75230375e-01 7.37422819e-01 -1.64780718e-02 -1.89040811e+01] [-2.42262770e-02 1.55836231e-04 9.99706489e-01 -9.51392654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83592 meters Centerline goodness [0,1] 0.9967708281583785 Centerline is valid? [True, True] Translation: X:294.64, Y:-18.93, Z:-0.95 [[ 7.37688819e-01 6.74913158e-01 1.75338699e-02 2.94636649e+02] [-6.74716668e-01 7.37897145e-01 -1.62856395e-02 -1.89285151e+01] [-2.39295849e-02 1.83339928e-04 9.99713630e-01 -9.51365385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86591999999996 meters Centerline goodness [0,1] 0.9963780699578269 Centerline is valid? [True, True] Translation: X:294.66, Y:-18.95, Z:-0.95 [[ 7.37984280e-01 6.74622321e-01 1.62458175e-02 2.94660431e+02] [-6.74453267e-01 7.38163050e-01 -1.51030621e-02 -1.89506344e+01] [-2.21809250e-02 1.88777753e-04 9.99753955e-01 -9.50277020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89592 meters Centerline goodness [0,1] 0.9966726261422328 Centerline is valid? [True, True] Translation: X:294.68, Y:-18.97, Z:-0.95 [[ 7.38864187e-01 6.73675071e-01 1.55438911e-02 2.94682755e+02] [-6.73519780e-01 7.39027639e-01 -1.44656353e-02 -1.89743959e+01] [-2.12325031e-02 2.19021765e-04 9.99774541e-01 -9.50704376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92591999999996 meters Centerline goodness [0,1] 0.9972218088009128 Centerline is valid? [True, True] Translation: X:294.71, Y:-19.00, Z:-0.95 [[ 7.39504512e-01 6.72967139e-01 1.57577311e-02 2.94706058e+02] [-6.72807054e-01 7.39672336e-01 -1.46800166e-02 -1.89981246e+01] [-2.15347266e-02 2.54025812e-04 9.99768069e-01 -9.51484202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95592 meters Centerline goodness [0,1] 0.9972699295145439 Centerline is valid? [True, True] Translation: X:294.73, Y:-19.02, Z:-0.95 [[ 7.39314809e-01 6.73180246e-01 1.55554088e-02 2.94728881e+02] [-6.73023969e-01 7.39478391e-01 -1.45067258e-02 -1.90222866e+01] [-2.12685299e-02 2.55874207e-04 9.99773766e-01 -9.51062819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98591999999996 meters Centerline goodness [0,1] 0.9979180092202449 Centerline is valid? [True, True] Translation: X:294.75, Y:-19.05, Z:-0.95 [[ 7.38896908e-01 6.73604790e-01 1.69689696e-02 2.94750637e+02] [-6.73418589e-01 7.39091679e-01 -1.58396120e-02 -1.90458136e+01] [-2.32112627e-02 2.76620785e-04 9.99730544e-01 -9.51957943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01592 meters Centerline goodness [0,1] 0.9984100168935705 Centerline is valid? [True, True] Translation: X:294.77, Y:-19.07, Z:-0.95 [[ 7.38287137e-01 6.74258513e-01 1.75373989e-02 2.94773367e+02] [-6.74059401e-01 7.38495349e-01 -1.63872878e-02 -1.90695611e+01] [-2.40005559e-02 2.77275177e-04 9.99711907e-01 -9.52323692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04591999999997 meters Centerline goodness [0,1] 0.999105678938739 Centerline is valid? [True, True] Translation: X:294.79, Y:-19.10, Z:-0.95 [[ 7.37338901e-01 6.75265958e-01 1.86341074e-02 2.94793665e+02] [-6.75041074e-01 7.37574275e-01 -1.74280516e-02 -1.90953432e+01] [-2.55126082e-02 2.71592556e-04 9.99674464e-01 -9.52842747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07592 meters Centerline goodness [0,1] 0.9996526226986254 Centerline is valid? [True, True] Translation: X:294.82, Y:-19.12, Z:-0.95 [[ 7.36468397e-01 6.76194492e-01 1.93728951e-02 2.94816352e+02] [-6.75951237e-01 7.36723109e-01 -1.81379500e-02 -1.91193217e+01] [-2.65372414e-02 2.62894492e-04 9.99647791e-01 -9.53660279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10591999999997 meters Centerline goodness [0,1] 0.9998010445162895 Centerline is valid? [True, True] Translation: X:294.84, Y:-19.14, Z:-0.95 [[ 7.34798037e-01 6.78015343e-01 1.91582852e-02 2.94838525e+02] [-6.77777635e-01 7.35047721e-01 -1.79534239e-02 -1.91422791e+01] [-2.62549508e-02 2.07083446e-04 9.99655258e-01 -9.53375239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.86, Y:-19.17, Z:-0.95 [[ 7.31233172e-01 6.81828262e-01 2.02056791e-02 2.94860610e+02] [-6.81564740e-01 7.31512278e-01 -1.89549867e-02 -1.91670776e+01] [-2.77047480e-02 8.90366417e-05 9.99616146e-01 -9.53808613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.88, Y:-19.19, Z:-0.95 [[ 7.28930716e-01 6.84282825e-01 2.04212515e-02 2.94883795e+02] [-6.84014035e-01 7.29216714e-01 -1.91777058e-02 -1.91910071e+01] [-2.80144926e-02 1.07962038e-05 9.99607517e-01 -9.54751098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.91, Y:-19.21, Z:-0.95 [[ 7.25716283e-01 6.87622472e-01 2.26100109e-02 2.94905096e+02] [-6.87293959e-01 7.26068401e-01 -2.12530407e-02 -1.92149762e+01] [-3.10304828e-02 -1.16046147e-04 9.99518432e-01 -9.54830473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.93, Y:-19.24, Z:-0.96 [[ 7.23222025e-01 6.90205962e-01 2.37830189e-02 2.94927784e+02] [-6.89843176e-01 7.23612935e-01 -2.23765909e-02 -1.92379445e+01] [-3.26541566e-02 -2.23309886e-04 9.99466686e-01 -9.55412966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.95, Y:-19.26, Z:-0.96 [[ 7.21708447e-01 6.91809254e-01 2.31705400e-02 2.94951845e+02] [-6.91465011e-01 7.22080246e-01 -2.18233006e-02 -1.92611073e+01] [-3.18285505e-02 -2.71557379e-04 9.99493306e-01 -9.56201977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28592 meters Centerline goodness [0,1] 0.9999007197815836 Centerline is valid? [True, True] Translation: X:294.97, Y:-19.29, Z:-0.96 [[ 7.20098962e-01 6.93548120e-01 2.11775800e-02 2.94972990e+02] [-6.93260772e-01 7.20410239e-01 -1.99647168e-02 -1.92853787e+01] [-2.91030373e-02 -3.05013660e-04 9.99576370e-01 -9.56441168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31591999999995 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:295.00, Y:-19.31, Z:-0.96 [[ 7.19628942e-01 6.94045463e-01 2.08585983e-02 2.94996898e+02] [-6.93766325e-01 7.19931109e-01 -1.96846285e-02 -1.93082067e+01] [-2.86787809e-02 -3.05364744e-04 9.99588633e-01 -9.56407182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.02, Y:-19.33, Z:-0.96 [[ 7.18319516e-01 6.95366326e-01 2.19714477e-02 2.95019962e+02] [-6.95056678e-01 7.18655369e-01 -2.07527049e-02 -1.93298859e+01] [-3.02206310e-02 -3.64328494e-04 9.99543186e-01 -9.56331944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.04, Y:-19.35, Z:-0.96 [[ 7.16781214e-01 6.96911770e-01 2.32093930e-02 2.95042441e+02] [-6.96566405e-01 7.17156741e-01 -2.19420297e-02 -1.93524799e+01] [-3.19364314e-02 -4.39248715e-04 9.99489806e-01 -9.56169884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.06, Y:-19.38, Z:-0.96 [[ 7.15947517e-01 6.97750656e-01 2.37313324e-02 2.95064909e+02] [-6.97389365e-01 7.16340561e-01 -2.24560457e-02 -1.93758896e+01] [-3.26684365e-02 -4.72628699e-04 9.99466132e-01 -9.56330940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43591999999995 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:295.09, Y:-19.40, Z:-0.95 [[ 7.14088798e-01 6.99707267e-01 2.20664856e-02 2.95088416e+02] [-6.99395617e-01 7.14429474e-01 -2.08877349e-02 -1.93985436e+01] [-3.03802476e-02 -5.17505803e-04 9.99538280e-01 -9.54916991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46592 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:295.11, Y:-19.42, Z:-0.96 [[ 7.12900056e-01 7.00898459e-01 2.26905053e-02 2.95112623e+02] [-7.00568937e-01 7.13260839e-01 -2.14974679e-02 -1.94194841e+01] [-3.12517909e-02 -5.70717078e-04 9.99511381e-01 -9.55429571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49591999999996 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:295.14, Y:-19.44, Z:-0.96 [[ 7.10733734e-01 7.03066988e-01 2.35450667e-02 2.95137125e+02] [-7.02712707e-01 7.11123304e-01 -2.23270943e-02 -1.94406913e+01] [-3.24408886e-02 -6.76798450e-04 9.99473427e-01 -9.55967126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.16, Y:-19.46, Z:-0.95 [[ 7.10384911e-01 7.03448828e-01 2.26500305e-02 2.95161034e+02] [-7.03120572e-01 7.10745607e-01 -2.14975295e-02 -1.94626469e+01] [-3.12208216e-02 -6.54181796e-04 9.99512297e-01 -9.54797964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55591999999996 meters Centerline goodness [0,1] 0.9998510574918081 Centerline is valid? [True, True] Translation: X:295.19, Y:-19.48, Z:-0.95 [[ 7.09888266e-01 7.03965606e-01 2.21602278e-02 2.95185621e+02] [-7.03650987e-01 7.10233770e-01 -2.10542425e-02 -1.94848252e+01] [-3.05604047e-02 -6.46906466e-04 9.99532712e-01 -9.53933679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58592 meters Centerline goodness [0,1] 0.9997022775765395 Centerline is valid? [True, True] Translation: X:295.21, Y:-19.50, Z:-0.95 [[ 7.08522808e-01 7.05340050e-01 2.21549935e-02 2.95211495e+02] [-7.05025673e-01 7.08868771e-01 -2.10681332e-02 -1.95039536e+01] [-3.05651811e-02 -6.92586327e-04 9.99532536e-01 -9.53032929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61591999999996 meters Centerline goodness [0,1] 0.9998015282326089 Centerline is valid? [True, True] Translation: X:295.24, Y:-19.52, Z:-0.95 [[ 7.08906068e-01 7.04973140e-01 2.15651929e-02 2.95237214e+02] [-7.04674908e-01 7.09233702e-01 -2.05141514e-02 -1.95243033e+01] [-2.97566873e-02 -6.53843964e-04 9.99556958e-01 -9.52251318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.26, Y:-19.54, Z:-0.95 [[ 7.09205772e-01 7.04641440e-01 2.25302826e-02 2.95264345e+02] [-7.04315075e-01 7.09563256e-01 -2.14537087e-02 -1.95433880e+01] [-3.11038329e-02 -6.53323588e-04 9.99515945e-01 -9.51524506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67591999999996 meters Centerline goodness [0,1] 0.9998512568793694 Centerline is valid? [True, True] Translation: X:295.29, Y:-19.56, Z:-0.95 [[ 7.09409950e-01 7.04371419e-01 2.44627591e-02 2.95289483e+02] [-7.03985782e-01 7.09831275e-01 -2.33147889e-02 -1.95632748e+01] [-3.37867024e-02 -6.81691321e-04 9.99428834e-01 -9.51958022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70592 meters Centerline goodness [0,1] 0.9998511092361904 Centerline is valid? [True, True] Translation: X:295.32, Y:-19.58, Z:-0.95 [[ 7.10442083e-01 7.03346565e-01 2.39928395e-02 2.95316968e+02] [-7.02974336e-01 7.10846848e-01 -2.28875828e-02 -1.95806336e+01] [-3.31531371e-02 -6.06048377e-04 9.99450100e-01 -9.50886438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73591999999996 meters Centerline goodness [0,1] 0.9998014986849287 Centerline is valid? [True, True] Translation: X:295.34, Y:-19.60, Z:-0.95 [[ 7.10222807e-01 7.03550395e-01 2.45031682e-02 2.95342840e+02] [-7.03161463e-01 7.10645107e-01 -2.33985016e-02 -1.96010149e+01] [-3.38750816e-02 -6.11534082e-04 9.99425888e-01 -9.51925756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76592 meters Centerline goodness [0,1] 0.9999504017458586 Centerline is valid? [True, True] Translation: X:295.37, Y:-19.62, Z:-0.95 [[ 7.11044948e-01 7.02743549e-01 2.38030781e-02 2.95368210e+02] [-7.02375400e-01 7.11443048e-01 -2.27505271e-02 -1.96203880e+01] [-3.29223206e-02 -5.42049141e-04 9.99457766e-01 -9.51150047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.40, Y:-19.64, Z:-0.95 [[ 7.12215604e-01 7.01596240e-01 2.26196668e-02 2.95395936e+02] [-7.01262606e-01 7.12574566e-01 -2.16389877e-02 -1.96378837e+01] [-3.13000317e-02 -4.50701732e-04 9.99509932e-01 -9.49853817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82592 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:295.42, Y:-19.66, Z:-0.95 [[ 7.12478326e-01 7.01322457e-01 2.28351991e-02 2.95422384e+02] [-7.00981574e-01 7.12844043e-01 -2.18678589e-02 -1.96578064e+01] [-3.16143562e-02 -4.26678340e-04 9.99500050e-01 -9.50448724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85591999999997 meters Centerline goodness [0,1] 0.9997019670176833 Centerline is valid? [True, True] Translation: X:295.45, Y:-19.68, Z:-0.95 [[ 7.12994316e-01 7.00813992e-01 2.23350240e-02 2.95451052e+02] [-7.00487025e-01 7.13343958e-01 -2.14085116e-02 -1.96750306e+01] [-3.09359390e-02 -3.81247462e-04 9.99521297e-01 -9.49721786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88592 meters Centerline goodness [0,1] 0.9996031155429875 Centerline is valid? [True, True] Translation: X:295.48, Y:-19.69, Z:-0.95 [[ 7.13324376e-01 7.00445899e-01 2.33211938e-02 2.95476778e+02] [-7.00088546e-01 7.13705408e-01 -2.23745005e-02 -1.96947759e+01] [-3.23165892e-02 -3.66624053e-04 9.99477615e-01 -9.49996789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91591999999997 meters Centerline goodness [0,1] 0.9996525364836693 Centerline is valid? [True, True] Translation: X:295.50, Y:-19.71, Z:-0.95 [[ 7.14003073e-01 6.99778220e-01 2.25844131e-02 2.95502502e+02] [-6.99442136e-01 7.14360096e-01 -2.16875953e-02 -1.97140537e+01] [-3.13099103e-02 -3.11480483e-04 9.99509676e-01 -9.49136502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:295.53, Y:-19.73, Z:-0.95 [[ 7.17115835e-01 6.96532712e-01 2.42293273e-02 2.95530068e+02] [-6.96143287e-01 7.17525019e-01 -2.32888628e-02 -1.97315371e+01] [-3.36066033e-02 -1.66271233e-04 9.99435125e-01 -9.49276319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97592 meters Centerline goodness [0,1] 0.9998512273741631 Centerline is valid? [True, True] Translation: X:295.55, Y:-19.75, Z:-0.95 [[ 7.18930855e-01 6.94676597e-01 2.37244743e-02 2.95554886e+02] [-6.94301528e-01 7.19322196e-01 -2.28246867e-02 -1.97525026e+01] [-3.29213167e-02 -6.25672475e-05 9.99457945e-01 -9.50299059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00591999999995 meters Centerline goodness [0,1] 0.999154607389726 Centerline is valid? [True, True] Translation: X:295.58, Y:-19.77, Z:-0.95 [[ 7.23318590e-01 6.90162727e-01 2.20369473e-02 2.95580978e+02] [-6.89836429e-01 7.23654191e-01 -2.12205708e-02 -1.97714774e+01] [-3.05927763e-02 1.47344314e-04 9.99531921e-01 -9.51467973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03592 meters Centerline goodness [0,1] 0.9985111662531018 Centerline is valid? [True, True] Translation: X:295.61, Y:-19.79, Z:-0.95 [[ 7.25300196e-01 6.88059099e-01 2.26782394e-02 2.95606420e+02] [-6.87711870e-01 7.25654608e-01 -2.18580113e-02 -1.97913209e+01] [-3.14961725e-02 2.57525425e-04 9.99503839e-01 -9.52374415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06591999999995 meters Centerline goodness [0,1] 0.9982625961777116 Centerline is valid? [True, True] Translation: X:295.63, Y:-19.81, Z:-0.95 [[ 7.26755274e-01 6.86522491e-01 2.26636699e-02 2.95631229e+02] [-6.86174341e-01 7.27108489e-01 -2.18636295e-02 -1.98114744e+01] [-3.14888202e-02 3.38279240e-04 9.99504047e-01 -9.52304656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09592 meters Centerline goodness [0,1] 0.9978668518702252 Centerline is valid? [True, True] Translation: X:295.66, Y:-19.83, Z:-0.95 [[ 7.29835423e-01 6.83256556e-01 2.23770798e-02 2.95655284e+02] [-6.82915017e-01 7.30178226e-01 -2.16064419e-02 -1.98323399e+01] [-3.11019994e-02 4.87502847e-04 9.99516097e-01 -9.52955556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12591999999995 meters Centerline goodness [0,1] 0.9974171757810559 Centerline is valid? [True, True] Translation: X:295.68, Y:-19.86, Z:-0.95 [[ 7.31432680e-01 6.81499013e-01 2.37766483e-02 2.95677592e+02] [-6.81111805e-01 7.31818775e-01 -2.29780299e-02 -1.98550712e+01] [-3.30597024e-02 6.12326117e-04 9.99453191e-01 -9.54104406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15592 meters Centerline goodness [0,1] 0.997171777314677 Centerline is valid? [True, True] Translation: X:295.70, Y:-19.88, Z:-0.95 [[ 7.31128030e-01 6.81792705e-01 2.47085271e-02 2.95700722e+02] [-6.81373984e-01 7.31545145e-01 -2.38996801e-02 -1.98780764e+01] [-3.43700306e-02 6.37978535e-04 9.99408972e-01 -9.54497294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18591999999995 meters Centerline goodness [0,1] 0.9970757335448057 Centerline is valid? [True, True] Translation: X:295.72, Y:-19.90, Z:-0.95 [[ 7.31212739e-01 6.81723648e-01 2.40997484e-02 2.95724380e+02] [-6.81324482e-01 7.31609496e-01 -2.33344140e-02 -1.99012174e+01] [-3.35392266e-02 6.42672219e-04 9.99437195e-01 -9.53824729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21592 meters Centerline goodness [0,1] 0.9969663815396856 Centerline is valid? [True, True] Translation: X:295.75, Y:-19.93, Z:-0.95 [[ 7.30808018e-01 6.82141450e-01 2.45495880e-02 2.95747401e+02] [-6.81726656e-01 7.31219950e-01 -2.37939156e-02 -1.99255208e+01] [-3.41819646e-02 6.52675805e-04 9.99415413e-01 -9.54838827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24591999999996 meters Centerline goodness [0,1] 0.9962162700388331 Centerline is valid? [True, True] Translation: X:295.77, Y:-19.95, Z:-0.96 [[ 7.31582331e-01 6.81320732e-01 2.42765947e-02 2.95769219e+02] [-6.80913861e-01 7.31984678e-01 -2.35530319e-02 -1.99506377e+01] [-3.38172643e-02 7.00712167e-04 9.99427787e-01 -9.56110341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.27592 meters Centerline goodness [0,1] 0.9961739130434782 Centerline is valid? [True, True] Translation: X:295.79, Y:-19.97, Z:-0.96 [[ 7.32145008e-01 6.80737726e-01 2.36608308e-02 2.95791290e+02] [-6.80350176e-01 7.32526874e-01 -2.29786326e-02 -1.99746236e+01] [-3.29746166e-02 7.26040749e-04 9.99455926e-01 -9.56865352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30591999999996 meters Centerline goodness [0,1] 0.9961739130434782 Centerline is valid? [True, True] Translation: X:295.81, Y:-20.00, Z:-0.96 [[ 7.31800606e-01 6.81108353e-01 2.36492018e-02 2.95814854e+02] [-6.80720610e-01 7.32182275e-01 -2.29906007e-02 -1.99970741e+01] [-3.29746166e-02 7.26036426e-04 9.99455926e-01 -9.56893126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33592 meters Centerline goodness [0,1] 0.9965715989267614 Centerline is valid? [True, True] Translation: X:295.83, Y:-20.02, Z:-0.96 [[ 7.33272051e-01 6.79483709e-01 2.47787784e-02 2.95834624e+02] [-6.79056364e-01 7.33690099e-01 -2.41100282e-02 -2.00230864e+01] [-3.45623158e-02 8.53022641e-04 9.99402181e-01 -9.57745343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36591999999996 meters Centerline goodness [0,1] 0.9953735946671973 Centerline is valid? [True, True] Translation: X:295.86, Y:-20.05, Z:-0.96 [[ 7.34369936e-01 6.78323589e-01 2.40396802e-02 2.95856567e+02] [-6.77919962e-01 7.34762753e-01 -2.34141484e-02 -2.00485313e+01] [-3.35458308e-02 8.97667537e-04 9.99436777e-01 -9.56681796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39592 meters Centerline goodness [0,1] 0.9952846577654242 Centerline is valid? [True, True] Translation: X:295.88, Y:-20.07, Z:-0.96 [[ 7.34750054e-01 6.77909877e-01 2.40947383e-02 2.95877539e+02] [-6.77503484e-01 7.35144426e-01 -2.34883545e-02 -2.00734762e+01] [-3.36361001e-02 9.33800648e-04 9.99433710e-01 -9.57132153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42591999999996 meters Centerline goodness [0,1] 0.9951299508025643 Centerline is valid? [True, True] Translation: X:295.90, Y:-20.10, Z:-0.96 [[ 7.34864032e-01 6.77817754e-01 2.31936922e-02 2.95896818e+02] [-6.77440512e-01 7.35229387e-01 -2.26296597e-02 -2.00999663e+01] [-3.23914692e-02 9.17376212e-04 9.99474838e-01 -9.57413069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45592 meters Centerline goodness [0,1] 0.9945409429280397 Centerline is valid? [True, True] Translation: X:295.92, Y:-20.12, Z:-0.96 [[ 7.34405273e-01 6.78305150e-01 2.34737684e-02 2.95919371e+02] [-6.77918240e-01 7.34779743e-01 -2.29257332e-02 -2.01244800e+01] [-3.27986924e-02 9.23483550e-04 9.99461552e-01 -9.58209730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48591999999996 meters Centerline goodness [0,1] 0.9944455465185479 Centerline is valid? [True, True] Translation: X:295.94, Y:-20.15, Z:-0.96 [[ 7.33788327e-01 6.79018523e-01 2.21028803e-02 2.95936854e+02] [-6.78675241e-01 7.34120642e-01 -2.16055350e-02 -2.01528575e+01] [-3.08967391e-02 8.53211765e-04 9.99522218e-01 -9.57856264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51592 meters Centerline goodness [0,1] 0.9943923378492383 Centerline is valid? [True, True] Translation: X:295.96, Y:-20.18, Z:-0.96 [[ 7.32424733e-01 6.80470781e-01 2.26611236e-02 2.95956862e+02] [-6.80110014e-01 7.32774749e-01 -2.21706221e-02 -2.01784061e+01] [-3.16919597e-02 8.26254870e-04 9.99497342e-01 -9.58419987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54591999999997 meters Centerline goodness [0,1] 0.9939369843951893 Centerline is valid? [True, True] Translation: X:295.98, Y:-20.20, Z:-0.96 [[ 7.31933747e-01 6.81033087e-01 2.16084301e-02 2.95978229e+02] [-6.80705000e-01 7.32252236e-01 -2.11510285e-02 -2.02033080e+01] [-3.02273715e-02 7.72185110e-04 9.99542750e-01 -9.58045774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57592 meters Centerline goodness [0,1] 0.9944913151364764 Centerline is valid? [True, True] Translation: X:296.00, Y:-20.23, Z:-0.96 [[ 7.28842545e-01 6.84368222e-01 2.07046099e-02 2.95997420e+02] [-6.84067842e-01 7.29136305e-01 -2.02838732e-02 -2.02294224e+01] [-2.89781210e-02 6.20391940e-04 9.99579854e-01 -9.57627933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60591999999997 meters Centerline goodness [0,1] 0.9954367342889737 Centerline is valid? [True, True] Translation: X:296.02, Y:-20.25, Z:-0.96 [[ 7.26888954e-01 6.86430351e-01 2.11144991e-02 2.96017964e+02] [-6.86118281e-01 7.27195336e-01 -2.07038152e-02 -2.02538165e+01] [-2.95660924e-02 5.62330710e-04 9.99562669e-01 -9.58508661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63592 meters Centerline goodness [0,1] 0.9956716417910447 Centerline is valid? [True, True] Translation: X:296.04, Y:-20.28, Z:-0.96 [[ 7.23463045e-01 6.90028032e-01 2.15067170e-02 2.96037157e+02] [-6.89705268e-01 7.23782512e-01 -2.11073135e-02 -2.02799322e+01] [-3.01308236e-02 4.37065222e-04 9.99545868e-01 -9.58759985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66591999999997 meters Centerline goodness [0,1] 0.9958819151575291 Centerline is valid? [True, True] Translation: X:296.06, Y:-20.30, Z:-0.96 [[ 7.21886099e-01 6.91723612e-01 1.99726136e-02 2.96059844e+02] [-6.91445411e-01 7.22162254e-01 -1.96194649e-02 -2.03023727e+01] [-2.79947148e-02 3.53046990e-04 9.99608009e-01 -9.58494416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69592 meters Centerline goodness [0,1] 0.9961780910309227 Centerline is valid? [True, True] Translation: X:296.08, Y:-20.33, Z:-0.96 [[ 7.18158654e-01 6.95589717e-01 2.00772128e-02 2.96080697e+02] [-6.95309764e-01 7.18439212e-01 -1.97339887e-02 -2.03277969e+01] [-2.81510165e-02 2.12252664e-04 9.99603659e-01 -9.59076662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72592 meters Centerline goodness [0,1] 0.9961797975788848 Centerline is valid? [True, True] Translation: X:296.10, Y:-20.35, Z:-0.96 [[ 7.16748220e-01 6.97074071e-01 1.89665026e-02 2.96101939e+02] [-6.96824303e-01 7.16999104e-01 -1.86594596e-02 -2.03524999e+01] [-2.66059908e-02 1.57814454e-04 9.99645986e-01 -9.58427000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75591999999995 meters Centerline goodness [0,1] 0.9963260847979347 Centerline is valid? [True, True] Translation: X:296.12, Y:-20.38, Z:-0.96 [[ 7.14965475e-01 6.98926898e-01 1.80433151e-02 2.96123457e+02] [-6.98701025e-01 7.15193108e-01 -1.77678324e-02 -2.03767972e+01] [-2.53228706e-02 9.65039752e-05 9.99679320e-01 -9.58566233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78592 meters Centerline goodness [0,1] 0.9964252023236185 Centerline is valid? [True, True] Translation: X:296.15, Y:-20.40, Z:-0.96 [[ 7.12471165e-01 7.01438509e-01 1.92056798e-02 2.96146813e+02] [-7.01183024e-01 7.12729976e-01 -1.89300886e-02 -2.03983772e+01] [-2.69667568e-02 2.04455765e-05 9.99636331e-01 -9.58775261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81591999999995 meters Centerline goodness [0,1] 0.9958694137553499 Centerline is valid? [True, True] Translation: X:296.17, Y:-20.42, Z:-0.96 [[ 7.11026667e-01 7.02931277e-01 1.81300310e-02 2.96170056e+02] [-7.02703672e-01 7.11257773e-01 -1.78866012e-02 -2.04201706e+01] [-2.54681769e-02 -2.21889541e-05 9.99675633e-01 -9.59495786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84592 meters Centerline goodness [0,1] 0.9961259560941691 Centerline is valid? [True, True] Translation: X:296.19, Y:-20.45, Z:-0.96 [[ 7.09564328e-01 7.04415419e-01 1.78152377e-02 2.96191887e+02] [-7.04195645e-01 7.09787936e-01 -1.75948779e-02 -2.04452646e+01] [-2.50391440e-02 -6.07151146e-05 9.99686470e-01 -9.59130017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87591999999995 meters Centerline goodness [0,1] 0.9963218847855261 Centerline is valid? [True, True] Translation: X:296.21, Y:-20.47, Z:-0.96 [[ 7.08822059e-01 7.05133137e-01 1.89353902e-02 2.96214441e+02] [-7.04884643e-01 7.09074928e-01 -1.87186262e-02 -2.04681216e+01] [-2.66257341e-02 -7.90905986e-05 9.99645469e-01 -9.59257420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90592 meters Centerline goodness [0,1] 0.9960248447204969 Centerline is valid? [True, True] Translation: X:296.24, Y:-20.49, Z:-0.96 [[ 7.07990298e-01 7.05966668e-01 1.89947762e-02 2.96238424e+02] [-7.05716377e-01 7.08245052e-01 -1.87973827e-02 -2.04903698e+01] [-2.67232819e-02 -9.65600687e-05 9.99642865e-01 -9.59487514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93591999999995 meters Centerline goodness [0,1] 0.9959208039001094 Centerline is valid? [True, True] Translation: X:296.26, Y:-20.51, Z:-0.96 [[ 7.07642670e-01 7.06291645e-01 1.98485358e-02 2.96261949e+02] [-7.06017993e-01 7.07920972e-01 -1.96593688e-02 -2.05116395e+01] [-2.79364427e-02 -1.01615207e-04 9.99609696e-01 -9.60505881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96592 meters Centerline goodness [0,1] 0.9955750012429772 Centerline is valid? [True, True] Translation: X:296.28, Y:-20.53, Z:-0.96 [[ 7.07104305e-01 7.06881252e-01 1.79554271e-02 2.96284186e+02] [-7.06657094e-01 7.07332231e-01 -1.78007455e-02 -2.05347505e+01] [-2.52834656e-02 -1.01346179e-04 9.99680317e-01 -9.61248078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99591999999996 meters Centerline goodness [0,1] 0.9958279527167975 Centerline is valid? [True, True] Translation: X:296.31, Y:-20.56, Z:-0.96 [[ 7.07615532e-01 7.06360541e-01 1.83042458e-02 2.96307081e+02] [-7.06126910e-01 7.07852231e-01 -1.81660494e-02 -2.05592081e+01] [-2.57884817e-02 -7.05418411e-05 9.99667419e-01 -9.60795447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.02592 meters Centerline goodness [0,1] 0.9962194697308859 Centerline is valid? [True, True] Translation: X:296.33, Y:-20.58, Z:-0.96 [[ 7.06673096e-01 7.07305019e-01 1.82412984e-02 2.96330590e+02] [-7.07072811e-01 7.06908482e-01 -1.81228401e-02 -2.05822939e+01] [-2.57133043e-02 -9.10026474e-05 9.99669354e-01 -9.61012196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05591999999996 meters Centerline goodness [0,1] 0.9961784703955532 Centerline is valid? [True, True] Translation: X:296.35, Y:-20.60, Z:-0.96 [[ 7.05988425e-01 7.08018329e-01 1.70408315e-02 2.96353282e+02] [-7.07815511e-01 7.06194050e-01 -1.69459588e-02 -2.06045790e+01] [-2.40321832e-02 -9.81140970e-05 9.99711181e-01 -9.61400587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08592 meters Centerline goodness [0,1] 0.9961984793917567 Centerline is valid? [True, True] Translation: X:296.37, Y:-20.63, Z:-0.96 [[ 7.05093854e-01 7.08951604e-01 1.51749637e-02 2.96374522e+02] [-7.08790690e-01 7.05257125e-01 -1.51044922e-02 -2.06284395e+01] [-2.14106052e-02 -1.05788420e-04 9.99770761e-01 -9.63008295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11591999999996 meters Centerline goodness [0,1] 0.996222851746931 Centerline is valid? [True, True] Translation: X:296.40, Y:-20.65, Z:-0.96 [[ 7.04460662e-01 7.09570559e-01 1.56460037e-02 2.96397844e+02] [-7.09399283e-01 7.04634379e-01 -1.55900265e-02 -2.06523158e+01] [-2.20869359e-02 -1.16703449e-04 9.99756047e-01 -9.63237228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14592 meters Centerline goodness [0,1] 0.9960727778882481 Centerline is valid? [True, True] Translation: X:296.42, Y:-20.68, Z:-0.96 [[ 7.03990088e-01 7.10050792e-01 1.50275955e-02 2.96421084e+02] [-7.09892559e-01 7.04150452e-01 -1.49898388e-02 -2.06753371e+01] [-2.12252351e-02 -1.15280291e-04 9.99774713e-01 -9.62341375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17591999999996 meters Centerline goodness [0,1] 0.9960252397277289 Centerline is valid? [True, True] Translation: X:296.44, Y:-20.70, Z:-0.96 [[ 7.04392376e-01 7.09672080e-01 1.40328130e-02 2.96443870e+02] [-7.09533769e-01 7.04532137e-01 -1.40107054e-02 -2.06975207e+01] [-1.98295742e-02 -8.77206239e-05 9.99803371e-01 -9.62976162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20592 meters Centerline goodness [0,1] 0.9962179646678279 Centerline is valid? [True, True] Translation: X:296.47, Y:-20.72, Z:-0.96 [[ 7.04530824e-01 7.09539020e-01 1.38093134e-02 2.96466949e+02] [-7.09404769e-01 7.04666143e-01 -1.38021798e-02 -2.07216683e+01] [-1.95241407e-02 -7.23317141e-05 9.99809383e-01 -9.62617756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23591999999996 meters Centerline goodness [0,1] 0.9964275081869604 Centerline is valid? [True, True] Translation: X:296.49, Y:-20.75, Z:-0.96 [[ 7.05943046e-01 7.08113587e-01 1.48176981e-02 2.96489623e+02] [-7.07958363e-01 7.06098540e-01 -1.48259612e-02 -2.07452876e+01] [-2.09612196e-02 -2.40290999e-05 9.99780289e-01 -9.62594304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26592 meters Centerline goodness [0,1] 0.9966177567769212 Centerline is valid? [True, True] Translation: X:296.60, Y:-20.68, Z:0.92 [[ 7.58313736e-01 -6.51715132e-01 1.50885389e-02 2.96602289e+02] [-6.51587411e-01 -7.58463832e-01 -1.29020012e-02 -2.06828552e+01] [ 1.98525405e-02 -4.77373008e-05 -9.99802918e-01 9.22024443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29591999999997 meters Centerline goodness [0,1] 0.9975667891548317 Centerline is valid? [True, True] Translation: X:296.54, Y:-20.80, Z:-0.96 [[ 7.57168178e-01 6.53018212e-01 1.62346836e-02 2.96539261e+02] [-6.52868391e-01 7.57342204e-01 -1.39874883e-02 -2.08035015e+01] [-2.14292957e-02 -8.23077054e-06 9.99770366e-01 -9.63471446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32592 meters Centerline goodness [0,1] 0.9981132075471698 Centerline is valid? [True, True] Translation: X:296.56, Y:-20.82, Z:-0.96 [[ 7.56322788e-01 6.54036713e-01 1.45539966e-02 2.96563670e+02] [-6.53916266e-01 7.56462807e-01 -1.25514656e-02 -2.08249103e+01] [-1.92186764e-02 -2.41356317e-05 9.99815304e-01 -9.62715252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35591999999997 meters Centerline goodness [0,1] 0.9981132075471698 Centerline is valid? [True, True] Translation: X:296.59, Y:-20.85, Z:-0.96 [[ 7.55579345e-01 6.54881933e-01 1.51495088e-02 2.96587920e+02] [-6.54751311e-01 7.55731204e-01 -1.30792939e-02 -2.08467721e+01] [-2.00143498e-02 -3.67163770e-05 9.99799692e-01 -9.63413721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38592 meters Centerline goodness [0,1] 0.9988578806236965 Centerline is valid? [True, True] Translation: X:296.61, Y:-20.87, Z:-0.96 [[ 7.54117363e-01 6.56551735e-01 1.57105708e-02 2.96611801e+02] [-6.56411310e-01 7.54280991e-01 -1.35785812e-02 -2.08701838e+01] [-2.07652260e-02 -7.27525761e-05 9.99784377e-01 -9.62273987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41591999999997 meters Centerline goodness [0,1] 0.998907212398172 Centerline is valid? [True, True] Translation: X:296.64, Y:-20.89, Z:-0.96 [[ 7.53023198e-01 6.57828641e-01 1.47493406e-02 2.96635458e+02] [-6.57704884e-01 7.53167625e-01 -1.27598731e-02 -2.08924689e+01] [-1.95025358e-02 -9.22329236e-05 9.99809803e-01 -9.61429875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44592 meters Centerline goodness [0,1] 0.9992538798249104 Centerline is valid? [True, True] Translation: X:296.66, Y:-20.92, Z:-0.96 [[ 7.51807601e-01 6.59219350e-01 1.46689946e-02 2.96659021e+02] [-6.59096939e-01 7.51950687e-01 -1.27039520e-02 -2.09156945e+01] [-1.94050515e-02 -1.17361765e-04 9.99811697e-01 -9.62457729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47592 meters Centerline goodness [0,1] 0.9992060735374386 Centerline is valid? [True, True] Translation: X:296.68, Y:-20.94, Z:-0.96 [[ 7.50505820e-01 6.60723652e-01 1.36113919e-02 2.96683761e+02] [-6.60618276e-01 7.50629228e-01 -1.18006917e-02 -2.09382293e+01] [-1.80141047e-02 -1.35446441e-04 9.99837724e-01 -9.62812249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50591999999995 meters Centerline goodness [0,1] 0.9990566974481183 Centerline is valid? [True, True] Translation: X:296.71, Y:-20.96, Z:-0.96 [[ 7.49277437e-01 6.62122393e-01 1.33138922e-02 2.96708024e+02] [-6.62021576e-01 7.49395698e-01 -1.15550857e-02 -2.09602528e+01] [-1.76282546e-02 -1.56118941e-04 9.99844598e-01 -9.62317388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53592 meters Centerline goodness [0,1] 0.9996515505998308 Centerline is valid? [True, True] Translation: X:296.73, Y:-20.98, Z:-0.96 [[ 7.47078407e-01 6.64581109e-01 1.43458444e-02 2.96731085e+02] [-6.64464286e-01 7.47216100e-01 -1.24624558e-02 -2.09824356e+01] [-1.90017587e-02 -2.21869614e-04 9.99819426e-01 -9.61847610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56591999999995 meters Centerline goodness [0,1] 0.9999503154965966 Centerline is valid? [True, True] Translation: X:296.76, Y:-21.00, Z:-0.96 [[ 7.45093540e-01 6.66790644e-01 1.50284380e-02 2.96755104e+02] [-6.66662645e-01 7.45245031e-01 -1.30675371e-02 -2.10044570e+01] [-1.99131802e-02 -2.82360775e-04 9.99801673e-01 -9.61855757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59592 meters Centerline goodness [0,1] 0.9998006975585451 Centerline is valid? [True, True] Translation: X:296.78, Y:-21.03, Z:-0.96 [[ 7.42964820e-01 6.69172294e-01 1.45505021e-02 2.96777728e+02] [-6.69052538e-01 7.43107216e-01 -1.26636060e-02 -2.10267341e+01] [-1.92867174e-02 -3.26436614e-04 9.99813941e-01 -9.61908396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62591999999995 meters Centerline goodness [0,1] 0.9998507611182967 Centerline is valid? [True, True] Translation: X:296.80, Y:-21.05, Z:-0.96 [[ 7.41093606e-01 6.71222562e-01 1.55093374e-02 2.96801590e+02] [-6.71086693e-01 7.41255770e-01 -1.35105368e-02 -2.10483611e+01] [-2.05649630e-02 -3.95537546e-04 9.99788441e-01 -9.61682743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:296.83, Y:-21.07, Z:-0.96 [[ 7.39084854e-01 6.73408866e-01 1.65553069e-02 2.96825939e+02] [-6.73254307e-01 7.39270094e-01 -1.44348980e-02 -2.10698438e+01] [-2.19594316e-02 -4.77317220e-04 9.99758749e-01 -9.62358708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68591999999995 meters Centerline goodness [0,1] 0.9999006655408761 Centerline is valid? [True, True] Translation: X:296.85, Y:-21.09, Z:-0.96 [[ 7.34639000e-01 6.78203883e-01 1.85750625e-02 2.96851314e+02] [-6.78010719e-01 7.34873468e-01 -1.62003340e-02 -2.10898353e+01] [-2.46374501e-02 -6.92694311e-04 9.99696212e-01 -9.63360013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.88, Y:-21.11, Z:-0.96 [[ 7.31856350e-01 6.81208464e-01 1.84746382e-02 2.96876584e+02] [-6.81017997e-01 7.32089081e-01 -1.61265683e-02 -2.11098597e+01] [-2.45106357e-02 -7.79229692e-04 9.99699266e-01 -9.62692770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74591999999996 meters Centerline goodness [0,1] 0.999900700064545 Centerline is valid? [True, True] Translation: X:296.90, Y:-21.13, Z:-0.96 [[ 7.27184141e-01 6.86188326e-01 1.86763737e-02 2.96902410e+02] [-6.85995213e-01 7.27423310e-01 -1.63063345e-02 -2.11284350e+01] [-2.47748459e-02 -9.54195108e-04 9.99692601e-01 -9.61775698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.77592 meters Centerline goodness [0,1] 0.9999005272058092 Centerline is valid? [True, True] Translation: X:296.93, Y:-21.15, Z:-0.96 [[ 7.25403616e-01 6.88083608e-01 1.81808265e-02 2.96927508e+02] [-6.87900899e-01 7.25630748e-01 -1.58861845e-02 -2.11477900e+01] [-2.41235899e-02 -9.82711207e-04 9.99708501e-01 -9.61338391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80591999999996 meters Centerline goodness [0,1] 0.9997513922036595 Centerline is valid? [True, True] Translation: X:296.95, Y:-21.17, Z:-0.96 [[ 7.23080910e-01 6.90520974e-01 1.82970728e-02 2.96953422e+02] [-6.90336370e-01 7.23311592e-01 -1.60011564e-02 -2.11669047e+01] [-2.42836190e-02 -1.06100405e-03 9.99704546e-01 -9.61177805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83592 meters Centerline goodness [0,1] 0.9995519044062733 Centerline is valid? [True, True] Translation: X:296.98, Y:-21.18, Z:-0.96 [[ 7.21563903e-01 6.92067817e-01 1.96893227e-02 2.96982749e+02] [-6.91854499e-01 7.21831497e-01 -1.72233003e-02 -2.11821024e+01] [-2.61320652e-02 -1.19443472e-03 9.99657786e-01 -9.61225647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86591999999996 meters Centerline goodness [0,1] 0.9996028396961724 Centerline is valid? [True, True] Translation: X:297.01, Y:-21.20, Z:-0.96 [[ 7.19976197e-01 6.93685145e-01 2.08613442e-02 2.97009507e+02] [-6.93445927e-01 7.20277159e-01 -1.82636299e-02 -2.12005615e+01] [-2.76951585e-02 -1.31683538e-03 9.99615548e-01 -9.61423270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89592 meters Centerline goodness [0,1] 0.9993033786137234 Centerline is valid? [True, True] Translation: X:297.04, Y:-21.22, Z:-0.96 [[ 7.18634582e-01 6.95148360e-01 1.82508612e-02 2.97040446e+02] [-6.94965367e-01 7.18865315e-01 -1.59936850e-02 -2.12154652e+01] [-2.42378950e-02 -1.19010133e-03 9.99705511e-01 -9.59700255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92591999999996 meters Centerline goodness [0,1] 0.9995524837153796 Centerline is valid? [True, True] Translation: X:297.07, Y:-21.23, Z:-0.96 [[ 7.18211479e-01 6.95572694e-01 1.87323029e-02 2.97067977e+02] [-6.95379711e-01 7.18454678e-01 -1.64296642e-02 -2.12322393e+01] [-2.48863364e-02 -1.22608997e-03 9.99689535e-01 -9.60304393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95592 meters Centerline goodness [0,1] 0.9990052720580921 Centerline is valid? [True, True] Translation: X:297.10, Y:-21.25, Z:-0.96 [[ 7.16862964e-01 6.96940641e-01 1.95252012e-02 2.97099039e+02] [-6.96731099e-01 7.17127610e-01 -1.71396244e-02 -2.12451979e+01] [-2.59473617e-02 -1.31705295e-03 9.99662443e-01 -9.61780662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98591999999996 meters Centerline goodness [0,1] 0.9993532981792856 Centerline is valid? [True, True] Translation: X:297.13, Y:-21.26, Z:-0.96 [[ 7.17046538e-01 6.96742974e-01 1.98365743e-02 2.97126768e+02] [-6.96526230e-01 7.17319653e-01 -1.74277301e-02 -2.12630086e+01] [-2.63718131e-02 -1.32020078e-03 9.99651331e-01 -9.61109191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01592 meters Centerline goodness [0,1] 0.9995031055900621 Centerline is valid? [True, True] Translation: X:297.15, Y:-21.28, Z:-0.96 [[ 7.18043626e-01 6.95726308e-01 1.94487754e-02 2.97154464e+02] [-6.95517373e-01 7.18305880e-01 -1.70952231e-02 -2.12808973e+01] [-2.58637661e-02 -1.25184519e-03 9.99664693e-01 -9.60788450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04591999999997 meters Centerline goodness [0,1] 0.9992534342026678 Centerline is valid? [True, True] Translation: X:297.19, Y:-21.29, Z:-0.96 [[ 7.20132614e-01 6.93598462e-01 1.81711449e-02 2.97186771e+02] [-6.93415328e-01 7.20361001e-01 -1.59753120e-02 -2.12914316e+01] [-2.41702360e-02 -1.09580718e-03 9.99707257e-01 -9.60227411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07592 meters Centerline goodness [0,1] 0.9993033439490446 Centerline is valid? [True, True] Translation: X:297.21, Y:-21.31, Z:-0.96 [[ 7.21261397e-01 6.92423575e-01 1.82096137e-02 2.97214039e+02] [-6.92238961e-01 7.21490466e-01 -1.60227656e-02 -2.13085385e+01] [-2.42326033e-02 -1.04880173e-03 9.99705797e-01 -9.61097477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10591999999997 meters Centerline goodness [0,1] 0.9994038748137108 Centerline is valid? [True, True] Translation: X:297.24, Y:-21.32, Z:-0.96 [[ 7.24939729e-01 6.88529179e-01 1.97473867e-02 2.97244726e+02] [-6.88310489e-01 7.25207960e-01 -1.73806398e-02 -2.13220052e+01] [-2.62880396e-02 -9.92417119e-04 9.99653917e-01 -9.60718745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13592 meters Centerline goodness [0,1] 0.9996024844720497 Centerline is valid? [True, True] Translation: X:297.27, Y:-21.34, Z:-0.96 [[ 7.26629975e-01 6.86728202e-01 2.03286995e-02 2.97272308e+02] [-6.86495321e-01 7.26913672e-01 -1.79077361e-02 -2.13392223e+01] [-2.70749571e-02 -9.43259263e-04 9.99632961e-01 -9.61093425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16591999999997 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:297.30, Y:-21.36, Z:-0.96 [[ 7.27558878e-01 6.85707194e-01 2.15342259e-02 2.97299867e+02] [-6.85444935e-01 7.27876877e-01 -1.89866501e-02 -2.13572660e+01] [-2.86935477e-02 -9.46620196e-04 9.99587807e-01 -9.61759703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19592 meters Centerline goodness [0,1] 0.9998508501541216 Centerline is valid? [True, True] Translation: X:297.33, Y:-21.37, Z:-0.96 [[ 7.29780768e-01 6.83394778e-01 1.97891105e-02 2.97328091e+02] [-6.83172388e-01 7.30048603e-01 -1.74506425e-02 -2.13727864e+01] [-2.63726904e-02 -7.84230553e-04 9.99651873e-01 -9.63966950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22592 meters Centerline goodness [0,1] 0.9998508501541216 Centerline is valid? [True, True] Translation: X:297.35, Y:-21.39, Z:-0.96 [[ 7.29429684e-01 6.83769751e-01 1.97803955e-02 2.97352703e+02] [-6.83547231e-01 7.29697412e-01 -1.74605203e-02 -2.13940942e+01] [-2.63726790e-02 -7.84612760e-04 9.99651873e-01 -9.63994651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25591999999995 meters Centerline goodness [0,1] 0.9998507908087139 Centerline is valid? [True, True] Translation: X:297.38, Y:-21.41, Z:-0.96 [[ 7.30101609e-01 6.83059928e-01 1.95134676e-02 2.97379304e+02] [-6.82842714e-01 7.30361959e-01 -1.72405593e-02 -2.14129260e+01] [-2.60282296e-02 -7.37269126e-04 9.99660936e-01 -9.63268354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28592 meters Centerline goodness [0,1] 0.9998012916045703 Centerline is valid? [True, True] Translation: X:297.41, Y:-21.43, Z:-0.96 [[ 7.33405509e-01 6.79513389e-01 1.94400004e-02 2.97407518e+02] [-6.79296403e-01 7.33662858e-01 -1.71816140e-02 -2.14301869e+01] [-2.59375430e-02 -6.04431954e-04 9.99663383e-01 -9.62299402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31591999999995 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:297.43, Y:-21.45, Z:-0.96 [[ 7.35189934e-01 6.77543194e-01 2.07600773e-02 2.97433171e+02] [-6.77294483e-01 7.35482772e-01 -1.83650645e-02 -2.14501797e+01] [-2.77118037e-02 -5.58875257e-04 9.99615798e-01 -9.62225137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.46, Y:-21.47, Z:-0.96 [[ 7.38058002e-01 6.74451173e-01 1.96469015e-02 2.97458768e+02] [-6.74226900e-01 7.38319341e-01 -1.73964642e-02 -2.14703596e+01] [-2.62387531e-02 -4.06869945e-04 9.99655622e-01 -9.61841615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.48, Y:-21.49, Z:-0.96 [[ 7.39982201e-01 6.72320116e-01 2.02978851e-02 2.97483322e+02] [-6.72079473e-01 7.40260463e-01 -1.79896846e-02 -2.14918531e+01] [-2.71205487e-02 -3.29745473e-04 9.99632116e-01 -9.63008934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40592 meters Centerline goodness [0,1] 0.9998014198480862 Centerline is valid? [True, True] Translation: X:297.51, Y:-21.51, Z:-0.96 [[ 7.44948133e-01 6.66909782e-01 1.68410537e-02 2.97507352e+02] [-6.66742668e-01 7.45138464e-01 -1.49292914e-02 -2.15124569e+01] [-2.25054074e-02 -1.07101382e-04 9.99746716e-01 -9.61639501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.53, Y:-21.53, Z:-0.96 [[ 7.46214996e-01 6.65491647e-01 1.68537175e-02 2.97531641e+02] [-6.65323572e-01 7.46405295e-01 -1.49559375e-02 -2.15349329e+01] [-2.25327554e-02 -5.28306825e-05 9.99746104e-01 -9.61071870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46592 meters Centerline goodness [0,1] 0.9999006112408687 Centerline is valid? [True, True] Translation: X:297.56, Y:-21.56, Z:-0.96 [[ 7.45730637e-01 6.66042786e-01 1.65174146e-02 2.97556127e+02] [-6.65881144e-01 7.45913537e-01 -1.46730265e-02 -2.15568967e+01] [-2.20934265e-02 -5.65095504e-05 9.99755909e-01 -9.60473823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.58, Y:-21.58, Z:-0.96 [[ 7.44452454e-01 6.67425559e-01 1.82665400e-02 2.97579808e+02] [-6.67227911e-01 7.44676516e-01 -1.62419718e-02 -2.15782737e+01] [-2.44429705e-02 -9.65695304e-05 9.99701221e-01 -9.60542176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.52592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:297.60, Y:-21.60, Z:-0.96 [[ 7.42128452e-01 6.70047465e-01 1.67856006e-02 2.97602975e+02] [-6.69880929e-01 7.42318241e-01 -1.49389074e-02 -2.16002433e+01] [-2.24700345e-02 -1.57765508e-04 9.99747504e-01 -9.59322296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.63, Y:-21.62, Z:-0.96 [[ 7.41334423e-01 6.70922673e-01 1.69127281e-02 2.97627537e+02] [-6.70753471e-01 7.41527300e-01 -1.50679769e-02 -2.16229574e+01] [-2.26506970e-02 -1.73861146e-04 9.99743425e-01 -9.60141209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58592 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:297.65, Y:-21.65, Z:-0.96 [[ 7.40501669e-01 6.71868165e-01 1.58255390e-02 2.97650249e+02] [-6.71719955e-01 7.40670734e-01 -1.41125888e-02 -2.16452625e+01] [-2.12033128e-02 -1.79934793e-04 9.99775168e-01 -9.59429139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61591999999996 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:297.67, Y:-21.67, Z:-0.96 [[ 7.39435126e-01 6.73000274e-01 1.75021368e-02 2.97673531e+02] [-6.72818966e-01 7.39642198e-01 -1.56223893e-02 -2.16671022e+01] [-2.34591912e-02 -2.24026185e-04 9.99724770e-01 -9.59992852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64592 meters Centerline goodness [0,1] 0.9999502636029046 Centerline is valid? [True, True] Translation: X:297.70, Y:-21.69, Z:-0.96 [[ 7.39183707e-01 6.73289634e-01 1.69857782e-02 2.97697851e+02] [-6.73118576e-01 7.39378809e-01 -1.51776012e-02 -2.16889047e+01] [-2.27778460e-02 -2.14407298e-04 9.99740528e-01 -9.59174592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67591999999996 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:297.72, Y:-21.71, Z:-0.96 [[ 7.36874107e-01 6.75777396e-01 1.84786669e-02 2.97721500e+02] [-6.75575366e-01 7.37105703e-01 -1.65259792e-02 -2.17099197e+01] [-2.47886139e-02 -3.06165995e-04 9.99692668e-01 -9.59992783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70592 meters Centerline goodness [0,1] 0.9998014001290899 Centerline is valid? [True, True] Translation: X:297.75, Y:-21.73, Z:-0.96 [[ 7.35315561e-01 6.77444990e-01 1.94759128e-02 2.97745624e+02] [-6.77220722e-01 7.35573347e-01 -1.74340013e-02 -2.17310610e+01] [-2.61365392e-02 -3.69999288e-04 9.99658314e-01 -9.61466928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73591999999996 meters Centerline goodness [0,1] 0.9994039340353665 Centerline is valid? [True, True] Translation: X:297.77, Y:-21.75, Z:-0.96 [[ 7.31676798e-01 6.81393602e-01 1.87569269e-02 2.97770124e+02] [-6.81186487e-01 7.31917023e-01 -1.68059739e-02 -2.17514560e+01] [-2.51799971e-02 -4.80423961e-04 9.99682818e-01 -9.60955402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76592 meters Centerline goodness [0,1] 0.9997516268441706 Centerline is valid? [True, True] Translation: X:297.79, Y:-21.77, Z:-0.96 [[ 7.29271628e-01 6.83975883e-01 1.84359558e-02 2.97794779e+02] [-6.83776242e-01 7.29504414e-01 -1.65336173e-02 -2.17718316e+01] [-2.47577067e-02 -5.48570547e-04 9.99693331e-01 -9.61286435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79591999999997 meters Centerline goodness [0,1] 0.9995530393325387 Centerline is valid? [True, True] Translation: X:297.82, Y:-21.79, Z:-0.96 [[ 7.27097682e-01 6.86249207e-01 1.97733835e-02 2.97819274e+02] [-6.86019946e-01 7.27366201e-01 -1.77494654e-02 -2.17922502e+01] [-2.65630474e-02 -6.59340336e-04 9.99646923e-01 -9.61530140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82592 meters Centerline goodness [0,1] 0.9994534161490684 Centerline is valid? [True, True] Translation: X:297.85, Y:-21.81, Z:-0.96 [[ 7.24452240e-01 6.89051990e-01 1.93986176e-02 2.97845131e+02] [-6.88831925e-01 7.24711538e-01 -1.74288959e-02 -2.18114017e+01] [-2.60678174e-02 -7.35984431e-04 9.99659906e-01 -9.61288995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85591999999997 meters Centerline goodness [0,1] 0.9998508946322068 Centerline is valid? [True, True] Translation: X:297.87, Y:-21.83, Z:-0.96 [[ 7.24094121e-01 6.89454982e-01 1.84263745e-02 2.97873436e+02] [-6.89256185e-01 7.24328196e-01 -1.65703691e-02 -2.18284131e+01] [-2.47712661e-02 -7.01985757e-04 9.99692899e-01 -9.61041780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88592 meters Centerline goodness [0,1] 0.9996022670776573 Centerline is valid? [True, True] Translation: X:297.90, Y:-21.85, Z:-0.96 [[ 7.24036839e-01 6.89498867e-01 1.90254763e-02 2.97900913e+02] [-6.89286487e-01 7.24286410e-01 -1.71270215e-02 -2.18479018e+01] [-2.55889558e-02 -7.13409191e-04 9.99672295e-01 -9.61408638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91591999999997 meters Centerline goodness [0,1] 0.9996509424553705 Centerline is valid? [True, True] Translation: X:297.93, Y:-21.87, Z:-0.96 [[ 7.24200724e-01 6.89311271e-01 1.95776315e-02 2.97929104e+02] [-6.89085829e-01 7.24464949e-01 -1.76425150e-02 -2.18664854e+01] [-2.63444923e-02 -7.13946316e-04 9.99652669e-01 -9.61321817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94592 meters Centerline goodness [0,1] 0.9998013705432516 Centerline is valid? [True, True] Translation: X:297.96, Y:-21.89, Z:-0.96 [[ 7.24504324e-01 6.89003910e-01 1.91597654e-02 2.97955630e+02] [-6.88787473e-01 7.24757307e-01 -1.72818412e-02 -2.18850088e+01] [-2.57934361e-02 -6.76237770e-04 9.99667065e-01 -9.60345240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97592 meters Centerline goodness [0,1] 0.9997516515174092 Centerline is valid? [True, True] Translation: X:297.98, Y:-21.90, Z:-0.96 [[ 7.25928114e-01 6.87523112e-01 1.84484024e-02 2.97984853e+02] [-6.87321596e-01 7.26162256e-01 -1.66553630e-02 -2.19005411e+01] [-2.48474805e-02 -5.89389116e-04 9.99691080e-01 -9.59613064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00591999999995 meters Centerline goodness [0,1] 0.9997019670176833 Centerline is valid? [True, True] Translation: X:298.01, Y:-21.92, Z:-0.96 [[ 7.26934994e-01 6.86466285e-01 1.81536216e-02 2.98011268e+02] [-6.86270459e-01 7.27161436e-01 -1.64043286e-02 -2.19197933e+01] [-2.44616321e-02 -5.33413756e-04 9.99700627e-01 -9.59352102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03592 meters Centerline goodness [0,1] 0.9999006951340615 Centerline is valid? [True, True] Translation: X:298.04, Y:-21.94, Z:-0.96 [[ 7.30497366e-01 6.82671889e-01 1.82398180e-02 2.98039072e+02] [-6.82472635e-01 7.30724938e-01 -1.64975267e-02 -2.19373491e+01] [-2.45906876e-02 -3.96776841e-04 9.99697525e-01 -9.60928776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06591999999995 meters Centerline goodness [0,1] 0.9999004628477579 Centerline is valid? [True, True] Translation: X:298.06, Y:-21.96, Z:-0.96 [[ 7.31949054e-01 6.81135967e-01 1.74464064e-02 2.98064909e+02] [-6.80952893e-01 7.32156877e-01 -1.57944702e-02 -2.19567628e+01] [-2.35316882e-02 -3.19433392e-04 9.99723040e-01 -9.60894867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:298.09, Y:-21.98, Z:-0.96 [[ 7.33547693e-01 6.79440093e-01 1.63994487e-02 2.98090311e+02] [-6.79277603e-01 7.33730947e-01 -1.48605051e-02 -2.19765380e+01] [-2.21296059e-02 -2.38888988e-04 9.99755082e-01 -9.60494128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12591999999995 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:298.12, Y:-21.99, Z:-0.96 [[ 7.35372394e-01 6.77438115e-01 1.74654776e-02 2.98118331e+02] [-6.77252851e-01 7.35579750e-01 -1.58432285e-02 -2.19944479e+01] [-2.35800585e-02 -1.77871584e-04 9.99721936e-01 -9.61098820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15592 meters Centerline goodness [0,1] 0.9997510456084445 Centerline is valid? [True, True] Translation: X:298.14, Y:-22.01, Z:-0.96 [[ 7.35946940e-01 6.76842605e-01 1.63153235e-02 2.98144557e+02] [-6.76680494e-01 7.36127753e-01 -1.48135109e-02 -2.20141422e+01] [-2.20365778e-02 -1.38303173e-04 9.99757156e-01 -9.60466529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18591999999995 meters Centerline goodness [0,1] 0.9998012521116963 Centerline is valid? [True, True] Translation: X:298.17, Y:-22.03, Z:-0.96 [[ 7.35936354e-01 6.76892018e-01 1.46587387e-02 2.98171177e+02] [-6.76761077e-01 7.36082319e-01 -1.33140797e-02 -2.20333706e+01] [-1.98022327e-02 -1.22148496e-04 9.99803909e-01 -9.60893791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21592 meters Centerline goodness [0,1] 0.9998014494192395 Centerline is valid? [True, True] Translation: X:298.20, Y:-22.05, Z:-0.96 [[ 7.35535488e-01 6.77329975e-01 1.45482467e-02 2.98196881e+02] [-6.77200820e-01 7.35679339e-01 -1.32272002e-02 -2.20537411e+01] [-1.96620237e-02 -1.23009403e-04 9.99806676e-01 -9.62284191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24591999999996 meters Centerline goodness [0,1] 0.9998011335388287 Centerline is valid? [True, True] Translation: X:298.22, Y:-22.07, Z:-0.96 [[ 7.34277296e-01 6.78686135e-01 1.48990875e-02 2.98221849e+02] [-6.78550682e-01 7.34428422e-01 -1.35596470e-02 -2.20746823e+01] [-2.01450578e-02 -1.53245051e-04 9.99797056e-01 -9.62424251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.25, Y:-22.09, Z:-0.96 [[ 7.34232055e-01 6.78726098e-01 1.53027362e-02 2.98248869e+02] [-6.78582909e-01 7.34391491e-01 -1.39418041e-02 -2.20942023e+01] [-2.07008655e-02 -1.47655837e-04 9.99785703e-01 -9.63135831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30591999999996 meters Centerline goodness [0,1] 0.9994025392083644 Centerline is valid? [True, True] Translation: X:298.27, Y:-22.11, Z:-0.96 [[ 7.34903334e-01 6.77988860e-01 1.57541880e-02 2.98274750e+02] [-6.77836603e-01 7.35072167e-01 -1.43683064e-02 -2.21147900e+01] [-2.13220168e-02 -1.19449042e-04 9.99772653e-01 -9.62071047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33592 meters Centerline goodness [0,1] 0.9994042595442586 Centerline is valid? [True, True] Translation: X:298.30, Y:-22.14, Z:-0.96 [[ 7.35492557e-01 6.77344359e-01 1.59787089e-02 2.98300302e+02] [-6.77187244e-01 7.35666101e-01 -1.45885009e-02 -2.21351234e+01] [-2.16364332e-02 -9.08440394e-05 9.99765901e-01 -9.62186094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36591999999996 meters Centerline goodness [0,1] 0.9995033030348185 Centerline is valid? [True, True] Translation: X:298.33, Y:-22.15, Z:-0.96 [[ 7.36588432e-01 6.76122699e-01 1.71923486e-02 2.98326092e+02] [-6.75940158e-01 7.36789043e-01 -1.57101792e-02 -2.21538957e+01] [-2.32891429e-02 -4.90625479e-05 9.99728770e-01 -9.63075414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39592 meters Centerline goodness [0,1] 0.9997016112989855 Centerline is valid? [True, True] Translation: X:298.35, Y:-22.17, Z:-0.96 [[ 7.35951453e-01 6.76809809e-01 1.74339075e-02 2.98352149e+02] [-6.76622137e-01 7.36157917e-01 -1.59375468e-02 -2.21747284e+01] [-2.36207970e-02 -6.69070099e-05 9.99720988e-01 -9.63178254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42591999999996 meters Centerline goodness [0,1] 0.9995530171343432 Centerline is valid? [True, True] Translation: X:298.38, Y:-22.19, Z:-0.96 [[ 7.33857748e-01 6.79051720e-01 1.84815404e-02 2.98377676e+02] [-6.78841167e-01 7.34090419e-01 -1.69093922e-02 -2.21938987e+01] [-2.50494736e-02 -1.36942011e-04 9.99686203e-01 -9.62901249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45592 meters Centerline goodness [0,1] 0.9997021741288593 Centerline is valid? [True, True] Translation: X:298.40, Y:-22.21, Z:-0.96 [[ 7.31734056e-01 6.81284117e-01 2.04260421e-02 2.98402410e+02] [-6.81027639e-01 7.32019056e-01 -1.86937583e-02 -2.22147801e+01] [-2.76880126e-02 -2.31839653e-04 9.99616587e-01 -9.63585967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48591999999996 meters Centerline goodness [0,1] 0.9996528122210098 Centerline is valid? [True, True] Translation: X:298.43, Y:-22.24, Z:-0.96 [[ 7.29971778e-01 6.83148263e-01 2.12050720e-02 2.98427410e+02] [-6.82872482e-01 7.30279641e-01 -1.94117993e-02 -2.22350286e+01] [-2.87467693e-02 -3.10294582e-04 9.99586678e-01 -9.63634407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51592 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:298.45, Y:-22.25, Z:-0.96 [[ 7.24936994e-01 6.88480488e-01 2.14702647e-02 2.98453525e+02] [-6.88199936e-01 7.25254675e-01 -1.96597170e-02 -2.22538534e+01] [-2.91067415e-02 -5.23778635e-04 9.99576172e-01 -9.63523358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54591999999997 meters Centerline goodness [0,1] 0.9998014986849287 Centerline is valid? [True, True] Translation: X:298.48, Y:-22.27, Z:-0.96 [[ 7.23450379e-01 6.90000529e-01 2.27775846e-02 2.98479141e+02] [-6.89685345e-01 7.23808600e-01 -2.08622942e-02 -2.22736454e+01] [-3.08816057e-02 -6.16531641e-04 9.99522859e-01 -9.63870852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.51, Y:-22.29, Z:-0.96 [[ 7.21643624e-01 6.91931430e-01 2.14796416e-02 2.98505392e+02] [-6.91651776e-01 7.21962927e-01 -1.96812611e-02 -2.22944915e+01] [-2.91255881e-02 -6.53575664e-04 9.99575546e-01 -9.63195200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60591999999997 meters Centerline goodness [0,1] 0.9998016069834342 Centerline is valid? [True, True] Translation: X:298.53, Y:-22.31, Z:-0.96 [[ 7.21004965e-01 6.92548017e-01 2.30018440e-02 2.98533712e+02] [-6.92227450e-01 7.21371418e-01 -2.10816246e-02 -2.23109486e+01] [-3.11929101e-02 -7.22551863e-04 9.99513122e-01 -9.63594486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63592 meters Centerline goodness [0,1] 0.999751688518077 Centerline is valid? [True, True] Translation: X:298.56, Y:-22.33, Z:-0.96 [[ 7.21239895e-01 6.92321968e-01 2.24344971e-02 2.98559878e+02] [-6.92016751e-01 7.21588397e-01 -2.05669879e-02 -2.23298425e+01] [-3.04274503e-02 -6.91315577e-04 9.99536739e-01 -9.63128307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66591999999997 meters Centerline goodness [0,1] 0.9996026226902444 Centerline is valid? [True, True] Translation: X:298.59, Y:-22.35, Z:-0.96 [[ 7.24061976e-01 6.89387494e-01 2.18891961e-02 2.98588018e+02] [-6.89095437e-01 7.24392559e-01 -2.00723481e-02 -2.23463598e+01] [-2.96939965e-02 -5.50121123e-04 9.99558885e-01 -9.62832888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69592 meters Centerline goodness [0,1] 0.9998011434253045 Centerline is valid? [True, True] Translation: X:298.61, Y:-22.37, Z:-0.96 [[ 7.26748087e-01 6.86601134e-01 2.03985445e-02 2.98613570e+02] [-6.86346270e-01 7.27034195e-01 -1.87103340e-02 -2.23663059e+01] [-2.76769759e-02 -4.02765561e-04 9.99616838e-01 -9.62695656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72592 meters Centerline goodness [0,1] 0.9994538503549972 Centerline is valid? [True, True] Translation: X:298.64, Y:-22.38, Z:-0.96 [[ 7.31092785e-01 6.81984090e-01 2.00259807e-02 2.98639198e+02] [-6.81736644e-01 7.31366975e-01 -1.83710821e-02 -2.23843511e+01] [-2.71751267e-02 -2.21479332e-04 9.99630664e-01 -9.62711645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75591999999995 meters Centerline goodness [0,1] 0.9992560999801626 Centerline is valid? [True, True] Translation: X:298.66, Y:-22.40, Z:-0.96 [[ 7.34672440e-01 6.78197781e-01 1.74406274e-02 2.98663549e+02] [-6.78009013e-01 7.34879422e-01 -1.60004414e-02 -2.24035675e+01] [-2.36682220e-02 -6.98192551e-05 9.99719866e-01 -9.61885477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78592 meters Centerline goodness [0,1] 0.9993552866494743 Centerline is valid? [True, True] Translation: X:298.69, Y:-22.42, Z:-0.96 [[ 7.37272400e-01 6.75393911e-01 1.65067457e-02 2.98686555e+02] [-6.75224114e-01 7.37457161e-01 -1.51437116e-02 -2.24231558e+01] [-2.24009885e-02 1.92878896e-05 9.99749066e-01 -9.61430478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81591999999995 meters Centerline goodness [0,1] 0.9990075426756649 Centerline is valid? [True, True] Translation: X:298.71, Y:-22.44, Z:-0.96 [[ 7.42934872e-01 6.69234234e-01 1.31649188e-02 2.98708903e+02] [-6.69125444e-01 7.43051489e-01 -1.20675189e-02 -2.24408079e+01] [-1.78582093e-02 1.56398488e-04 9.99840517e-01 -9.60579886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84592 meters Centerline goodness [0,1] 0.9984121470748772 Centerline is valid? [True, True] Translation: X:298.73, Y:-22.46, Z:-0.96 [[ 7.45764908e-01 6.66092506e-01 1.24689893e-02 2.98730899e+02] [-6.65994645e-01 7.45869109e-01 -1.14194835e-02 -2.24598186e+01] [-1.69066663e-02 2.11969931e-04 9.99857050e-01 -9.60707967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87591999999995 meters Centerline goodness [0,1] 0.9988573131955485 Centerline is valid? [True, True] Translation: X:298.75, Y:-22.48, Z:-0.96 [[ 7.48830074e-01 6.62655904e-01 1.18606037e-02 2.98750061e+02] [-6.62567014e-01 7.48923948e-01 -1.08569162e-02 -2.24808486e+01] [-1.60770897e-02 2.71540577e-04 9.99870718e-01 -9.59831236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90592 meters Centerline goodness [0,1] 0.9984615384615385 Centerline is valid? [True, True] Translation: X:298.77, Y:-22.50, Z:-0.96 [[ 7.50381354e-01 6.60895176e-01 1.20577372e-02 2.98769899e+02] [-6.60803235e-01 7.50478162e-01 -1.10278622e-02 -2.25017954e+01] [-1.63373294e-02 3.07310453e-04 9.99866490e-01 -9.58679734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93591999999995 meters Centerline goodness [0,1] 0.9979665724346576 Centerline is valid? [True, True] Translation: X:298.79, Y:-22.52, Z:-0.96 [[ 7.52061043e-01 6.58994841e-01 1.14011906e-02 2.98788178e+02] [-6.58912561e-01 7.52147389e-01 -1.04183371e-02 -2.25242334e+01] [-1.54410062e-02 3.22837708e-04 9.99880728e-01 -9.58752593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96592 meters Centerline goodness [0,1] 0.9983626891590176 Centerline is valid? [True, True] Translation: X:298.81, Y:-22.55, Z:-0.96 [[ 7.52383049e-01 6.58627752e-01 1.13679925e-02 2.98807650e+02] [-6.58546039e-01 7.52468856e-01 -1.03795043e-02 -2.25462187e+01] [-1.53902899e-02 3.23016673e-04 9.99881510e-01 -9.58680815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99591999999996 meters Centerline goodness [0,1] 0.9990079365079365 Centerline is valid? [True, True] Translation: X:298.83, Y:-22.57, Z:-0.96 [[ 7.52907620e-01 6.58036969e-01 1.08380373e-02 2.98827087e+02] [-6.57962765e-01 7.52985557e-01 -9.88689280e-03 -2.25671919e+01] [-1.46668265e-02 3.12891945e-04 9.99892387e-01 -9.58604305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.02592 meters Centerline goodness [0,1] 0.9986600496277915 Centerline is valid? [True, True] Translation: X:298.85, Y:-22.59, Z:-0.96 [[ 7.52994331e-01 6.57951993e-01 9.93538526e-03 2.98845774e+02] [-6.57889620e-01 7.53059819e-01 -9.06403878e-03 -2.25930644e+01] [-1.34456418e-02 2.88782985e-04 9.99909562e-01 -9.57877405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05591999999996 meters Centerline goodness [0,1] 0.9986102149203355 Centerline is valid? [True, True] Translation: X:298.87, Y:-22.62, Z:-0.96 [[ 7.52401944e-01 6.58629319e-01 9.93657587e-03 2.98866451e+02] [-6.58566967e-01 7.52467503e-01 -9.06678093e-03 -2.26162130e+01] [-1.34485982e-02 2.77962960e-04 9.99909525e-01 -9.57645453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08592 meters Centerline goodness [0,1] 0.9986080039771315 Centerline is valid? [True, True] Translation: X:298.89, Y:-22.64, Z:-0.96 [[ 7.51080579e-01 6.60128521e-01 1.04067605e-02 2.98886992e+02] [-6.60060238e-01 7.51152625e-01 -9.49819437e-03 -2.26419702e+01] [-1.40870944e-02 2.64820533e-04 9.99900737e-01 -9.58236800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11591999999996 meters Centerline goodness [0,1] 0.9986080039771315 Centerline is valid? [True, True] Translation: X:298.91, Y:-22.66, Z:-0.96 [[ 7.50997296e-01 6.60223285e-01 1.04055616e-02 2.98910426e+02] [-6.60154993e-01 7.51069334e-01 -9.49950773e-03 -2.26633079e+01] [-1.40870944e-02 2.64821155e-04 9.99900737e-01 -9.58263759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14592 meters Centerline goodness [0,1] 0.998560436832961 Centerline is valid? [True, True] Translation: X:298.93, Y:-22.69, Z:-0.96 [[ 7.49804236e-01 6.61556048e-01 1.17133743e-02 2.98931806e+02] [-6.61469629e-01 7.49895674e-01 -1.06961744e-02 -2.26870969e+01] [-1.58599276e-02 2.71995541e-04 9.99874186e-01 -9.58303324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17591999999996 meters Centerline goodness [0,1] 0.9990025435140392 Centerline is valid? [True, True] Translation: X:298.95, Y:-22.71, Z:-0.96 [[ 7.48566686e-01 6.62948549e-01 1.21300753e-02 2.98950987e+02] [-6.62856007e-01 7.48664917e-01 -1.10795118e-02 -2.27131275e+01] [-1.64265081e-02 2.53260177e-04 9.99865044e-01 -9.57810888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20592 meters Centerline goodness [0,1] 0.9988086965154374 Centerline is valid? [True, True] Translation: X:298.97, Y:-22.74, Z:-0.96 [[ 7.47868963e-01 6.63733793e-01 1.22256402e-02 2.98972761e+02] [-6.63639846e-01 7.47968846e-01 -1.11696495e-02 -2.27371607e+01] [-1.65580718e-02 2.40012225e-04 9.99862877e-01 -9.57609851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23591999999996 meters Centerline goodness [0,1] 0.9989578163771712 Centerline is valid? [True, True] Translation: X:298.99, Y:-22.76, Z:-0.96 [[ 7.46548241e-01 6.65215167e-01 1.24300103e-02 2.98994446e+02] [-6.65118209e-01 7.46651683e-01 -1.13592660e-02 -2.27612808e+01] [-1.68372441e-02 2.12813890e-04 9.99858221e-01 -9.58195993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26592 meters Centerline goodness [0,1] 0.9988586740770147 Centerline is valid? [True, True] Translation: X:299.01, Y:-22.79, Z:-0.96 [[ 7.44447729e-01 6.67542097e-01 1.36061400e-02 2.99013922e+02] [-6.67426220e-01 7.44572036e-01 -1.24388296e-02 -2.27892186e+01] [-1.84341938e-02 1.78963843e-04 9.99830060e-01 -9.58623402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29591999999997 meters Centerline goodness [0,1] 0.999056556929341 Centerline is valid? [True, True] Translation: X:299.04, Y:-22.81, Z:-0.96 [[ 7.42884996e-01 6.69265570e-01 1.43345595e-02 2.99036142e+02] [-6.69137015e-01 7.43023266e-01 -1.31179986e-02 -2.28134568e+01] [-1.94303360e-02 1.53380025e-04 9.99811201e-01 -9.58698947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32592 meters Centerline goodness [0,1] 0.9993551267423979 Centerline is valid? [True, True] Translation: X:299.06, Y:-22.84, Z:-0.96 [[ 7.39581547e-01 6.72923394e-01 1.39011233e-02 2.99057856e+02] [-6.72802921e-01 7.39712175e-01 -1.27329406e-02 -2.28367804e+01] [-1.88511238e-02 6.43314965e-05 9.99822300e-01 -9.57624361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35591999999997 meters Centerline goodness [0,1] 0.999354966755979 Centerline is valid? [True, True] Translation: X:299.08, Y:-22.86, Z:-0.96 [[ 7.37199750e-01 6.75538245e-01 1.35871000e-02 2.99081789e+02] [-6.75423358e-01 7.37324949e-01 -1.24582431e-02 -2.28594839e+01] [-1.84341275e-02 7.16896456e-06 9.99830077e-01 -9.57824275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38592 meters Centerline goodness [0,1] 0.9997516761857462 Centerline is valid? [True, True] Translation: X:299.11, Y:-22.88, Z:-0.96 [[ 7.34493581e-01 6.78477096e-01 1.37116348e-02 2.99105048e+02] [-6.78360359e-01 7.34621553e-01 -1.25856035e-02 -2.28825549e+01] [-1.86119061e-02 -5.73845093e-05 9.99826782e-01 -9.57783842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41591999999997 meters Centerline goodness [0,1] 0.9996520182938954 Centerline is valid? [True, True] Translation: X:299.13, Y:-22.91, Z:-0.96 [[ 7.32839760e-01 6.80265618e-01 1.35858483e-02 2.99129529e+02] [-6.80151076e-01 7.32965675e-01 -1.24833055e-02 -2.29054429e+01] [-1.84499239e-02 -9.21667464e-05 9.99829781e-01 -9.57923315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44592 meters Centerline goodness [0,1] 0.9994050865103367 Centerline is valid? [True, True] Translation: X:299.15, Y:-22.93, Z:-0.96 [[ 7.29653247e-01 6.83684258e-01 1.34898109e-02 2.99153423e+02] [-6.83571702e-01 7.29777916e-01 -1.24065084e-02 -2.29264082e+01] [-1.83267006e-02 -1.68803850e-04 9.99832038e-01 -9.57814136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.18, Y:-22.95, Z:-0.96 [[ 7.28844040e-01 6.84532660e-01 1.41915963e-02 2.99178968e+02] [-6.84408017e-01 7.28982167e-01 -1.30639226e-02 -2.29463588e+01] [-1.92881023e-02 -1.91280109e-04 9.99813949e-01 -9.58979965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50591999999995 meters Centerline goodness [0,1] 0.9999007936507937 Centerline is valid? [True, True] Translation: X:299.20, Y:-22.97, Z:-0.96 [[ 7.28937533e-01 6.84415641e-01 1.50101120e-02 2.99203729e+02] [-6.84275881e-01 7.29092035e-01 -1.38319529e-02 -2.29680087e+01] [-2.04105580e-02 -1.88428028e-04 9.99791665e-01 -9.59672717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.23, Y:-22.99, Z:-0.96 [[ 7.29155252e-01 6.84188153e-01 1.48050227e-02 2.99228574e+02] [-6.84051850e-01 7.29305521e-01 -1.36573914e-02 -2.29898468e+01] [-2.01416102e-02 -1.69044527e-04 9.99797123e-01 -9.59327552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56591999999995 meters Centerline goodness [0,1] 0.999950411583854 Centerline is valid? [True, True] Translation: X:299.25, Y:-23.01, Z:-0.96 [[ 7.29579059e-01 6.83737016e-01 1.47678732e-02 2.99253774e+02] [-6.83601015e-01 7.29728492e-01 -1.36374679e-02 -2.30110950e+01] [-2.01009795e-02 -1.45722104e-04 9.99797944e-01 -9.59884908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.28, Y:-23.03, Z:-0.96 [[ 7.30969351e-01 6.82263320e-01 1.41622576e-02 2.99280120e+02] [-6.82137736e-01 7.31106526e-01 -1.30902936e-02 -2.30300395e+01] [-1.92851461e-02 -9.20069047e-05 9.99814020e-01 -9.59821774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.31, Y:-23.05, Z:-0.96 [[ 7.31996003e-01 6.81095259e-01 1.70616313e-02 2.99305311e+02] [-6.80912557e-01 7.32194812e-01 -1.57749000e-02 -2.30503959e+01] [-2.32366475e-02 -7.03152415e-05 9.99729990e-01 -9.61169166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.33, Y:-23.07, Z:-0.96 [[ 7.31690339e-01 6.81421037e-01 1.71644370e-02 2.99329929e+02] [-6.81235837e-01 7.31891635e-01 -1.58861192e-02 -2.30722096e+01] [-2.33876437e-02 -6.93096436e-05 9.99726469e-01 -9.60371775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.35, Y:-23.09, Z:-0.96 [[ 7.32098603e-01 6.80928664e-01 1.91778219e-02 2.99354193e+02] [-6.80696861e-01 7.32349747e-01 -1.77660300e-02 -2.30934288e+01] [-2.61422721e-02 -4.77974094e-05 9.99658231e-01 -9.62480531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.38, Y:-23.11, Z:-0.96 [[ 7.33719005e-01 6.79172148e-01 1.95349538e-02 2.99379481e+02] [-6.78930503e-01 7.33979013e-01 -1.81157451e-02 -2.31141751e+01] [-2.66419557e-02 2.89904278e-05 9.99645040e-01 -9.61884361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.40, Y:-23.14, Z:-0.96 [[ 7.34918790e-01 6.77876000e-01 1.94550911e-02 2.99404596e+02] [-6.77635370e-01 7.35176251e-01 -1.80605886e-02 -2.31351120e+01] [-2.65457605e-02 8.96080463e-05 9.99647595e-01 -9.62618839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.43, Y:-23.16, Z:-0.96 [[ 7.35543866e-01 6.77201055e-01 1.93378569e-02 2.99429091e+02] [-6.76962591e-01 7.35798012e-01 -1.79703859e-02 -2.31571455e+01] [-2.63983210e-02 1.27001398e-04 9.99651496e-01 -9.63338934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.45, Y:-23.18, Z:-0.96 [[ 7.39866427e-01 6.72465507e-01 1.96929585e-02 2.99451921e+02] [-6.72216075e-01 7.40128396e-01 -1.83168102e-02 -2.31796395e+01] [-2.68927408e-02 3.14069632e-04 9.99638276e-01 -9.63173933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83592 meters Centerline goodness [0,1] 0.9999502858563262 Centerline is valid? [True, True] Translation: X:299.48, Y:-23.20, Z:-0.96 [[ 7.42110090e-01 6.69984508e-01 1.98336486e-02 2.99475819e+02] [-6.69730168e-01 7.42374961e-01 -1.84640008e-02 -2.32018277e+01] [-2.70945987e-02 4.19128498e-04 9.99632786e-01 -9.62172678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.50, Y:-23.22, Z:-0.96 [[ 7.45580556e-01 6.66093609e-01 2.07108290e-02 2.99498839e+02] [-6.65814318e-01 7.45867915e-01 -1.92962943e-02 -2.32237981e+01] [-2.83006812e-02 5.97375397e-04 9.99599277e-01 -9.63056190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.52, Y:-23.25, Z:-0.96 [[ 7.46662499e-01 6.64904296e-01 1.99346499e-02 2.99521926e+02] [-6.64644661e-01 7.46928296e-01 -1.85901945e-02 -2.32467828e+01] [-2.72504542e-02 6.31142401e-04 9.99628438e-01 -9.62313773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.54, Y:-23.27, Z:-0.96 [[ 7.47538018e-01 6.63890015e-01 2.09035910e-02 2.99544028e+02] [-6.63603644e-01 7.47829887e-01 -1.95105929e-02 -2.32703553e+01] [-2.85852180e-02 7.13210795e-04 9.99591105e-01 -9.63352312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95592 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:299.56, Y:-23.30, Z:-0.96 [[ 7.47517273e-01 6.63934039e-01 2.02365380e-02 2.99564670e+02] [-6.63665164e-01 7.47790812e-01 -1.89064072e-02 -2.32969807e+01] [-2.76853045e-02 7.02580620e-04 9.99616442e-01 -9.62611939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.59, Y:-23.32, Z:-0.96 [[ 7.46397077e-01 6.65216529e-01 1.94518055e-02 2.99586339e+02] [-6.64968122e-01 7.46650225e-01 -1.81889618e-02 -2.33211963e+01] [-2.66232930e-02 6.41357364e-04 9.99645332e-01 -9.62408021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.61, Y:-23.35, Z:-0.96 [[ 7.46154690e-01 6.65540467e-01 1.75802601e-02 2.99605224e+02] [-6.65337318e-01 7.46361542e-01 -1.64530324e-02 -2.33487169e+01] [-2.40713888e-02 5.79704190e-04 9.99710074e-01 -9.60882207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.63, Y:-23.37, Z:-0.96 [[ 7.45158080e-01 6.66647207e-01 1.79147083e-02 2.99625865e+02] [-6.66436165e-01 7.45373182e-01 -1.67826671e-02 -2.33749578e+01] [-2.45412612e-02 5.66730517e-04 9.99698657e-01 -9.62151786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.65, Y:-23.40, Z:-0.96 [[ 7.44641927e-01 6.67236371e-01 1.74363194e-02 2.99646542e+02] [-6.67036270e-01 7.44845843e-01 -1.63488275e-02 -2.33998052e+01] [-2.38959023e-02 5.43364943e-04 9.99714304e-01 -9.61673490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.67, Y:-23.43, Z:-0.96 [[ 7.42670641e-01 6.69442149e-01 1.69566586e-02 2.99665736e+02] [-6.69253157e-01 7.42864044e-01 -1.59130154e-02 -2.34268131e+01] [-2.32493352e-02 4.69832045e-04 9.99729587e-01 -9.60359576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.68, Y:-23.45, Z:-0.96 [[ 7.39668460e-01 6.72742515e-01 1.75521614e-02 2.99684645e+02] [-6.72540589e-01 7.39876582e-01 -1.64863295e-02 -2.34530734e+01] [-2.40774879e-02 3.89877008e-04 9.99710019e-01 -9.61593846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16591999999997 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:299.71, Y:-23.48, Z:-0.96 [[ 7.37856179e-01 6.74715068e-01 1.81062220e-02 2.99705902e+02] [-6.74500355e-01 7.38078218e-01 -1.70239849e-02 -2.34783662e+01] [-2.48501472e-02 3.48599302e-04 9.99691127e-01 -9.61192271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:299.73, Y:-23.50, Z:-0.96 [[ 7.35448369e-01 6.77347422e-01 1.77810478e-02 2.99727247e+02] [-6.77140752e-01 7.35663237e-01 -1.67333000e-02 -2.35030919e+01] [-2.44151208e-02 2.66206101e-04 9.99701871e-01 -9.62304882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.75, Y:-23.53, Z:-0.96 [[ 7.33380945e-01 6.79558098e-01 1.87930964e-02 2.99749503e+02] [-6.79327482e-01 7.33621663e-01 -1.77039239e-02 -2.35271556e+01] [-2.58178675e-02 2.17053570e-04 9.99666640e-01 -9.61690859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.77, Y:-23.55, Z:-0.96 [[ 7.29342549e-01 6.83898394e-01 1.85049512e-02 2.99772216e+02] [-6.83675777e-01 7.29577262e-01 -1.74484879e-02 -2.35498954e+01] [-2.54337845e-02 7.45377622e-05 9.99676506e-01 -9.61912479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.80, Y:-23.57, Z:-0.96 [[ 7.25903332e-01 6.87569731e-01 1.76696907e-02 2.99795090e+02] [-6.87367702e-01 7.26118353e-01 -1.66667163e-02 -2.35723618e+01] [-2.42898163e-02 -4.71497974e-05 9.99704958e-01 -9.61673236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31591999999995 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:299.82, Y:-23.59, Z:-0.96 [[ 7.23472998e-01 6.90134239e-01 1.73652872e-02 2.99818819e+02] [-6.89939441e-01 7.23681365e-01 -1.63966329e-02 -2.35947113e+01] [-2.38828125e-02 -1.18475333e-04 9.99714758e-01 -9.61386230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.84, Y:-23.62, Z:-0.96 [[ 7.21787419e-01 6.91893300e-01 1.75095379e-02 2.99843555e+02] [-6.91695368e-01 7.21999747e-01 -1.65494284e-02 -2.36159030e+01] [-2.40923205e-02 -1.66097076e-04 9.99709724e-01 -9.61295231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.87, Y:-23.63, Z:-0.96 [[ 7.18863142e-01 6.94916295e-01 1.80866430e-02 2.99871397e+02] [-6.94705659e-01 7.19090588e-01 -1.71106473e-02 -2.36337590e+01] [-2.48964024e-02 -2.64679578e-04 9.99690002e-01 -9.61260673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.90, Y:-23.65, Z:-0.96 [[ 7.18447230e-01 6.95324767e-01 1.88956654e-02 2.99896447e+02] [-6.95094571e-01 7.18695617e-01 -1.78926448e-02 -2.36544677e+01] [-2.60214310e-02 -2.79353337e-04 9.99661346e-01 -9.61791293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.92, Y:-23.67, Z:-0.96 [[ 7.19630295e-01 6.94134496e-01 1.75937791e-02 2.99921699e+02] [-6.93934203e-01 7.19845302e-01 -1.66752422e-02 -2.36745158e+01] [-2.42396601e-02 -2.08915632e-04 9.99706154e-01 -9.59995371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.95, Y:-23.69, Z:-0.96 [[ 7.20744185e-01 6.92985511e-01 1.72887731e-02 2.99946718e+02] [-6.92791407e-01 7.20951494e-01 -1.64015013e-02 -2.36948594e+01] [-2.38303695e-02 -1.56226769e-04 9.99716004e-01 -9.60262182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49591999999996 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:299.97, Y:-23.71, Z:-0.96 [[ 7.24233799e-01 6.89369597e-01 1.59675529e-02 2.99974012e+02] [-6.89203029e-01 7.24409800e-01 -1.51534392e-02 -2.37135887e+01] [-2.20133721e-02 -3.02530105e-05 9.99757676e-01 -9.60060783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.00, Y:-23.74, Z:-0.96 [[ 7.26128742e-01 6.87387229e-01 1.53573243e-02 2.99999428e+02] [-6.87232388e-01 7.26291123e-01 -1.45893480e-02 -2.37354864e+01] [-2.11824198e-02 3.96942411e-05 9.99775627e-01 -9.60283145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.02, Y:-23.76, Z:-0.96 [[ 7.28925723e-01 6.84425822e-01 1.51189731e-02 3.00023786e+02] [-6.84274798e-01 7.29082489e-01 -1.43779281e-02 -2.37571414e+01] [-2.08636038e-02 1.34909354e-04 9.99782322e-01 -9.60436101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58592 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:300.05, Y:-23.78, Z:-0.96 [[ 7.30312530e-01 6.82967726e-01 1.40958440e-02 3.00048390e+02] [-6.82835990e-01 7.30448530e-01 -1.34147333e-02 -2.37799299e+01] [-1.94581184e-02 1.71798255e-04 9.99810658e-01 -9.60063720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61591999999996 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:300.07, Y:-23.80, Z:-0.96 [[ 7.31107270e-01 6.82108870e-01 1.44792416e-02 3.00071741e+02] [-6.81969455e-01 7.31250604e-01 -1.37919205e-02 -2.38015631e+01] [-1.99955455e-02 2.08972808e-04 9.99800047e-01 -9.59596270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64592 meters Centerline goodness [0,1] 0.9999503968253968 Centerline is valid? [True, True] Translation: X:300.09, Y:-23.82, Z:-0.96 [[ 7.33125206e-01 6.79949605e-01 1.39988195e-02 3.00094517e+02] [-6.79818663e-01 7.33258797e-01 -1.33462529e-02 -2.38241885e+01] [-1.93395369e-02 2.67815698e-04 9.99812938e-01 -9.60163208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67591999999996 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:300.12, Y:-23.85, Z:-0.96 [[ 7.33953974e-01 6.79061508e-01 1.36760168e-02 3.00117835e+02] [-6.78936130e-01 7.34081319e-01 -1.30517905e-02 -2.38477282e+01] [-1.89022770e-02 2.94271575e-04 9.99821293e-01 -9.60286609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70592 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:300.14, Y:-23.87, Z:-0.96 [[ 7.34615910e-01 6.78335731e-01 1.41456988e-02 3.00140082e+02] [-6.78201221e-01 7.34752016e-01 -1.35121403e-02 -2.38710528e+01] [-1.95593483e-02 3.32603058e-04 9.99808642e-01 -9.60058203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73591999999996 meters Centerline goodness [0,1] 0.9999007394907936 Centerline is valid? [True, True] Translation: X:300.16, Y:-23.90, Z:-0.96 [[ 7.35921081e-01 6.76948367e-01 1.26913809e-02 3.00160894e+02] [-6.76839676e-01 7.36030429e-01 -1.21351158e-02 -2.38964222e+01] [-1.75560893e-02 3.40457382e-04 9.99845822e-01 -9.58802807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.18, Y:-23.92, Z:-0.96 [[ 7.35645504e-01 6.77233619e-01 1.34282613e-02 3.00183426e+02] [-6.77111741e-01 7.35767962e-01 -1.28528752e-02 -2.39207990e+01] [-1.85844837e-02 3.62726450e-04 9.99827228e-01 -9.60137602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.20, Y:-23.95, Z:-0.96 [[ 7.34922710e-01 6.78008043e-01 1.39177348e-02 3.00203661e+02] [-6.77876996e-01 7.35054392e-01 -1.33348695e-02 -2.39473333e+01] [-1.92714409e-02 3.65586222e-04 9.99814222e-01 -9.58836840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:300.23, Y:-23.97, Z:-0.96 [[ 7.34348673e-01 6.78636190e-01 1.35995484e-02 3.00226080e+02] [-6.78510923e-01 7.34474505e-01 -1.30433349e-02 -2.39710063e+01] [-1.88402006e-02 3.50913531e-04 9.99822446e-01 -9.58487033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.25, Y:-24.00, Z:-0.96 [[ 7.33056360e-01 6.80014972e-01 1.44225852e-02 3.00248182e+02] [-6.79874066e-01 7.33198145e-01 -1.38468322e-02 -2.39952022e+01] [-1.99906660e-02 3.44966795e-04 9.99800107e-01 -9.58169276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.27, Y:-24.02, Z:-0.96 [[ 7.31714292e-01 6.81452761e-01 1.47081353e-02 3.00267712e+02] [-6.81306214e-01 7.31862030e-01 -1.41354958e-02 -2.40219430e+01] [-2.03969984e-02 3.22400308e-04 9.99791908e-01 -9.58825287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.29, Y:-24.05, Z:-0.96 [[ 7.30524299e-01 6.82735259e-01 1.43810521e-02 3.00289360e+02] [-6.82595155e-01 7.30665780e-01 -1.38337145e-02 -2.40461083e+01] [-1.99525073e-02 2.89428119e-04 9.99800887e-01 -9.58175305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.31, Y:-24.07, Z:-0.96 [[ 7.28386106e-01 6.85010721e-01 1.46284879e-02 3.00309089e+02] [-6.84865955e-01 7.28532947e-01 -1.40843828e-02 -2.40720363e+01] [-2.03052886e-02 2.40315479e-04 9.99793797e-01 -9.58927653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97592 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:300.33, Y:-24.10, Z:-0.96 [[ 7.26405827e-01 6.87112167e-01 1.45411279e-02 3.00330070e+02] [-6.86969289e-01 7.26551329e-01 -1.40129651e-02 -2.40964003e+01] [-2.01933546e-02 1.89791212e-04 9.99796075e-01 -9.59183048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00591999999995 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:300.35, Y:-24.12, Z:-0.96 [[ 7.25549877e-01 6.88037041e-01 1.35057512e-02 3.00351848e+02] [-6.87913725e-01 7.25675550e-01 -1.30269833e-02 -2.41201588e+01] [-1.87638405e-02 1.60934503e-04 9.99823931e-01 -9.59637046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:300.38, Y:-24.14, Z:-0.96 [[ 7.25191973e-01 6.88414394e-01 1.34990128e-02 3.00375483e+02] [-6.88291014e-01 7.25317583e-01 -1.30339657e-02 -2.41425184e+01] [-1.87638409e-02 1.60878086e-04 9.99823931e-01 -9.59664727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06591999999995 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:300.40, Y:-24.17, Z:-0.96 [[ 7.22349198e-01 6.91375734e-01 1.45337822e-02 3.00397279e+02] [-6.91233010e-01 7.22495387e-01 -1.40478058e-02 -2.41677428e+01] [-2.02129027e-02 1.01191252e-04 9.99795693e-01 -9.60896506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.42, Y:-24.19, Z:-0.96 [[ 7.20864461e-01 6.92910875e-01 1.51310046e-02 3.00419971e+02] [-6.92756191e-01 7.21023241e-01 -1.46405689e-02 -2.41920147e+01] [-2.10544154e-02 7.17687132e-05 9.99778329e-01 -9.61700392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.44, Y:-24.22, Z:-0.96 [[ 7.19391790e-01 6.94410804e-01 1.64038983e-02 3.00441134e+02] [-6.94229043e-01 7.19578789e-01 -1.58871629e-02 -2.42168121e+01] [-2.28361149e-02 4.10318933e-05 9.99739221e-01 -9.61838527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.46, Y:-24.24, Z:-0.96 [[ 7.19172292e-01 6.94609223e-01 1.75852642e-02 3.00463387e+02] [-6.94400008e-01 7.19387257e-01 -1.70471200e-02 -2.42395771e+01] [-2.44917018e-02 4.86088182e-05 9.99700032e-01 -9.62917169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.49, Y:-24.26, Z:-0.96 [[ 7.18500874e-01 6.95296959e-01 1.78502776e-02 3.00486430e+02] [-6.95081148e-01 7.18722573e-01 -1.73222534e-02 -2.42628411e+01] [-2.48735076e-02 3.86627901e-05 9.99690606e-01 -9.62704145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.51, Y:-24.29, Z:-0.96 [[ 7.19102419e-01 6.94700045e-01 1.68391882e-02 3.00509049e+02] [-6.94507473e-01 7.19299551e-01 -1.63562606e-02 -2.42862252e+01] [-2.34751155e-02 6.68845754e-05 9.99724419e-01 -9.62779199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.53, Y:-24.31, Z:-0.96 [[ 7.19631494e-01 6.94127048e-01 1.78368617e-02 3.00531541e+02] [-6.93910403e-01 7.19852506e-01 -1.73413473e-02 -2.43090558e+01] [-2.48770078e-02 1.02195800e-04 9.99690514e-01 -9.63654859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.55, Y:-24.33, Z:-0.96 [[ 7.20134117e-01 6.93559655e-01 1.95412242e-02 3.00552456e+02] [-6.93298933e-01 7.20399184e-01 -1.90159271e-02 -2.43334417e+01] [-2.72661618e-02 1.46108005e-04 9.99628198e-01 -9.63731852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.58, Y:-24.36, Z:-0.96 [[ 7.20063760e-01 6.93623174e-01 1.98764712e-02 3.00575102e+02] [-6.93352888e-01 7.20338023e-01 -1.93624670e-02 -2.43580716e+01] [-2.77480338e-02 1.60802126e-04 9.99614936e-01 -9.63098980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.60, Y:-24.38, Z:-0.96 [[ 7.20873389e-01 6.92767112e-01 2.03785267e-02 3.00596053e+02] [-6.92482137e-01 7.21161343e-01 -1.98697614e-02 -2.43833200e+01] [-2.84613230e-02 2.11816545e-04 9.99594872e-01 -9.63342943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.62, Y:-24.41, Z:-0.96 [[ 7.20780851e-01 6.92865436e-01 2.03089122e-02 3.00618986e+02] [-6.92581851e-01 7.21066875e-01 -1.98227586e-02 -2.44070961e+01] [-2.83785881e-02 2.22280816e-04 9.99597222e-01 -9.63175331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.64, Y:-24.43, Z:-0.96 [[ 7.20675335e-01 6.92984388e-01 1.99925014e-02 3.00642106e+02] [-6.92709211e-01 7.20952556e-01 -1.95284766e-02 -2.44313737e+01] [-2.79465744e-02 2.24701570e-04 9.99609393e-01 -9.63393488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.66, Y:-24.46, Z:-0.96 [[ 7.20086807e-01 6.93584608e-01 2.03809357e-02 3.00663749e+02] [-6.93298285e-01 7.20375141e-01 -1.99285081e-02 -2.44564298e+01] [-2.85040259e-02 2.20188006e-04 9.99593653e-01 -9.62969172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.69, Y:-24.48, Z:-0.96 [[ 7.20147590e-01 6.93512518e-01 2.06841812e-02 3.00686696e+02] [-6.93216968e-01 7.20444536e-01 -2.02461396e-02 -2.44798029e+01] [-2.89427566e-02 2.41583281e-04 9.99581041e-01 -9.62536138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.71, Y:-24.51, Z:-0.96 [[ 7.19313556e-01 6.94369223e-01 2.09616441e-02 3.00707316e+02] [-6.94065420e-01 7.19618879e-01 -2.05392521e-02 -2.45065172e+01] [-2.93462194e-02 2.25410117e-04 9.99569282e-01 -9.62771936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.73, Y:-24.53, Z:-0.96 [[ 7.18455300e-01 6.95271148e-01 2.04942200e-02 3.00728629e+02] [-6.94980579e-01 7.18747516e-01 -2.00998080e-02 -2.45313121e+01] [-2.87049863e-02 1.97728715e-04 9.99587907e-01 -9.62507903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.75, Y:-24.56, Z:-0.96 [[ 7.18733284e-01 6.95031605e-01 1.88025121e-02 3.00750325e+02] [-6.94786705e-01 7.18979158e-01 -1.84500470e-02 -2.45558838e+01] [-2.63419801e-02 1.96927450e-04 9.99652970e-01 -9.61363500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.77, Y:-24.58, Z:-0.96 [[ 7.17134609e-01 6.96643994e-01 2.01270435e-02 3.00770549e+02] [-6.96363492e-01 7.17416977e-01 -1.97678301e-02 -2.45811015e+01] [-2.82106229e-02 1.60456754e-04 9.99601988e-01 -9.62755851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60591999999997 meters Centerline goodness [0,1] 0.9999503672821124 Centerline is valid? [True, True] Translation: X:300.79, Y:-24.61, Z:-0.96 [[ 7.15769218e-01 6.98051762e-01 1.99540428e-02 3.00791618e+02] [-6.97776034e-01 7.16047291e-01 -1.96184440e-02 -2.46062790e+01] [-2.79827277e-02 1.18825499e-04 9.99608400e-01 -9.62894578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.81, Y:-24.63, Z:-0.96 [[ 7.13879263e-01 7.00009560e-01 1.90529302e-02 3.00809209e+02] [-6.99758405e-01 7.14133470e-01 -1.87499470e-02 -2.46338635e+01] [-2.67314773e-02 5.27502529e-05 9.99642649e-01 -9.62955175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.83, Y:-24.66, Z:-0.96 [[ 7.11797066e-01 7.02129806e-01 1.89386309e-02 3.00830816e+02] [-7.01881878e-01 7.12048969e-01 -1.86572836e-02 -2.46590498e+01] [-2.65850675e-02 -1.24820960e-05 9.99646555e-01 -9.62437158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69592 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:300.85, Y:-24.68, Z:-0.96 [[ 7.09907363e-01 7.04036056e-01 1.90989173e-02 3.00852662e+02] [-7.03784055e-01 7.10164226e-01 -1.88354976e-02 -2.46845095e+01] [-2.68242372e-02 -7.00550396e-05 9.99640163e-01 -9.63148512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.87, Y:-24.71, Z:-0.96 [[ 7.05821258e-01 7.08145474e-01 1.86102049e-02 3.00871320e+02] [-7.07907116e-01 7.06066530e-01 -1.83730900e-02 -2.47123432e+01] [-2.61508633e-02 -2.06178987e-04 9.99657986e-01 -9.63570101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.89, Y:-24.74, Z:-0.96 [[ 7.03416106e-01 7.10552262e-01 1.79238558e-02 3.00892381e+02] [-7.10331468e-01 7.03644377e-01 -1.77142745e-02 -2.47374796e+01] [-2.51989382e-02 -2.71372814e-04 9.99682420e-01 -9.63642664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78592 meters Centerline goodness [0,1] 0.9998014001290899 Centerline is valid? [True, True] Translation: X:300.91, Y:-24.76, Z:-0.96 [[ 6.98545360e-01 7.15355172e-01 1.73596657e-02 3.00912709e+02] [-7.15149176e-01 6.98760904e-01 -1.71713080e-02 -2.47620479e+01] [-2.44138397e-02 -4.19813043e-04 9.99701850e-01 -9.64489956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81591999999995 meters Centerline goodness [0,1] 0.9996520355917881 Centerline is valid? [True, True] Translation: X:300.93, Y:-24.78, Z:-0.96 [[ 6.95107345e-01 7.18677600e-01 1.81186742e-02 3.00934780e+02] [-7.18453932e-01 6.95343229e-01 -1.79371593e-02 -2.47848738e+01] [-2.54897320e-02 -5.49181551e-04 9.99674933e-01 -9.64628801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84592 meters Centerline goodness [0,1] 0.9996024054470454 Centerline is valid? [True, True] Translation: X:300.96, Y:-24.81, Z:-0.97 [[ 6.91822402e-01 7.21828307e-01 1.85919101e-02 3.00957059e+02] [-7.21593501e-01 6.92071850e-01 -1.84220916e-02 -2.48079860e+01] [-2.61645248e-02 -6.70985812e-04 9.99657425e-01 -9.65367482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87591999999995 meters Centerline goodness [0,1] 0.9997020410190197 Centerline is valid? [True, True] Translation: X:300.98, Y:-24.83, Z:-0.96 [[ 6.86292628e-01 7.27099944e-01 1.81135131e-02 3.00978662e+02] [-7.26878692e-01 6.86531106e-01 -1.79557122e-02 -2.48311193e+01] [-2.54910875e-02 -8.43453741e-04 9.99674694e-01 -9.63759603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90592 meters Centerline goodness [0,1] 0.9990075426756649 Centerline is valid? [True, True] Translation: X:301.00, Y:-24.85, Z:-0.96 [[ 6.81818983e-01 7.31321946e-01 1.70612394e-02 3.01001911e+02] [-7.31126864e-01 6.82031765e-01 -1.69168834e-02 -2.48529783e+01] [-2.40079953e-02 -9.39678255e-04 9.99711325e-01 -9.63123022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93591999999995 meters Centerline goodness [0,1] 0.9991546914623838 Centerline is valid? [True, True] Translation: X:301.03, Y:-24.87, Z:-0.96 [[ 6.79821690e-01 7.33170030e-01 1.74406533e-02 3.01026541e+02] [-7.32966424e-01 6.80044610e-01 -1.73075038e-02 -2.48738406e+01] [-2.45497654e-02 -1.01739685e-03 9.99698091e-01 -9.63951430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96592 meters Centerline goodness [0,1] 0.9991548175400219 Centerline is valid? [True, True] Translation: X:301.05, Y:-24.89, Z:-0.96 [[ 6.77788530e-01 7.35029033e-01 1.83038101e-02 3.01051534e+02] [-7.34805052e-01 6.78034695e-01 -1.81793013e-02 -2.48945865e+01] [-2.57729326e-02 -1.12801027e-03 9.99667186e-01 -9.63764986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99591999999996 meters Centerline goodness [0,1] 0.9984110432494165 Centerline is valid? [True, True] Translation: X:301.08, Y:-24.91, Z:-0.96 [[ 6.73778802e-01 7.38716891e-01 1.78740344e-02 3.01077814e+02] [-7.38504481e-01 6.74014709e-01 -1.77567873e-02 -2.49136709e+01] [-2.51646008e-02 -1.23590761e-03 9.99682557e-01 -9.63122268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.02592 meters Centerline goodness [0,1] 0.998213044773156 Centerline is valid? [True, True] Translation: X:301.10, Y:-24.93, Z:-0.96 [[ 6.71881679e-01 7.40433384e-01 1.82595807e-02 3.01103128e+02] [-7.40212152e-01 6.72128449e-01 -1.81471052e-02 -2.49332655e+01] [-2.57095062e-02 -1.32325600e-03 9.99668580e-01 -9.63450849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05591999999996 meters Centerline goodness [0,1] 0.9981634982875862 Centerline is valid? [True, True] Translation: X:301.13, Y:-24.95, Z:-0.96 [[ 6.69455512e-01 7.42634010e-01 1.80012702e-02 3.01131367e+02] [-7.42419433e-01 6.69696071e-01 -1.79041477e-02 -2.49497591e+01] [-2.53516089e-02 -1.37846242e-03 9.99677646e-01 -9.62988897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08592 meters Centerline goodness [0,1] 0.9982628548739328 Centerline is valid? [True, True] Translation: X:301.16, Y:-24.97, Z:-0.96 [[ 6.68725923e-01 7.43308759e-01 1.72548542e-02 3.01157793e+02] [-7.43111435e-01 6.68947164e-01 -1.71781104e-02 -2.49696297e+01] [-2.43112257e-02 -1.33483176e-03 9.99703547e-01 -9.62098302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11591999999996 meters Centerline goodness [0,1] 0.9986094557012316 Centerline is valid? [True, True] Translation: X:301.18, Y:-24.99, Z:-0.96 [[ 6.68982967e-01 7.43040948e-01 1.87600474e-02 3.01184407e+02] [-7.42807110e-01 6.69244431e-01 -1.86946242e-02 -2.49892750e+01] [-2.64459285e-02 -1.42871148e-03 9.99649224e-01 -9.62552832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14592 meters Centerline goodness [0,1] 0.9993010135303809 Centerline is valid? [True, True] Translation: X:301.21, Y:-25.00, Z:-0.96 [[ 6.69294386e-01 7.42752909e-01 1.90562629e-02 3.01214051e+02] [-7.42511346e-01 6.69564079e-01 -1.89959413e-02 -2.50046796e+01] [-2.68686798e-02 -1.43561449e-03 9.99637941e-01 -9.61141520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17591999999996 meters Centerline goodness [0,1] 0.9990566037735849 Centerline is valid? [True, True] Translation: X:301.24, Y:-25.02, Z:-0.96 [[ 6.69230722e-01 7.42796916e-01 1.95699407e-02 3.01241379e+02] [-7.42541654e-01 6.69515198e-01 -1.95266915e-02 -2.50244968e+01] [-2.76067389e-02 -1.46363426e-03 9.99617790e-01 -9.60624867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20592 meters Centerline goodness [0,1] 0.9992545843065149 Centerline is valid? [True, True] Translation: X:301.27, Y:-25.04, Z:-0.96 [[ 6.69967944e-01 7.42120499e-01 2.00029766e-02 3.01269577e+02] [-7.41853028e-01 6.70264907e-01 -1.99759768e-02 -2.50417935e+01] [-2.82318751e-02 -1.45600466e-03 9.99600341e-01 -9.61836441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23591999999996 meters Centerline goodness [0,1] 0.9994543380127983 Centerline is valid? [True, True] Translation: X:301.30, Y:-25.06, Z:-0.96 [[ 6.70230914e-01 7.41887563e-01 1.98334628e-02 3.01295678e+02] [-7.41624039e-01 6.70522796e-01 -1.98233561e-02 -2.50610560e+01] [-2.80054902e-02 -1.42274670e-03 9.99606757e-01 -9.61750789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26592 meters Centerline goodness [0,1] 0.999553128103277 Centerline is valid? [True, True] Translation: X:301.33, Y:-25.08, Z:-0.96 [[ 6.72909950e-01 7.39509956e-01 1.78107957e-02 3.01325596e+02] [-7.39296525e-01 6.73144574e-01 -1.78053346e-02 -2.50762112e+01] [-2.51564627e-02 -1.18607258e-03 9.99682823e-01 -9.60838308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29591999999997 meters Centerline goodness [0,1] 0.999652501985703 Centerline is valid? [True, True] Translation: X:301.35, Y:-25.10, Z:-0.96 [[ 6.74754637e-01 7.37830284e-01 1.76819539e-02 3.01352784e+02] [-7.37619151e-01 6.74985363e-01 -1.76846919e-02 -2.50951549e+01] [-2.49833613e-02 -1.10971995e-03 9.99687251e-01 -9.61236867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32592 meters Centerline goodness [0,1] 0.9997016261375503 Centerline is valid? [True, True] Translation: X:301.33, Y:-25.13, Z:0.91 [[ 7.81634751e-01 -6.23498648e-01 1.72206480e-02 3.01333724e+02] [-6.23322604e-01 -7.81823948e-01 -1.48407006e-02 -2.51302843e+01] [ 2.27166718e-02 8.65988127e-04 -9.99741568e-01 9.09045630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35591999999997 meters Centerline goodness [0,1] 0.9998015479261758 Centerline is valid? [True, True] Translation: X:301.33, Y:-25.22, Z:0.91 [[ 8.22017512e-01 -5.69154684e-01 1.87124494e-02 3.01330796e+02] [-5.68988600e-01 -8.22230199e-01 -1.37649354e-02 -2.52174963e+01] [ 2.32203184e-02 6.67847575e-04 -9.99730149e-01 9.09476724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38592 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:301.33, Y:-25.29, Z:0.91 [[ 8.61487631e-01 -5.07342170e-01 2.10471888e-02 3.01326064e+02] [-5.07173574e-01 -8.61744485e-01 -1.30922855e-02 -2.52917575e+01] [ 2.47795674e-02 6.04264094e-04 -9.99692757e-01 9.09745942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41591999999997 meters Centerline goodness [0,1] 0.9999504165013884 Centerline is valid? [True, True] Translation: X:301.32, Y:-25.37, Z:0.91 [[ 8.93986328e-01 -4.47464613e-01 2.37458494e-02 3.01323196e+02] [-4.47295318e-01 -8.94301555e-01 -1.23137382e-02 -2.53669678e+01] [ 2.67459121e-02 3.86906318e-04 -9.99642189e-01 9.09570805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.33, Y:-25.44, Z:0.91 [[ 9.24725794e-01 -3.79781223e-01 2.54642718e-02 3.01327198e+02] [-3.79628482e-01 -9.25076286e-01 -1.07740748e-02 -2.54379143e+01] [ 2.76481853e-02 2.96101984e-04 -9.99617672e-01 9.09826513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.34, Y:-25.51, Z:0.91 [[ 9.50838323e-01 -3.08658539e-01 2.52267733e-02 3.01337164e+02] [-3.08543978e-01 -9.51172887e-01 -8.41149466e-03 -2.55094920e+01] [ 2.65913024e-02 2.14402494e-04 -9.99646366e-01 9.09381570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50591999999995 meters Centerline goodness [0,1] 0.9998015971429989 Centerline is valid? [True, True] Translation: X:301.35, Y:-25.58, Z:0.91 [[ 9.71074700e-01 -2.37557018e-01 2.40954292e-02 3.01352358e+02] [-2.37481694e-01 -9.71373592e-01 -5.98240484e-03 -2.55820228e+01] [ 2.48268258e-02 8.71386488e-05 -9.99691763e-01 9.10067907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53592 meters Centerline goodness [0,1] 0.9997020706092656 Centerline is valid? [True, True] Translation: X:301.40, Y:-25.51, Z:-0.96 [[ 9.68279715e-01 2.48680018e-01 2.43442393e-02 3.01401981e+02] [-2.48604638e-01 9.68585687e-01 -6.12373651e-03 -2.55110937e+01] [-2.51023326e-02 -1.22600945e-04 9.99684879e-01 -9.62180835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56591999999995 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:301.43, Y:-25.52, Z:-0.96 [[ 9.68460871e-01 2.47943699e-01 2.46467905e-02 3.01433708e+02] [-2.47866058e-01 9.68774438e-01 -6.20525641e-03 -2.55188104e+01] [-2.54157348e-02 -9.95547577e-05 9.99676963e-01 -9.61986515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:301.47, Y:-25.53, Z:-0.96 [[ 9.68459154e-01 2.47781215e-01 2.62932893e-02 3.01465606e+02] [-2.47692690e-01 9.68816009e-01 -6.62355928e-03 -2.55251767e+01] [-2.71145532e-02 -9.80089409e-05 9.99632328e-01 -9.61898602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62591999999995 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:301.50, Y:-25.53, Z:-0.96 [[ 9.68241904e-01 2.48656797e-01 2.60271558e-02 3.01497276e+02] [-2.48570226e-01 9.68591650e-01 -6.56193325e-03 -2.55326981e+01] [-2.68413551e-02 -1.16037250e-04 9.99639699e-01 -9.61371226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:301.53, Y:-25.54, Z:-0.96 [[ 9.68037478e-01 2.49540367e-01 2.51604032e-02 3.01528455e+02] [-2.49459673e-01 9.68364388e-01 -6.34697847e-03 -2.55405543e+01] [-2.59482658e-02 -1.32392913e-04 9.99663278e-01 -9.61891934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68591999999995 meters Centerline goodness [0,1] 0.9999006359300477 Centerline is valid? [True, True] Translation: X:301.56, Y:-25.55, Z:-0.96 [[ 9.68160145e-01 2.49095242e-01 2.48494144e-02 3.01559913e+02] [-2.49016295e-01 9.68478986e-01 -6.27200987e-03 -2.55484981e+01] [-2.56284635e-02 -1.15599113e-04 9.99671530e-01 -9.62167698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.59, Y:-25.56, Z:-0.96 [[ 9.67973702e-01 2.49771390e-01 2.53212410e-02 3.01591259e+02] [-2.49689554e-01 9.68304826e-01 -6.39463978e-03 -2.55554188e+01] [-2.61158779e-02 -1.32606236e-04 9.99658914e-01 -9.61303059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.62, Y:-25.56, Z:-0.96 [[ 9.67784833e-01 2.50398222e-01 2.63295711e-02 3.01622664e+02] [-2.50309869e-01 9.68142917e-01 -6.65298288e-03 -2.55630230e+01] [-2.71566828e-02 -1.51895565e-04 9.99631178e-01 -9.61869632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.65, Y:-25.57, Z:-0.96 [[ 9.67780288e-01 2.50524781e-01 2.52715002e-02 3.01654258e+02] [-2.50443339e-01 9.68110176e-01 -6.38915592e-03 -2.55709755e+01] [-2.60662384e-02 -1.45779736e-04 9.99660207e-01 -9.61184322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.69, Y:-25.58, Z:-0.96 [[ 9.67832303e-01 2.50189756e-01 2.65653804e-02 3.01685210e+02] [-2.50099310e-01 9.68196813e-01 -6.72806153e-03 -2.55779801e+01] [-2.74038087e-02 -1.32348026e-04 9.99624436e-01 -9.60977634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.72, Y:-25.59, Z:-0.96 [[ 9.67816188e-01 2.50343752e-01 2.56871891e-02 3.01716955e+02] [-2.50259139e-01 9.68157007e-01 -6.50954629e-03 -2.55855395e+01] [-2.64988563e-02 -1.28409542e-04 9.99648835e-01 -9.61068381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.75, Y:-25.59, Z:-0.96 [[ 9.68196539e-01 2.48827153e-01 2.60865955e-02 3.01749527e+02] [-2.48739188e-01 9.68547903e-01 -6.61627622e-03 -2.55930609e+01] [-2.69124266e-02 -8.29028492e-05 9.99637792e-01 -9.62173340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.78, Y:-25.60, Z:-0.96 [[ 9.68178117e-01 2.48893531e-01 2.61370110e-02 3.01781638e+02] [-2.48805100e-01 9.68530848e-01 -6.63462491e-03 -2.56018155e+01] [-2.69658167e-02 -7.95229821e-05 9.99636353e-01 -9.62444521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.81, Y:-25.61, Z:-0.96 [[ 9.68128604e-01 2.49086194e-01 2.61356905e-02 3.01813180e+02] [-2.48997693e-01 9.68481317e-01 -6.63982494e-03 -2.56097622e+01] [-2.69658166e-02 -7.95221775e-05 9.99636353e-01 -9.62471624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.84, Y:-25.62, Z:-0.96 [[ 9.68215290e-01 2.48627146e-01 2.72707711e-02 3.01844808e+02] [-2.48530498e-01 9.68599266e-01 -6.93209208e-03 -2.56165484e+01] [-2.81379552e-02 -6.58607908e-05 9.99604047e-01 -9.62200480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.88, Y:-25.62, Z:-0.96 [[ 9.68355435e-01 2.48200090e-01 2.61623246e-02 3.01876426e+02] [-2.48110885e-01 9.68708786e-01 -6.65399759e-03 -2.56228435e+01] [-2.69951965e-02 -4.77227795e-05 9.99635562e-01 -9.61804330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.91, Y:-25.63, Z:-0.96 [[ 9.68528499e-01 2.47542590e-01 2.59848375e-02 3.01908435e+02] [-2.47454209e-01 9.68877013e-01 -6.61431524e-03 -2.56294643e+01] [-2.68134365e-02 -2.39045999e-05 9.99640455e-01 -9.62229150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.94, Y:-25.64, Z:-0.96 [[ 9.68999932e-01 2.45749698e-01 2.54208172e-02 3.01939946e+02] [-2.45664401e-01 9.69333320e-01 -6.47434501e-03 -2.56377057e+01] [-2.62323135e-02 2.86500389e-05 9.99655873e-01 -9.62104830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.97, Y:-25.65, Z:-0.96 [[ 9.69384037e-01 2.44211690e-01 2.55976310e-02 3.01971985e+02] [-2.44124524e-01 9.69721942e-01 -6.52471960e-03 -2.56451492e+01] [-2.64159973e-02 7.59495410e-05 9.99651034e-01 -9.61587764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.00, Y:-25.65, Z:-0.96 [[ 9.70249279e-01 2.40779085e-01 2.53331611e-02 3.02003978e+02] [-2.40692447e-01 9.70579931e-01 -6.46086699e-03 -2.56484317e+01] [-2.61434994e-02 1.71151005e-04 9.99658186e-01 -9.60858671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13592 meters Centerline goodness [0,1] 0.9997516145057128 Centerline is valid? [True, True] Translation: X:302.04, Y:-25.65, Z:-0.96 [[ 9.70390986e-01 2.40098083e-01 2.63485219e-02 3.02035446e+02] [-2.40004009e-01 9.70748613e-01 -6.72348932e-03 -2.56543708e+01] [-2.71920880e-02 2.00662539e-04 9.99630207e-01 -9.61634578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16591999999997 meters Centerline goodness [0,1] 0.9998511757118762 Centerline is valid? [True, True] Translation: X:302.07, Y:-25.66, Z:-0.96 [[ 9.70646845e-01 2.39008684e-01 2.68244669e-02 3.02066564e+02] [-2.38910686e-01 9.71017401e-01 -6.84775155e-03 -2.56604965e+01] [-2.76836962e-02 2.38096642e-04 9.99616705e-01 -9.62945872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.10, Y:-25.67, Z:-0.96 [[ 9.71641864e-01 2.34847047e-01 2.75490800e-02 3.02098244e+02] [-2.34741903e-01 9.72032267e-01 -7.03644642e-03 -2.56653506e+01] [-2.84310833e-02 3.69982463e-04 9.99595687e-01 -9.62510246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:302.13, Y:-25.67, Z:-0.96 [[ 9.72283033e-01 2.32262621e-01 2.68287044e-02 3.02130154e+02] [-2.32161820e-01 9.72653013e-01 -6.85605645e-03 -2.56720573e+01] [-2.76874258e-02 4.37426504e-04 9.99616534e-01 -9.62681719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25591999999995 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:302.16, Y:-25.68, Z:-0.96 [[ 9.73835946e-01 2.25896062e-01 2.47894959e-02 3.02162002e+02] [-2.25807856e-01 9.74151240e-01 -6.33823405e-03 -2.56781136e+01] [-2.55805003e-02 5.74737230e-04 9.99672600e-01 -9.62586273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28592 meters Centerline goodness [0,1] 0.9997021149836163 Centerline is valid? [True, True] Translation: X:302.19, Y:-25.69, Z:-0.96 [[ 9.74698460e-01 2.22250203e-01 2.38276915e-02 3.02193329e+02] [-2.22167543e-01 9.74989450e-01 -6.09546918e-03 -2.56850501e+01] [-2.45864671e-02 6.47504745e-04 9.99697497e-01 -9.61926225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31591999999995 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:302.23, Y:-25.69, Z:-0.96 [[ 9.75296445e-01 2.19582917e-01 2.40870674e-02 3.02225013e+02] [-2.19497556e-01 9.75593571e-01 -6.16497637e-03 -2.56915987e+01] [-2.48529116e-02 7.25627121e-04 9.99690855e-01 -9.62235174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34592 meters Centerline goodness [0,1] 0.9994046733144814 Centerline is valid? [True, True] Translation: X:302.26, Y:-25.70, Z:-0.96 [[ 9.76232445e-01 2.15423331e-01 2.37276653e-02 3.02256003e+02] [-2.15339196e-01 9.76520411e-01 -6.07605850e-03 -2.56999661e+01] [-2.44794742e-02 8.22149081e-04 9.99699995e-01 -9.60763876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37591999999995 meters Centerline goodness [0,1] 0.9993052798729655 Centerline is valid? [True, True] Translation: X:302.29, Y:-25.71, Z:-0.96 [[ 9.76293820e-01 2.14954736e-01 2.53936633e-02 3.02286728e+02] [-2.14858123e-01 9.76623602e-01 -6.50597161e-03 -2.57097780e+01] [-2.61985404e-02 8.95705023e-04 9.99656358e-01 -9.61694465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40592 meters Centerline goodness [0,1] 0.9994041412185312 Centerline is valid? [True, True] Translation: X:302.32, Y:-25.72, Z:-0.96 [[ 9.76611383e-01 2.13523548e-01 2.52567037e-02 3.02316735e+02] [-2.13427412e-01 9.76937473e-01 -6.47412977e-03 -2.57208634e+01] [-2.60565994e-02 9.32235917e-04 9.99660035e-01 -9.61555786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43591999999995 meters Centerline goodness [0,1] 0.9995031302792408 Centerline is valid? [True, True] Translation: X:302.35, Y:-25.73, Z:-0.96 [[ 9.76877618e-01 2.12308346e-01 2.52048791e-02 3.02347754e+02] [-2.12212115e-01 9.77202248e-01 -6.46411057e-03 -2.57289119e+01] [-2.60026491e-02 9.65864234e-04 9.99661407e-01 -9.61796888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46592 meters Centerline goodness [0,1] 0.9995530615285295 Centerline is valid? [True, True] Translation: X:302.38, Y:-25.74, Z:-0.96 [[ 9.77069520e-01 2.11634408e-01 2.33672854e-02 3.02378439e+02] [-2.11551436e-01 9.77348474e-01 -5.99583270e-03 -2.57380790e+01] [-2.41069053e-02 9.14962595e-04 9.99708968e-01 -9.61552352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49591999999996 meters Centerline goodness [0,1] 0.9995530393325387 Centerline is valid? [True, True] Translation: X:302.41, Y:-25.75, Z:-0.96 [[ 9.77373077e-01 2.10386116e-01 2.18986657e-02 3.02408581e+02] [-2.10312870e-01 9.77617968e-01 -5.62181630e-03 -2.57508198e+01] [-2.25912811e-02 8.89040662e-04 9.99744389e-01 -9.61015136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.52592 meters Centerline goodness [0,1] 0.9993040019885657 Centerline is valid? [True, True] Translation: X:302.44, Y:-25.76, Z:-0.96 [[ 9.77185712e-01 2.11201245e-01 2.24079980e-02 3.02439217e+02] [-2.11124699e-01 9.77442191e-01 -5.75546712e-03 -2.57612493e+01] [-2.31180845e-02 8.93278421e-04 9.99732342e-01 -9.61062249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55591999999996 meters Centerline goodness [0,1] 0.9995037959608991 Centerline is valid? [True, True] Translation: X:302.47, Y:-25.77, Z:-0.96 [[ 9.77068869e-01 2.11787293e-01 2.19674369e-02 3.02470059e+02] [-2.11713811e-01 9.77315402e-01 -5.64512295e-03 -2.57695084e+01] [-2.26646797e-02 8.64864114e-04 9.99742749e-01 -9.59960737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58592 meters Centerline goodness [0,1] 0.9995032783628055 Centerline is valid? [True, True] Translation: X:302.50, Y:-25.78, Z:-0.96 [[ 9.76742779e-01 2.13183135e-01 2.29454897e-02 3.02500901e+02] [-2.13103261e-01 9.77011867e-01 -5.90014091e-03 -2.57793417e+01] [-2.36758263e-02 8.73161359e-04 9.99719307e-01 -9.60416396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61591999999996 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:302.53, Y:-25.79, Z:-0.96 [[ 9.76445212e-01 2.14639857e-01 2.20108770e-02 3.02531265e+02] [-2.14566662e-01 9.76692931e-01 -5.66272716e-03 -2.57897508e+01] [-2.27133150e-02 8.06542411e-04 9.99741694e-01 -9.60431678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64592 meters Centerline goodness [0,1] 0.9996026424278548 Centerline is valid? [True, True] Translation: X:302.56, Y:-25.80, Z:-0.96 [[ 9.75606735e-01 2.18415752e-01 2.20467081e-02 3.02561644e+02] [-2.18343157e-01 9.75855539e-01 -5.67737117e-03 -2.58022682e+01] [-2.27544295e-02 7.25133708e-04 9.99740821e-01 -9.60017517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67591999999996 meters Centerline goodness [0,1] 0.9993040019885657 Centerline is valid? [True, True] Translation: X:302.59, Y:-25.81, Z:-0.96 [[ 9.74940400e-01 2.21231262e-01 2.34082197e-02 3.02592265e+02] [-2.21150155e-01 9.75221121e-01 -6.03115150e-03 -2.58109203e+01] [-2.41624695e-02 7.03281823e-04 9.99707798e-01 -9.59021786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70592 meters Centerline goodness [0,1] 0.9991556151591914 Centerline is valid? [True, True] Translation: X:302.62, Y:-25.82, Z:-0.96 [[ 9.74694277e-01 2.22325839e-01 2.32870714e-02 3.02623167e+02] [-2.22245807e-01 9.74972187e-01 -6.00301047e-03 -2.58195823e+01] [-2.40388713e-02 6.75645955e-04 9.99710796e-01 -9.58579105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73591999999996 meters Centerline goodness [0,1] 0.999354998759613 Centerline is valid? [True, True] Translation: X:302.65, Y:-25.83, Z:-0.96 [[ 9.74467696e-01 2.23250980e-01 2.39104442e-02 3.02654979e+02] [-2.23166768e-01 9.74760763e-01 -6.16839405e-03 -2.58294077e+01] [-2.46840628e-02 6.74884179e-04 9.99695074e-01 -9.58395103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76592 meters Centerline goodness [0,1] 0.999056978360135 Centerline is valid? [True, True] Translation: X:302.69, Y:-25.84, Z:-0.96 [[ 9.74220833e-01 2.24238023e-01 2.47199726e-02 3.02686444e+02] [-2.24148203e-01 9.74534171e-01 -6.38216356e-03 -2.58396720e+01] [-2.55215818e-02 6.76699244e-04 9.99674042e-01 -9.58916228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79591999999997 meters Centerline goodness [0,1] 0.9993049694683016 Centerline is valid? [True, True] Translation: X:302.72, Y:-25.85, Z:-0.96 [[ 9.73681865e-01 2.26466112e-01 2.56266784e-02 3.02717616e+02] [-2.26370260e-01 9.74018832e-01 -6.61970751e-03 -2.58484636e+01] [-2.64600068e-02 6.44371304e-04 9.99649665e-01 -9.58928167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82592 meters Centerline goodness [0,1] 0.9987067250298448 Centerline is valid? [True, True] Translation: X:302.75, Y:-25.86, Z:-0.96 [[ 9.72962910e-01 2.29620609e-01 2.48505725e-02 3.02749121e+02] [-2.29531213e-01 9.73280058e-01 -6.43052155e-03 -2.58558211e+01] [-2.56631469e-02 5.52676912e-04 9.99670494e-01 -9.58202943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85591999999997 meters Centerline goodness [0,1] 0.9988092284792855 Centerline is valid? [True, True] Translation: X:302.78, Y:-25.87, Z:-0.96 [[ 9.72258557e-01 2.32452079e-01 2.60639550e-02 3.02780406e+02] [-2.32354425e-01 9.72607715e-01 -6.75675887e-03 -2.58650783e+01] [-2.69206263e-02 5.13241373e-04 9.99637443e-01 -9.58089084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88592 meters Centerline goodness [0,1] 0.9988063858357786 Centerline is valid? [True, True] Translation: X:302.81, Y:-25.87, Z:-0.96 [[ 9.71944167e-01 2.33548651e-01 2.79206805e-02 3.02811541e+02] [-2.33436658e-01 9.72344973e-01 -7.25123217e-03 -2.58741652e+01] [-2.88420488e-02 5.30082467e-04 9.99583841e-01 -9.59500666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91591999999997 meters Centerline goodness [0,1] 0.9990570719602978 Centerline is valid? [True, True] Translation: X:302.84, Y:-25.88, Z:-0.96 [[ 9.71771804e-01 2.34407742e-01 2.66940144e-02 3.02842662e+02] [-2.34305354e-01 9.72138244e-01 -6.94515088e-03 -2.58836141e+01] [-2.75782694e-02 4.94551294e-04 9.99619525e-01 -9.58595985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94592 meters Centerline goodness [0,1] 0.9988093466289626 Centerline is valid? [True, True] Translation: X:302.87, Y:-25.89, Z:-0.96 [[ 9.71834033e-01 2.34192263e-01 2.63172285e-02 3.02874915e+02] [-2.34092283e-01 9.72190170e-01 -6.86121869e-03 -2.58913392e+01] [-2.71921952e-02 5.07305730e-04 9.99630095e-01 -9.58417292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97592 meters Centerline goodness [0,1] 0.9983105590062111 Centerline is valid? [True, True] Translation: X:302.91, Y:-25.90, Z:-0.96 [[ 9.72107381e-01 2.33132606e-01 2.56208309e-02 3.02907139e+02] [-2.33037119e-01 9.72444806e-01 -6.69334096e-03 -2.58996560e+01] [-2.64752800e-02 5.36041542e-04 9.99649325e-01 -9.59061920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00591999999995 meters Centerline goodness [0,1] 0.9979093035989846 Centerline is valid? [True, True] Translation: X:302.94, Y:-25.91, Z:-0.96 [[ 9.72175975e-01 2.32810961e-01 2.59408919e-02 3.02938311e+02] [-2.32712631e-01 9.72521845e-01 -6.78915164e-03 -2.59080736e+01] [-2.68086730e-02 5.63476908e-04 9.99640424e-01 -9.60360823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03592 meters Centerline goodness [0,1] 0.9978653693407467 Centerline is valid? [True, True] Translation: X:302.97, Y:-25.92, Z:-0.96 [[ 9.72020875e-01 2.33348536e-01 2.69050113e-02 3.02969324e+02] [-2.33242616e-01 9.72392988e-01 -7.05403870e-03 -2.59169071e+01] [-2.78082939e-02 5.81277661e-04 9.99613106e-01 -9.60682996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06591999999995 meters Centerline goodness [0,1] 0.9972189114024632 Centerline is valid? [True, True] Translation: X:303.00, Y:-25.93, Z:-0.96 [[ 9.71800717e-01 2.33926432e-01 2.96949595e-02 3.03000176e+02] [-2.33797243e-01 9.72254092e-01 -7.79938366e-03 -2.59254900e+01] [-3.06955278e-02 6.36846978e-04 9.99528578e-01 -9.60799381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09592 meters Centerline goodness [0,1] 0.9965137706061059 Centerline is valid? [True, True] Translation: X:303.03, Y:-25.93, Z:-0.96 [[ 9.71660416e-01 2.34480381e-01 2.99163344e-02 3.03031870e+02] [-2.34349027e-01 9.72120642e-01 -7.87346846e-03 -2.59334143e+01] [-3.09284601e-02 6.39473787e-04 9.99521396e-01 -9.61926658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12591999999995 meters Centerline goodness [0,1] 0.9964230711908192 Centerline is valid? [True, True] Translation: X:303.06, Y:-25.94, Z:-0.96 [[ 9.71684402e-01 2.34564523e-01 2.84413047e-02 3.03062807e+02] [-2.34445450e-01 9.72100356e-01 -7.49855596e-03 -2.59422390e+01] [-2.94066976e-02 6.18295377e-04 9.99567338e-01 -9.62041871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15592 meters Centerline goodness [0,1] 0.9964716990508373 Centerline is valid? [True, True] Translation: X:303.09, Y:-25.95, Z:-0.96 [[ 9.71925186e-01 2.33703740e-01 2.72762498e-02 3.03094553e+02] [-2.33593477e-01 9.72307648e-01 -7.20593507e-03 -2.59507066e+01] [-2.82049602e-02 6.32075768e-04 9.99601961e-01 -9.61462924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18591999999995 meters Centerline goodness [0,1] 0.9963235294117647 Centerline is valid? [True, True] Translation: X:303.13, Y:-25.96, Z:-0.96 [[ 9.72030635e-01 2.33148620e-01 2.82518083e-02 3.03125597e+02] [-2.33029704e-01 9.72440874e-01 -7.47693796e-03 -2.59592731e+01] [-2.92164510e-02 6.84302226e-04 9.99572874e-01 -9.62413646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21592 meters Centerline goodness [0,1] 0.9955699352911896 Centerline is valid? [True, True] Translation: X:303.16, Y:-25.97, Z:-0.96 [[ 9.72229231e-01 2.32217691e-01 2.90734811e-02 3.03156623e+02] [-2.32090932e-01 9.72663553e-01 -7.70791698e-03 -2.59675904e+01] [-3.00686301e-02 7.46170857e-04 9.99547558e-01 -9.63567386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24591999999996 meters Centerline goodness [0,1] 0.9957154244719012 Centerline is valid? [True, True] Translation: X:303.19, Y:-25.98, Z:-0.96 [[ 9.72143494e-01 2.32648883e-01 2.84872790e-02 3.03187200e+02] [-2.32526983e-01 9.72560519e-01 -7.56564847e-03 -2.59765801e+01] [-2.94657425e-02 7.30834911e-04 9.99565524e-01 -9.63055290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.27592 meters Centerline goodness [0,1] 0.9952816131916161 Centerline is valid? [True, True] Translation: X:303.22, Y:-25.99, Z:-0.96 [[ 9.72322234e-01 2.32008004e-01 2.75999848e-02 3.03218179e+02] [-2.31892904e-01 9.72713595e-01 -7.34465687e-03 -2.59868723e+01] [-2.85508996e-02 7.41132546e-04 9.99592065e-01 -9.63058612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30591999999996 meters Centerline goodness [0,1] 0.9947885646217987 Centerline is valid? [True, True] Translation: X:303.25, Y:-26.00, Z:-0.96 [[ 9.72439704e-01 2.31464115e-01 2.80247271e-02 3.03249155e+02] [-2.31344842e-01 9.72843128e-01 -7.47071707e-03 -2.59960733e+01] [-2.89928662e-02 7.81445837e-04 9.99579313e-01 -9.62293842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33592 meters Centerline goodness [0,1] 0.9951743694343566 Centerline is valid? [True, True] Translation: X:303.28, Y:-26.01, Z:-0.96 [[ 9.72892060e-01 2.29843217e-01 2.55565125e-02 3.03280810e+02] [-2.29743117e-01 9.73227365e-01 -6.82620307e-03 -2.60072725e+01] [-2.64412538e-02 7.69725932e-04 9.99650073e-01 -9.62220502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36591999999996 meters Centerline goodness [0,1] 0.9955295052652493 Centerline is valid? [True, True] Translation: X:303.31, Y:-26.02, Z:-0.96 [[ 9.73011807e-01 2.29080271e-01 2.77534469e-02 3.03310962e+02] [-2.28961563e-01 9.73407146e-01 -7.42499511e-03 -2.60172512e+01] [-2.87163235e-02 8.70135327e-04 9.99587223e-01 -9.63181950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39592 meters Centerline goodness [0,1] 0.9949786218554241 Centerline is valid? [True, True] Translation: X:303.34, Y:-26.03, Z:-0.96 [[ 9.73198606e-01 2.28325525e-01 2.74213220e-02 3.03341006e+02] [-2.28209011e-01 9.73584438e-01 -7.34781033e-03 -2.60275869e+01] [-2.83746650e-02 8.93086009e-04 9.99596959e-01 -9.62599934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42591999999996 meters Centerline goodness [0,1] 0.9947376259742838 Centerline is valid? [True, True] Translation: X:303.37, Y:-26.04, Z:-0.96 [[ 9.73130823e-01 2.28678931e-01 2.68765341e-02 3.03371151e+02] [-2.28566747e-01 9.73501502e-01 -7.21579942e-03 -2.60432372e+01] [-2.78144476e-02 8.78834859e-04 9.99612717e-01 -9.61002199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45592 meters Centerline goodness [0,1] 0.9947813121272365 Centerline is valid? [True, True] Translation: X:303.40, Y:-26.05, Z:-0.96 [[ 9.73144547e-01 2.28765744e-01 2.56110139e-02 3.03401235e+02] [-2.28663596e-01 9.73481134e-01 -6.88782350e-03 -2.60546809e+01] [-2.65075369e-02 8.46541336e-04 9.99648255e-01 -9.60462418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48591999999996 meters Centerline goodness [0,1] 0.9947836454866114 Centerline is valid? [True, True] Translation: X:303.43, Y:-26.07, Z:-0.96 [[ 9.72626208e-01 2.31065659e-01 2.46357532e-02 3.03429924e+02] [-2.30971589e-01 9.72937858e-01 -6.63693972e-03 -2.60712667e+01] [-2.55026258e-02 7.65102445e-04 9.99674462e-01 -9.60475553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51592 meters Centerline goodness [0,1] 0.9955239468841697 Centerline is valid? [True, True] Translation: X:303.46, Y:-26.08, Z:-0.96 [[ 9.72159636e-01 2.32907232e-01 2.56877964e-02 3.03460233e+02] [-2.32805235e-01 9.72498659e-01 -6.93397887e-03 -2.60843513e+01] [-2.65963214e-02 7.60680899e-04 9.99645966e-01 -9.61493284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54591999999997 meters Centerline goodness [0,1] 0.9957317981041243 Centerline is valid? [True, True] Translation: X:303.49, Y:-26.10, Z:-0.96 [[ 9.70812087e-01 2.38330025e-01 2.68829099e-02 3.03488995e+02] [-2.38220035e-01 9.71184006e-01 -7.26926633e-03 -2.61024313e+01] [-2.78407365e-02 6.53043882e-04 9.99612158e-01 -9.62155311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57592 meters Centerline goodness [0,1] 0.9955319465819391 Centerline is valid? [True, True] Translation: X:303.52, Y:-26.12, Z:-0.96 [[ 9.69753335e-01 2.42614203e-01 2.67734389e-02 3.03519027e+02] [-2.42506384e-01 9.70122702e-01 -7.25238423e-03 -2.61153217e+01] [-2.77330524e-02 5.40293932e-04 9.99615219e-01 -9.60456318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60591999999997 meters Centerline goodness [0,1] 0.9959351608585734 Centerline is valid? [True, True] Translation: X:303.55, Y:-26.13, Z:-0.96 [[ 9.68812365e-01 2.46263711e-01 2.75097596e-02 3.03548860e+02] [-2.46150971e-01 9.69202751e-01 -7.46504148e-03 -2.61268197e+01] [-2.85009035e-02 4.60670433e-04 9.99593661e-01 -9.60003250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63592 meters Centerline goodness [0,1] 0.9960278053624627 Centerline is valid? [True, True] Translation: X:303.58, Y:-26.14, Z:-0.96 [[ 9.66626977e-01 2.54649184e-01 2.80371228e-02 3.03578259e+02] [-2.54535201e-01 9.67033474e-01 -7.62181087e-03 -2.61404766e+01] [-2.90537242e-02 2.31013323e-04 9.99577825e-01 -9.59498136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66591999999997 meters Centerline goodness [0,1] 0.9963233467481493 Centerline is valid? [True, True] Translation: X:303.61, Y:-26.15, Z:-0.96 [[ 9.65644415e-01 2.58350190e-01 2.80364694e-02 3.03609019e+02] [-2.58237365e-01 9.66051325e-01 -7.63553905e-03 -2.61501588e+01] [-2.90573113e-02 1.33151655e-04 9.99577738e-01 -9.60773168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69592 meters Centerline goodness [0,1] 0.9965229485396384 Centerline is valid? [True, True] Translation: X:303.64, Y:-26.16, Z:-0.96 [[ 9.64210522e-01 2.63641581e-01 2.81280438e-02 3.03640324e+02] [-2.63529802e-01 9.64620711e-01 -7.67637140e-03 -2.61590704e+01] [-2.91567043e-02 -1.09397531e-05 9.99574853e-01 -9.61022063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72592 meters Centerline goodness [0,1] 0.9966259799543515 Centerline is valid? [True, True] Translation: X:303.67, Y:-26.17, Z:-0.96 [[ 9.63458995e-01 2.66551998e-01 2.63969060e-02 3.03671437e+02] [-2.66454286e-01 9.63820536e-01 -7.21716711e-03 -2.61665231e+01] [-2.73656304e-02 -8.01241645e-05 9.99625488e-01 -9.60665069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75591999999995 meters Centerline goodness [0,1] 0.9966187658495351 Centerline is valid? [True, True] Translation: X:303.70, Y:-26.17, Z:-0.96 [[ 9.62676895e-01 2.69357652e-01 2.64509256e-02 3.03703973e+02] [-2.69260182e-01 9.63040204e-01 -7.24706806e-03 -2.61744126e+01] [-2.74253580e-02 -1.45596072e-04 9.99623844e-01 -9.60240749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78592 meters Centerline goodness [0,1] 0.9967717904147008 Centerline is valid? [True, True] Translation: X:303.74, Y:-26.18, Z:-0.96 [[ 9.61543856e-01 2.73516068e-01 2.49473987e-02 3.03736613e+02] [-2.73430395e-01 9.61867405e-01 -6.84938241e-03 -2.61802637e+01] [-2.58695058e-02 -2.35395510e-04 9.99665301e-01 -9.58824464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81591999999995 meters Centerline goodness [0,1] 0.9965693829861284 Centerline is valid? [True, True] Translation: X:303.77, Y:-26.19, Z:-0.96 [[ 9.60996331e-01 2.75265096e-01 2.67428118e-02 3.03768189e+02] [-2.75166948e-01 9.61368318e-01 -7.35578333e-03 -2.61865182e+01] [-2.77344824e-02 -2.89857116e-04 9.99615283e-01 -9.60193717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84592 meters Centerline goodness [0,1] 0.9965693829861284 Centerline is valid? [True, True] Translation: X:303.80, Y:-26.19, Z:-0.96 [[ 9.60850474e-01 2.75774176e-01 2.67389268e-02 3.03799624e+02] [-2.75675833e-01 9.61222409e-01 -7.36989276e-03 -2.61948426e+01] [-2.77344817e-02 -2.89910960e-04 9.99615283e-01 -9.60220830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87591999999995 meters Centerline goodness [0,1] 0.9968227175693789 Centerline is valid? [True, True] Translation: X:303.83, Y:-26.20, Z:-0.96 [[ 9.60339130e-01 2.77371528e-01 2.85270292e-02 3.03831567e+02] [-2.77259901e-01 9.60762674e-01 -7.87600442e-03 -2.61983409e+01] [-2.95922843e-02 -3.45766054e-04 9.99561993e-01 -9.60905110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90592 meters Centerline goodness [0,1] 0.996475552246215 Centerline is valid? [True, True] Translation: X:303.86, Y:-26.20, Z:-0.96 [[ 9.60226613e-01 2.77699321e-01 2.91194041e-02 3.03864381e+02] [-2.77582665e-01 9.60667979e-01 -8.05590288e-03 -2.62045675e+01] [-3.02111978e-02 -3.47549452e-04 9.99543477e-01 -9.61053598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93591999999995 meters Centerline goodness [0,1] 0.9965753424657534 Centerline is valid? [True, True] Translation: X:303.90, Y:-26.21, Z:-0.96 [[ 9.60638532e-01 2.76253288e-01 2.92870563e-02 3.03897120e+02] [-2.76134106e-01 9.61084824e-01 -8.11894017e-03 -2.62083561e+01] [-3.03902293e-02 -2.87788361e-04 9.99538069e-01 -9.60869340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96592 meters Centerline goodness [0,1] 0.9965243296921549 Centerline is valid? [True, True] Translation: X:303.93, Y:-26.21, Z:-0.96 [[ 9.61104289e-01 2.74729632e-01 2.83226976e-02 3.03928703e+02] [-2.74617091e-01 9.61521493e-01 -7.86582399e-03 -2.62145850e+01] [-2.93938574e-02 -2.18019652e-04 9.99567883e-01 -9.60902333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99591999999996 meters Centerline goodness [0,1] 0.9964760770299782 Centerline is valid? [True, True] Translation: X:303.96, Y:-26.22, Z:-0.96 [[ 9.62338243e-01 2.70372330e-01 2.83532969e-02 3.03960527e+02] [-2.70257235e-01 9.62755835e-01 -7.88854786e-03 -2.62191931e+01] [-2.94301471e-02 -7.12323202e-05 9.99566837e-01 -9.60901384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.02592 meters Centerline goodness [0,1] 0.996470822149319 Centerline is valid? [True, True] Translation: X:303.99, Y:-26.23, Z:-0.96 [[ 9.62898663e-01 2.68339897e-01 2.86332833e-02 3.03992622e+02] [-2.68221133e-01 9.63324296e-01 -7.98274252e-03 -2.62263215e+01] [-2.97252258e-02 6.52039881e-06 9.99558108e-01 -9.61365870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05591999999996 meters Centerline goodness [0,1] 0.9958262943456225 Centerline is valid? [True, True] Translation: X:304.02, Y:-26.23, Z:-0.96 [[ 9.63498088e-01 2.66271425e-01 2.77661974e-02 3.04023878e+02] [-2.66158487e-01 9.63898087e-01 -7.75489525e-03 -2.62332512e+01] [-2.88286916e-02 8.16176582e-05 9.99584364e-01 -9.60879490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08592 meters Centerline goodness [0,1] 0.9963235294117647 Centerline is valid? [True, True] Translation: X:304.06, Y:-26.24, Z:-0.96 [[ 9.63832373e-01 2.65031612e-01 2.80250157e-02 3.04056287e+02] [-2.64915574e-01 9.64239714e-01 -7.84297299e-03 -2.62405165e+01] [-2.91014689e-02 1.35048130e-04 9.99576453e-01 -9.62119105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11591999999996 meters Centerline goodness [0,1] 0.9961294164350933 Centerline is valid? [True, True] Translation: X:304.09, Y:-26.25, Z:-0.96 [[ 9.65274046e-01 2.59763729e-01 2.77276226e-02 3.04087977e+02] [-2.59647572e-01 9.65672156e-01 -7.77339477e-03 -2.62458385e+01] [-2.87950391e-02 3.04046346e-04 9.99585291e-01 -9.62382830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14592 meters Centerline goodness [0,1] 0.9961190168175937 Centerline is valid? [True, True] Translation: X:304.12, Y:-26.25, Z:-0.96 [[ 9.65375639e-01 2.59445522e-01 2.71642440e-02 3.04119926e+02] [-2.59333488e-01 9.65757691e-01 -7.63051345e-03 -2.62546773e+01] [-2.82137801e-02 3.21713680e-04 9.99601860e-01 -9.62400975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17591999999996 meters Centerline goodness [0,1] 0.9960240544704537 Centerline is valid? [True, True] Translation: X:304.15, Y:-26.26, Z:-0.96 [[ 9.66126455e-01 2.56574649e-01 2.77330418e-02 3.04151040e+02] [-2.56456299e-01 9.66524323e-01 -7.80383745e-03 -2.62630695e+01] [-2.88069263e-02 4.27180569e-04 9.99584903e-01 -9.62219792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20592 meters Centerline goodness [0,1] 0.9962219129051502 Centerline is valid? [True, True] Translation: X:304.18, Y:-26.27, Z:-0.96 [[ 9.66196130e-01 2.56208997e-01 2.86703538e-02 3.04182062e+02] [-2.56081937e-01 9.66621297e-01 -8.08138847e-03 -2.62720328e+01] [-2.97838990e-02 4.66246520e-04 9.99556253e-01 -9.62124304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23591999999996 meters Centerline goodness [0,1] 0.9968266560888537 Centerline is valid? [True, True] Translation: X:304.21, Y:-26.28, Z:-0.96 [[ 9.66207716e-01 2.56223037e-01 2.81496932e-02 3.04213287e+02] [-2.56100105e-01 9.66617573e-01 -7.95008804e-03 -2.62816160e+01] [-2.92469838e-02 4.72297025e-04 9.99572104e-01 -9.62838686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26592 meters Centerline goodness [0,1] 0.9980177412161158 Centerline is valid? [True, True] Translation: X:304.24, Y:-26.29, Z:-0.96 [[ 9.66623131e-01 2.54764567e-01 2.71060452e-02 3.04243719e+02] [-2.54649591e-01 9.67002975e-01 -7.67022344e-03 -2.62948221e+01] [-2.81657275e-02 5.11672072e-04 9.99603136e-01 -9.62897981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29591999999997 meters Centerline goodness [0,1] 0.9984122258608713 Centerline is valid? [True, True] Translation: X:304.27, Y:-26.31, Z:-0.96 [[ 9.66557933e-01 2.54973660e-01 2.74626237e-02 3.04274742e+02] [-2.54855292e-01 9.66947856e-01 -7.78621065e-03 -2.63057631e+01] [-2.85402037e-02 5.26828710e-04 9.99592507e-01 -9.63493511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32592 meters Centerline goodness [0,1] 0.9987067893558816 Centerline is valid? [True, True] Translation: X:304.31, Y:-26.32, Z:-0.96 [[ 9.66145214e-01 2.56630689e-01 2.65351657e-02 3.04305092e+02] [-2.56520673e-01 9.66509427e-01 -7.52810691e-03 -2.63182745e+01] [-2.75784311e-02 4.66425892e-04 9.99619534e-01 -9.62923134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35591999999997 meters Centerline goodness [0,1] 0.9994544462629569 Centerline is valid? [True, True] Translation: X:304.34, Y:-26.33, Z:-0.96 [[ 9.65432117e-01 2.59247760e-01 2.70448886e-02 3.04335291e+02] [-2.59134139e-01 9.65810763e-01 -7.68561185e-03 -2.63288766e+01] [-2.81127222e-02 4.11682590e-04 9.99604675e-01 -9.62546640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38592 meters Centerline goodness [0,1] 0.9996525537300839 Centerline is valid? [True, True] Translation: X:304.37, Y:-26.34, Z:-0.96 [[ 9.64792819e-01 2.61425706e-01 2.88342760e-02 3.04366156e+02] [-2.61297100e-01 9.65223524e-01 -8.20815168e-03 -2.63396431e+01] [-2.99773434e-02 3.84853106e-04 9.99550504e-01 -9.61957006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41591999999997 meters Centerline goodness [0,1] 0.9995038944287344 Centerline is valid? [True, True] Translation: X:304.40, Y:-26.35, Z:-0.96 [[ 9.63626611e-01 2.65732013e-01 2.84649325e-02 3.04396214e+02] [-2.65608143e-01 9.64046902e-01 -8.11698132e-03 -2.63522841e+01] [-2.95984717e-02 2.61221345e-04 9.99561835e-01 -9.62248319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44592 meters Centerline goodness [0,1] 0.9999008084114467 Centerline is valid? [True, True] Translation: X:304.43, Y:-26.36, Z:-0.96 [[ 9.62853388e-01 2.68552027e-01 2.81631420e-02 3.04426477e+02] [-2.68431571e-01 9.63265163e-01 -8.04470912e-03 -2.63626767e+01] [-2.92889965e-02 1.85998976e-04 9.99570968e-01 -9.63219324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47592 meters Centerline goodness [0,1] 0.9999005667694143 Centerline is valid? [True, True] Translation: X:304.46, Y:-26.38, Z:-0.96 [[ 9.61545777e-01 2.73134116e-01 2.87658318e-02 3.04457509e+02] [-2.73010006e-01 9.61975962e-01 -8.23320592e-03 -2.63750709e+01] [-2.99208081e-02 6.32444747e-05 9.99552270e-01 -9.63948675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.49, Y:-26.39, Z:-0.96 [[ 9.60658892e-01 2.76214410e-01 2.89843572e-02 3.04488310e+02] [-2.76089580e-01 9.61096040e-01 -8.30331885e-03 -2.63858825e+01] [-3.01502473e-02 -2.56219252e-05 9.99545378e-01 -9.62647149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.52, Y:-26.39, Z:-0.96 [[ 9.59149382e-01 2.81306253e-01 2.99875854e-02 3.04519382e+02] [-2.81174647e-01 9.59618029e-01 -8.60566494e-03 -2.63949402e+01] [-3.11974549e-02 -1.77630513e-04 9.99513225e-01 -9.61665652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.55, Y:-26.40, Z:-0.96 [[ 9.58077427e-01 2.85020548e-01 2.91707312e-02 3.04550854e+02] [-2.84897227e-01 9.58521368e-01 -8.38796609e-03 -2.64031674e+01] [-3.03515118e-02 -2.74339461e-04 9.99539249e-01 -9.61366002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.58, Y:-26.41, Z:-0.96 [[ 9.57171627e-01 2.88022921e-01 2.94155200e-02 3.04581583e+02] [-2.87898516e-01 9.57623448e-01 -8.47210936e-03 -2.64109102e+01] [-3.06091534e-02 -3.59421846e-04 9.99531365e-01 -9.61653324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.61, Y:-26.42, Z:-0.96 [[ 9.55215000e-01 2.94548270e-01 2.83834621e-02 3.04613248e+02] [-2.94434904e-01 9.55636453e-01 -8.18882327e-03 -2.64167453e+01] [-2.95362748e-02 -5.34995132e-04 9.99563566e-01 -9.61839775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.65, Y:-26.42, Z:-0.96 [[ 9.54661434e-01 2.96330844e-01 2.84530598e-02 3.04645136e+02] [-2.96217299e-01 9.55085178e-01 -8.22285551e-03 -2.64226010e+01] [-2.96117814e-02 -5.78245493e-04 9.99561308e-01 -9.61718352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.68, Y:-26.43, Z:-0.96 [[ 9.53246067e-01 3.00627044e-01 3.07459866e-02 3.04677374e+02] [-3.00496240e-01 9.53741479e-01 -8.89944966e-03 -2.64251096e+01] [-3.19991380e-02 -7.55687967e-04 9.99487611e-01 -9.61135013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.71, Y:-26.43, Z:-0.96 [[ 9.52821265e-01 3.02069294e-01 2.97620392e-02 3.04710396e+02] [-3.01946924e-01 9.53285666e-01 -8.63103746e-03 -2.64311903e+01] [-3.09788967e-02 -7.62720153e-04 9.99519748e-01 -9.60639202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.74, Y:-26.44, Z:-0.96 [[ 9.52412770e-01 3.03437772e-01 2.89038638e-02 3.04743208e+02] [-3.03322507e-01 9.52850947e-01 -8.39815028e-03 -2.64358176e+01] [-3.00893901e-02 -7.68686872e-04 9.99546916e-01 -9.59304427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.78, Y:-26.43, Z:-0.96 [[ 9.52305327e-01 3.03795257e-01 2.86880861e-02 3.04777566e+02] [-3.03681391e-01 9.52737039e-01 -8.35148636e-03 -2.64342110e+01] [-2.98693441e-02 -7.58872926e-04 9.99553524e-01 -9.58955804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.81, Y:-26.44, Z:-0.96 [[ 9.52400782e-01 3.03379960e-01 2.98889677e-02 3.04810878e+02] [-3.03255627e-01 9.52869362e-01 -8.71800845e-03 -2.64379696e+01] [-3.11251506e-02 -7.60959579e-04 9.99515205e-01 -9.60674564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.84, Y:-26.44, Z:-0.96 [[ 9.53388813e-01 3.00246659e-01 3.00285602e-02 3.04844772e+02] [-3.00119143e-01 9.53861376e-01 -8.77356929e-03 -2.64368878e+01] [-3.12773186e-02 -6.47522920e-04 9.99510535e-01 -9.59971207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.88, Y:-26.44, Z:-0.96 [[ 9.54078620e-01 2.98123720e-01 2.92614756e-02 3.04876762e+02] [-2.98001192e-01 9.54527080e-01 -8.56408776e-03 -2.64410009e+01] [-3.04840286e-02 -5.49141562e-04 9.99535103e-01 -9.60197817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.91, Y:-26.45, Z:-0.96 [[ 9.55091203e-01 2.94947053e-01 2.84082626e-02 3.04908797e+02] [-2.94829739e-01 9.55513505e-01 -8.32863136e-03 -2.64451130e+01] [-2.96009839e-02 -4.20998101e-04 9.99561706e-01 -9.60433265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.94, Y:-26.45, Z:-0.96 [[ 9.57224006e-01 2.88030952e-01 2.75748757e-02 3.04942374e+02] [-2.87917149e-01 9.57621081e-01 -8.09814535e-03 -2.64453675e+01] [-2.87387988e-02 -1.87540473e-04 9.99586938e-01 -9.61271445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.98, Y:-26.45, Z:-0.96 [[ 9.58282738e-01 2.84450767e-01 2.79634458e-02 3.04975315e+02] [-2.84331738e-01 9.58690647e-01 -8.22835372e-03 -2.64509713e+01] [-2.91488555e-02 -6.58058310e-05 9.99575080e-01 -9.62689981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.01, Y:-26.45, Z:-0.96 [[ 9.60600260e-01 2.76569402e-01 2.75046591e-02 3.05008905e+02] [-2.76450832e-01 9.60993931e-01 -8.09956923e-03 -2.64542885e+01] [-2.86719035e-02 1.76762421e-04 9.99588861e-01 -9.63315370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.04, Y:-26.46, Z:-0.96 [[ 9.61591620e-01 2.73126384e-01 2.72678232e-02 3.05040771e+02] [-2.73008351e-01 9.61978118e-01 -8.03371273e-03 -2.64613575e+01] [-2.84252682e-02 2.80807389e-04 9.99595881e-01 -9.64254124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04591999999997 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:305.07, Y:-26.47, Z:-0.96 [[ 9.62769346e-01 2.68887971e-01 2.78288714e-02 3.05072909e+02] [-2.68763145e-01 9.63171368e-01 -8.20289537e-03 -2.64675632e+01] [-2.90096320e-02 4.18121209e-04 9.99579045e-01 -9.64193114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.10, Y:-26.48, Z:-0.96 [[ 9.62998842e-01 2.67969622e-01 2.87317319e-02 3.05103251e+02] [-2.67836037e-01 9.63427250e-01 -8.47295515e-03 -2.64772786e+01] [-2.99514280e-02 4.64052794e-04 9.99551248e-01 -9.63809487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.13, Y:-26.49, Z:-0.97 [[ 9.63425084e-01 2.66335570e-01 2.96221611e-02 3.05134258e+02] [-2.66192676e-01 9.63880220e-01 -8.73962629e-03 -2.64867533e+01] [-3.08798885e-02 5.34772852e-04 9.99522959e-01 -9.65242500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.16, Y:-26.50, Z:-0.97 [[ 9.64245331e-01 2.63473276e-01 2.85091967e-02 3.05164582e+02] [-2.63339554e-01 9.64666504e-01 -8.41514010e-03 -2.64976338e+01] [-2.97190316e-02 6.06660426e-04 9.99558108e-01 -9.65279164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.20, Y:-26.51, Z:-0.97 [[ 9.64740271e-01 2.61645887e-01 2.85944077e-02 3.05195013e+02] [-2.61510446e-01 9.65163708e-01 -8.44416012e-03 -2.65084306e+01] [-2.98076643e-02 6.68685005e-04 9.99555429e-01 -9.66123709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.23, Y:-26.52, Z:-0.97 [[ 9.65170965e-01 2.60154506e-01 2.76521523e-02 3.05225230e+02] [-2.60026814e-01 9.65566743e-01 -8.18048321e-03 -2.65233581e+01] [-2.88281882e-02 7.05263796e-04 9.99584133e-01 -9.65458107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22592 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:305.26, Y:-26.54, Z:-0.97 [[ 9.65099907e-01 2.60490157e-01 2.69638230e-02 3.05255949e+02] [-2.60368466e-01 9.65476255e-01 -7.99142786e-03 -2.65352216e+01] [-2.81146191e-02 6.91997069e-04 9.99604466e-01 -9.65416883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.29, Y:-26.55, Z:-0.97 [[ 9.65068920e-01 2.60570214e-01 2.72973254e-02 3.05287640e+02] [-2.60445104e-01 9.65454637e-01 -8.10506160e-03 -2.65460351e+01] [-2.84662670e-02 7.12488283e-04 9.99594500e-01 -9.65280163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28592 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:305.32, Y:-26.56, Z:-0.97 [[ 9.64748002e-01 2.61726185e-01 2.75807390e-02 3.05318156e+02] [-2.61598507e-01 9.65141914e-01 -8.20407088e-03 -2.65592327e+01] [-2.87665474e-02 6.99780838e-04 9.99585912e-01 -9.66146007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31591999999995 meters Centerline goodness [0,1] 0.9999006902030886 Centerline is valid? [True, True] Translation: X:305.35, Y:-26.57, Z:-0.97 [[ 9.64288326e-01 2.63324478e-01 2.84296353e-02 3.05349019e+02] [-2.63189054e-01 9.64707079e-01 -8.47198730e-03 -2.65715730e+01] [-2.96571520e-02 6.87069640e-04 9.99559894e-01 -9.66134668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.38, Y:-26.59, Z:-0.97 [[ 9.63055811e-01 2.67943607e-01 2.70134986e-02 3.05378388e+02] [-2.67822789e-01 9.63434451e-01 -8.06297336e-03 -2.65854052e+01] [-2.81861574e-02 5.30262802e-04 9.99602551e-01 -9.65507151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.41, Y:-26.60, Z:-0.97 [[ 9.62061631e-01 2.71333440e-01 2.85583981e-02 3.05409397e+02] [-2.71199426e-01 9.62485295e-01 -8.53983899e-03 -2.65961988e+01] [-2.98041821e-02 4.70830261e-04 9.99555646e-01 -9.65689731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.44, Y:-26.61, Z:-0.97 [[ 9.61195296e-01 2.74499401e-01 2.74532772e-02 3.05439523e+02] [-2.74376705e-01 9.61587202e-01 -8.21442312e-03 -2.66072819e+01] [-2.86535742e-02 3.63125113e-04 9.99589336e-01 -9.65019988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.47, Y:-26.62, Z:-0.97 [[ 9.59245443e-01 2.81221846e-01 2.76125507e-02 3.05469552e+02] [-2.81100115e-01 9.59642768e-01 -8.27547460e-03 -2.66186379e+01] [-2.88254288e-02 1.76320144e-04 9.99584445e-01 -9.65490914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.50, Y:-26.63, Z:-0.97 [[ 9.58165263e-01 2.85024157e-01 2.60875111e-02 3.05500374e+02] [-2.84916557e-01 9.58520331e-01 -7.83139695e-03 -2.66274399e+01] [-2.72375471e-02 7.10086680e-05 9.99628987e-01 -9.65309539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.53, Y:-26.64, Z:-0.97 [[ 9.56456559e-01 2.90678749e-01 2.63953789e-02 3.05532756e+02] [-2.90570325e-01 9.56820704e-01 -7.93898671e-03 -2.66357501e+01] [-2.75633398e-02 -7.64179235e-05 9.99620056e-01 -9.65523015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.56, Y:-26.64, Z:-0.97 [[ 9.55507739e-01 2.93722572e-01 2.70556938e-02 3.05563690e+02] [-2.93609487e-01 9.55890698e-01 -8.15125539e-03 -2.66449200e+01] [-2.82564937e-02 -1.55220759e-04 9.99600694e-01 -9.65942699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.60, Y:-26.65, Z:-0.96 [[ 9.54482413e-01 2.97029074e-01 2.71486979e-02 3.05595216e+02] [-2.96916107e-01 9.54868406e-01 -8.19471670e-03 -2.66535334e+01] [-2.83575030e-02 -2.39172717e-04 9.99597817e-01 -9.64081226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.63, Y:-26.66, Z:-0.96 [[ 9.53198927e-01 3.01084145e-01 2.75707126e-02 3.05627219e+02] [-3.00968931e-01 9.53597511e-01 -8.33598263e-03 -2.66595790e+01] [-2.88011951e-02 -3.52078214e-04 9.99585098e-01 -9.63744735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.66, Y:-26.67, Z:-0.96 [[ 9.52509361e-01 3.03354326e-01 2.64966183e-02 3.05659719e+02] [-3.03248371e-01 9.52877747e-01 -8.02647161e-03 -2.66674965e+01] [-2.76829028e-02 -3.89767005e-04 9.99616679e-01 -9.64063668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.69, Y:-26.67, Z:-0.96 [[ 9.51770911e-01 3.05770701e-01 2.52272122e-02 3.05692097e+02] [-3.05675123e-01 9.52105088e-01 -7.65642602e-03 -2.66737236e+01] [-2.63600679e-02 -4.24167628e-04 9.99652423e-01 -9.63729990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.72, Y:-26.68, Z:-0.96 [[ 9.51531170e-01 3.06465049e-01 2.58380703e-02 3.05724320e+02] [-3.06364637e-01 9.51881810e-01 -7.85680537e-03 -2.66806997e+01] [-2.70026254e-02 -4.39875823e-04 9.99635266e-01 -9.64068063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.76, Y:-26.69, Z:-0.96 [[ 9.51486170e-01 3.06547184e-01 2.65121013e-02 3.05756325e+02] [-3.06441070e-01 9.51855362e-01 -8.07711090e-03 -2.66876189e+01] [-2.77117013e-02 -4.39137358e-04 9.99615861e-01 -9.63914994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.79, Y:-26.70, Z:-0.96 [[ 9.51323566e-01 3.07051800e-01 2.65078153e-02 3.05787550e+02] [-3.06945490e-01 9.51692702e-01 -8.09116534e-03 -2.66968152e+01] [-2.77117012e-02 -4.39138065e-04 9.99615861e-01 -9.63942111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.82, Y:-26.70, Z:-0.96 [[ 9.51293916e-01 3.07134691e-01 2.66114158e-02 3.05819968e+02] [-3.07027152e-01 9.51665959e-01 -8.13820570e-03 -2.67021080e+01] [-2.78247039e-02 -4.28601646e-04 9.99612726e-01 -9.62894974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.85, Y:-26.71, Z:-0.96 [[ 9.51462123e-01 3.06460403e-01 2.83169386e-02 3.05851221e+02] [-3.06337908e-01 9.51883314e-01 -8.67422117e-03 -2.67089934e+01] [-2.96127266e-02 -4.21358840e-04 9.99561358e-01 -9.63875834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.88, Y:-26.71, Z:-0.97 [[ 9.51803459e-01 3.05383944e-01 2.84749335e-02 3.05884551e+02] [-3.05259107e-01 9.52229230e-01 -8.73906860e-03 -2.67138699e+01] [-2.97834352e-02 -3.74357053e-04 9.99556305e-01 -9.65495561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.92, Y:-26.72, Z:-0.96 [[ 9.52035756e-01 3.04632890e-01 2.87527498e-02 3.05917364e+02] [-3.04504764e-01 9.52469783e-01 -8.84086332e-03 -2.67205270e+01] [-3.00793432e-02 -3.38531316e-04 9.99547457e-01 -9.64837430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.95, Y:-26.73, Z:-0.96 [[ 9.52244926e-01 3.03955622e-01 2.89927722e-02 3.05950186e+02] [-3.03824526e-01 9.52686143e-01 -8.93140965e-03 -2.67275605e+01] [-3.03357645e-02 -3.03825733e-04 9.99539719e-01 -9.64221503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91591999999997 meters Centerline goodness [0,1] 0.9999504042057233 Centerline is valid? [True, True] Translation: X:305.98, Y:-26.73, Z:-0.96 [[ 9.53352618e-01 3.00675496e-01 2.67026596e-02 3.05982419e+02] [-3.00562629e-01 9.53726490e-01 -8.23948998e-03 -2.67322687e+01] [-2.79444466e-02 -1.70682219e-04 9.99609463e-01 -9.63419655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.01, Y:-26.74, Z:-0.96 [[ 9.53830265e-01 2.99299953e-01 2.50472118e-02 3.06013772e+02] [-2.99200074e-01 9.54159066e-01 -7.73252540e-03 -2.67402964e+01] [-2.62133687e-02 -1.18610863e-04 9.99656364e-01 -9.63056580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.05, Y:-26.75, Z:-0.96 [[ 9.54666430e-01 2.96792724e-01 2.29365709e-02 3.06045338e+02] [-2.96708167e-01 9.54941924e-01 -7.08422789e-03 -2.67466483e+01] [-2.40056404e-02 -4.23933494e-05 9.99711822e-01 -9.63713184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.08, Y:-26.75, Z:-0.96 [[ 9.55099463e-01 2.95288007e-01 2.42901087e-02 3.06077116e+02] [-2.95192598e-01 9.55408286e-01 -7.50579703e-03 -2.67535065e+01] [-2.54233430e-02 -1.47758136e-06 9.99676775e-01 -9.64054987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.11, Y:-26.76, Z:-0.96 [[ 9.55476653e-01 2.94106715e-01 2.37824828e-02 3.06107957e+02] [-2.94014802e-01 9.55772587e-01 -7.35235448e-03 -2.67610591e+01] [-2.48930219e-02 3.26010786e-05 9.99690120e-01 -9.63592755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.14, Y:-26.77, Z:-0.96 [[ 9.56379725e-01 2.90983553e-01 2.58145848e-02 3.06138976e+02] [-2.90874020e-01 9.56728047e-01 -7.98427934e-03 -2.67690545e+01] [-2.70208312e-02 1.27210830e-04 9.99634863e-01 -9.63938501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.17, Y:-26.78, Z:-0.96 [[ 9.56758567e-01 2.89670195e-01 2.65372045e-02 3.06169252e+02] [-2.89553832e-01 9.57126506e-01 -8.21157491e-03 -2.67788326e+01] [-2.77781103e-02 1.72545394e-04 9.99614099e-01 -9.64371042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.20, Y:-26.79, Z:-0.97 [[ 9.57702129e-01 2.86552821e-01 2.63460346e-02 3.06199871e+02] [-2.86436846e-01 9.58064409e-01 -8.15612657e-03 -2.67873562e+01] [-2.75783591e-02 2.64664728e-04 9.99619610e-01 -9.65415603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.23, Y:-26.80, Z:-0.97 [[ 9.58278982e-01 2.84505785e-01 2.75290766e-02 3.06230169e+02] [-2.84378229e-01 9.58674263e-01 -8.52530402e-03 -2.67967710e+01] [-2.88169155e-02 3.40949608e-04 9.99584648e-01 -9.66590423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.26, Y:-26.81, Z:-0.97 [[ 9.59402067e-01 2.80681239e-01 2.76715720e-02 3.06260042e+02] [-2.80550655e-01 9.59800932e-01 -8.57328188e-03 -2.68090707e+01] [-2.89655600e-02 4.61946685e-04 9.99580303e-01 -9.66874208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.29, Y:-26.82, Z:-0.97 [[ 9.60062855e-01 2.78339188e-01 2.84008832e-02 3.06290649e+02] [-2.78200486e-01 9.60482688e-01 -8.80317075e-03 -2.68204324e+01] [-2.97288240e-02 5.50457739e-04 9.99557849e-01 -9.67126600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.32, Y:-26.83, Z:-0.97 [[ 9.60490304e-01 2.76947994e-01 2.75351649e-02 3.06322279e+02] [-2.76816888e-01 9.60884734e-01 -8.54043890e-03 -2.68315081e+01] [-2.88233770e-02 5.80810088e-04 9.99584351e-01 -9.66497421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.27592 meters Centerline goodness [0,1] 0.9999501967229444 Centerline is valid? [True, True] Translation: X:306.35, Y:-26.84, Z:-0.97 [[ 9.60880346e-01 2.75689265e-01 2.65403273e-02 3.06352339e+02] [-2.75566832e-01 9.61246622e-01 -8.23734223e-03 -2.68446343e+01] [-2.77827468e-02 6.01466349e-04 9.99613804e-01 -9.67307968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30591999999996 meters Centerline goodness [0,1] 0.9999504066653442 Centerline is valid? [True, True] Translation: X:306.38, Y:-26.86, Z:-0.97 [[ 9.60520035e-01 2.76978574e-01 2.61559276e-02 3.06381949e+02] [-2.76860040e-01 9.60875932e-01 -8.12168099e-03 -2.68571777e+01] [-2.73821329e-02 5.59506149e-04 9.99624883e-01 -9.67315163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33592 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:306.41, Y:-26.87, Z:-0.97 [[ 9.59361600e-01 2.80631828e-01 2.95143747e-02 3.06411225e+02] [-2.80482491e-01 9.59815352e-01 -9.16860030e-03 -2.68720609e+01] [-3.09013510e-02 5.17737726e-04 9.99522305e-01 -9.68089491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.44, Y:-26.88, Z:-0.97 [[ 9.58209248e-01 2.84430380e-01 3.05678817e-02 3.06441160e+02] [-2.84271654e-01 9.58696605e-01 -9.51037458e-03 -2.68841641e+01] [-3.20103638e-02 4.23346598e-04 9.99487447e-01 -9.67899705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.47, Y:-26.90, Z:-0.97 [[ 9.57058103e-01 2.88076259e-01 3.24323253e-02 3.06471232e+02] [-2.87899123e-01 9.57607412e-01 -1.01063482e-02 -2.68957685e+01] [-3.39688341e-02 3.35124417e-04 9.99422836e-01 -9.68331529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.50, Y:-26.91, Z:-0.97 [[ 9.55321878e-01 2.94032712e-01 3.00811334e-02 3.06501377e+02] [-2.93882979e-01 9.55795349e-01 -9.38325767e-03 -2.69090843e+01] [-3.15103921e-02 1.23698223e-04 9.99503417e-01 -9.67886211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.53, Y:-26.92, Z:-0.97 [[ 9.54642212e-01 2.96314153e-01 2.92603637e-02 3.06531949e+02] [-2.96173108e-01 9.55090529e-01 -9.14173090e-03 -2.69197377e+01] [-3.06551205e-02 6.09493511e-05 9.99530020e-01 -9.68659951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.56, Y:-26.93, Z:-0.97 [[ 9.52795039e-01 3.02149406e-01 2.97884134e-02 3.06562619e+02] [-3.02005533e-01 9.53260575e-01 -9.32382695e-03 -2.69321164e+01] [-3.12133089e-02 -1.12569620e-04 9.99512740e-01 -9.68458746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.59, Y:-26.94, Z:-0.97 [[ 9.51904887e-01 3.04922946e-01 2.99847150e-02 3.06594289e+02] [-3.04778004e-01 9.52377006e-01 -9.40247946e-03 -2.69422841e+01] [-3.14237849e-02 -1.88415463e-04 9.99506133e-01 -9.67289837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.63, Y:-26.95, Z:-0.97 [[ 9.51338464e-01 3.06749675e-01 2.93217436e-02 3.06625496e+02] [-3.06611417e-01 9.51790200e-01 -9.21160638e-03 -2.69516528e+01] [-3.07338055e-02 -2.27025885e-04 9.99527579e-01 -9.67188354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:306.66, Y:-26.96, Z:-0.97 [[ 9.50053267e-01 3.10601664e-01 3.04203083e-02 3.06656492e+02] [-3.10454326e-01 9.50540101e-01 -9.57222879e-03 -2.69610897e+01] [-3.18888731e-02 -3.49989077e-04 9.99491359e-01 -9.68806122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.69, Y:-26.97, Z:-0.97 [[ 9.48896643e-01 3.14252749e-01 2.89891647e-02 3.06688762e+02] [-3.14120147e-01 9.49339255e-01 -9.13849586e-03 -2.69692087e+01] [-3.03923495e-02 -4.34592644e-04 9.99537951e-01 -9.68601886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:306.72, Y:-26.98, Z:-0.97 [[ 9.48383632e-01 3.15802398e-01 2.89366939e-02 3.06720455e+02] [-3.15670486e-01 9.48824866e-01 -9.13879105e-03 -2.69774248e+01] [-3.03419069e-02 -4.67380371e-04 9.99539469e-01 -9.68725653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.75, Y:-26.99, Z:-0.97 [[ 9.47845237e-01 3.17340284e-01 2.97414087e-02 3.06751302e+02] [-3.17201215e-01 9.48311593e-01 -9.40810391e-03 -2.69859652e+01] [-3.11896931e-02 -5.16584496e-04 9.99513350e-01 -9.70095318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69592 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:306.78, Y:-26.99, Z:-0.97 [[ 9.47221634e-01 3.19174884e-01 2.99761395e-02 3.06782585e+02] [-3.19034054e-01 9.47695664e-01 -9.49740644e-03 -2.69923357e+01] [-3.14395910e-02 -5.67260455e-04 9.99505493e-01 -9.70152879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.81, Y:-27.00, Z:-0.97 [[ 9.46883306e-01 3.20251142e-01 2.91755251e-02 3.06814927e+02] [-3.20117729e-01 9.47332508e-01 -9.26061880e-03 -2.70003125e+01] [-3.06046471e-02 -5.70877483e-04 9.99531405e-01 -9.69960165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.85, Y:-27.00, Z:-0.97 [[ 9.46033375e-01 3.22613054e-01 3.06866483e-02 3.06846744e+02] [-3.22466234e-01 9.46530703e-01 -9.75477632e-03 -2.70048469e+01] [-3.21928730e-02 -6.67063953e-04 9.99481453e-01 -9.70899708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.88, Y:-27.01, Z:-0.97 [[ 9.45718709e-01 3.23546359e-01 3.05593996e-02 3.06879450e+02] [-3.23400678e-01 9.46212076e-01 -9.73188229e-03 -2.70115404e+01] [-3.20643881e-02 -6.79307407e-04 9.99485574e-01 -9.70948675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81591999999995 meters Centerline goodness [0,1] 0.999900700064545 Centerline is valid? [True, True] Translation: X:306.91, Y:-27.01, Z:-0.97 [[ 9.45064622e-01 3.25437859e-01 3.07092884e-02 3.06912423e+02] [-3.25291242e-01 9.45563146e-01 -9.79514400e-03 -2.70149672e+01] [-3.22252820e-02 -7.32418495e-04 9.99480362e-01 -9.71174089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:306.94, Y:-27.02, Z:-0.97 [[ 9.44954531e-01 3.25744639e-01 3.08442027e-02 3.06944941e+02] [-3.25596322e-01 9.45457507e-01 -9.85580171e-03 -2.70215294e+01] [-3.23723576e-02 -7.29474495e-04 9.99475612e-01 -9.71855697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87591999999995 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:306.98, Y:-27.03, Z:-0.97 [[ 9.45528094e-01 3.24183171e-01 2.96967218e-02 3.06976562e+02] [-3.24044773e-01 9.45994109e-01 -9.49374600e-03 -2.70279265e+01] [-3.11706366e-02 -6.46463915e-04 9.99513869e-01 -9.71365317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.01, Y:-27.03, Z:-0.97 [[ 9.47161238e-01 3.19547359e-01 2.78401419e-02 3.07009153e+02] [-3.19423605e-01 9.47570195e-01 -8.90427786e-03 -2.70318019e+01] [-2.92258272e-02 -4.59011635e-04 9.99572729e-01 -9.71623809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.04, Y:-27.04, Z:-0.97 [[ 9.48082597e-01 3.16912323e-01 2.65700887e-02 3.07040478e+02] [-3.16798461e-01 9.48454771e-01 -8.50192533e-03 -2.70382293e+01] [-2.78948923e-02 -3.56835759e-04 9.99610798e-01 -9.70438922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.07, Y:-27.04, Z:-0.97 [[ 9.49924728e-01 3.11231916e-01 2.78873679e-02 3.07072992e+02] [-3.11103911e-01 9.50333971e-01 -8.92751701e-03 -2.70428051e+01] [-2.92808413e-02 -1.95400038e-04 9.99571205e-01 -9.71682553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.11, Y:-27.05, Z:-0.97 [[ 9.50398266e-01 3.09734751e-01 2.84168969e-02 3.07105062e+02] [-3.09600985e-01 9.50822992e-01 -9.10315467e-03 -2.70504662e+01] [-2.98390023e-02 -1.46276879e-04 9.99554707e-01 -9.72335768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.14, Y:-27.06, Z:-0.97 [[ 9.50782707e-01 3.08643863e-01 2.74082162e-02 3.07136279e+02] [-3.08518858e-01 9.51177667e-01 -8.78404822e-03 -2.70581356e+01] [-2.87812257e-02 -1.04230414e-04 9.99585729e-01 -9.72584792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.17, Y:-27.07, Z:-0.97 [[ 9.50634341e-01 3.09102786e-01 2.73828109e-02 3.07168276e+02] [-3.08978033e-01 9.51028630e-01 -8.78180411e-03 -2.70653961e+01] [-2.87563172e-02 -1.12402481e-04 9.99586445e-01 -9.74260108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.20, Y:-27.07, Z:-0.97 [[ 9.50473882e-01 3.09713318e-01 2.60203831e-02 3.07199352e+02] [-3.09600797e-01 9.50829978e-01 -8.34868173e-03 -2.70747363e+01] [-2.73266582e-02 -1.20727393e-04 9.99626550e-01 -9.74414496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.23, Y:-27.08, Z:-0.97 [[ 9.50248241e-01 3.10389744e-01 2.62009180e-02 3.07231446e+02] [-3.10275757e-01 9.50609377e-01 -8.41225812e-03 -2.70822824e+01] [-2.75179170e-02 -1.35776205e-04 9.99621301e-01 -9.73526161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.26, Y:-27.09, Z:-0.97 [[ 9.50185712e-01 3.10649654e-01 2.53752646e-02 3.07262509e+02] [-3.10542732e-01 9.50524473e-01 -8.15093322e-03 -2.70895651e+01] [-2.66518946e-02 -1.35203695e-04 9.99644766e-01 -9.73568372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17591999999996 meters Centerline goodness [0,1] 0.9999504091247211 Centerline is valid? [True, True] Translation: X:307.29, Y:-27.10, Z:-0.97 [[ 9.50437483e-01 3.09816377e-01 2.61228622e-02 3.07293650e+02] [-3.09702641e-01 9.50796403e-01 -8.39486060e-03 -2.70971747e+01] [-2.74383887e-02 -1.11529233e-04 9.99623490e-01 -9.73280160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20592 meters Centerline goodness [0,1] 0.9999503746712322 Centerline is valid? [True, True] Translation: X:307.32, Y:-27.11, Z:-0.97 [[ 9.51235925e-01 3.07284137e-01 2.69569163e-02 3.07324753e+02] [-3.07161893e-01 9.51617811e-01 -8.66680599e-03 -2.71052766e+01] [-2.83158537e-02 -3.59602221e-05 9.99599025e-01 -9.74947410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.36, Y:-27.11, Z:-0.98 [[ 9.51943467e-01 3.05061101e-01 2.72279389e-02 3.07355738e+02] [-3.04935364e-01 9.52332780e-01 -8.75786607e-03 -2.71137896e+01] [-2.86017430e-02 3.42319450e-05 9.99590886e-01 -9.75196843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:307.39, Y:-27.12, Z:-0.98 [[ 9.52805377e-01 3.02326925e-01 2.75743147e-02 3.07387426e+02] [-3.02196708e-01 9.53204288e-01 -8.87324274e-03 -2.71196060e+01] [-2.89665752e-02 1.21606282e-04 9.99580373e-01 -9.75657755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29591999999997 meters Centerline goodness [0,1] 0.9999008330027767 Centerline is valid? [True, True] Translation: X:307.42, Y:-27.13, Z:-0.97 [[ 9.53414906e-01 3.00491379e-01 2.65508589e-02 3.07418841e+02] [-3.00369833e-01 9.53784515e-01 -8.54766845e-03 -2.71275218e+01] [-2.78922987e-02 1.74397463e-04 9.99610919e-01 -9.74923357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32592 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:307.45, Y:-27.14, Z:-0.98 [[ 9.54897430e-01 2.95767942e-01 2.63101245e-02 3.07449663e+02] [-2.95646693e-01 9.55259769e-01 -8.47388511e-03 -2.71368436e+01] [-2.76393070e-02 3.13189820e-04 9.99617912e-01 -9.75003296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35591999999997 meters Centerline goodness [0,1] 0.9999007493424644 Centerline is valid? [True, True] Translation: X:307.48, Y:-27.15, Z:-0.97 [[ 9.55553331e-01 2.93610816e-01 2.66555717e-02 3.07480664e+02] [-2.93485417e-01 9.55924966e-01 -8.58888170e-03 -2.71464761e+01] [-2.80025150e-02 3.84112951e-04 9.99607779e-01 -9.74961342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38592 meters Centerline goodness [0,1] 0.9997521439547911 Centerline is valid? [True, True] Translation: X:307.51, Y:-27.16, Z:-0.97 [[ 9.55900083e-01 2.92456730e-01 2.69089743e-02 3.07510910e+02] [-2.92328397e-01 9.56278663e-01 -8.67337264e-03 -2.71559851e+01] [-2.82690642e-02 4.24620283e-04 9.99600260e-01 -9.74998988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41591999999997 meters Centerline goodness [0,1] 0.9997023514237524 Centerline is valid? [True, True] Translation: X:307.54, Y:-27.17, Z:-0.97 [[ 9.56715874e-01 2.89875604e-01 2.58238305e-02 3.07541584e+02] [-2.89756378e-01 9.57064209e-01 -8.32717266e-03 -2.71655067e+01] [-2.71289081e-02 4.84118673e-04 9.99631826e-01 -9.74546108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44592 meters Centerline goodness [0,1] 0.9995033277043807 Centerline is valid? [True, True] Translation: X:307.57, Y:-27.18, Z:-0.97 [[ 9.57294406e-01 2.88086776e-01 2.43604365e-02 3.07572381e+02] [-2.87980017e-01 9.57604173e-01 -7.85862625e-03 -2.71758086e+01] [-2.55916220e-02 5.07700033e-04 9.99672352e-01 -9.74375337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47592 meters Centerline goodness [0,1] 0.9992552874590408 Centerline is valid? [True, True] Translation: X:307.60, Y:-27.19, Z:-0.97 [[ 9.58012730e-01 2.85828902e-01 2.26593816e-02 3.07601590e+02] [-2.85735829e-01 9.58280521e-01 -7.31297337e-03 -2.71897618e+01] [-2.38043031e-02 5.31324391e-04 9.99716496e-01 -9.73594448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50591999999995 meters Centerline goodness [0,1] 0.9994046733144814 Centerline is valid? [True, True] Translation: X:307.63, Y:-27.20, Z:-0.97 [[ 9.58347735e-01 2.84689107e-01 2.28414319e-02 3.07631214e+02] [-2.84594133e-01 9.58619732e-01 -7.37488510e-03 -2.72018698e+01] [-2.39957968e-02 5.67166918e-04 9.99711899e-01 -9.73776354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53592 meters Centerline goodness [0,1] 0.9995535714285714 Centerline is valid? [True, True] Translation: X:307.66, Y:-27.22, Z:-0.97 [[ 9.59379555e-01 2.81144543e-01 2.34225618e-02 3.07659551e+02] [-2.81043557e-01 9.59665197e-01 -7.56495436e-03 -2.72174064e+01] [-2.46046630e-02 6.74902470e-04 9.99697032e-01 -9.72769735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56591999999995 meters Centerline goodness [0,1] 0.9995532833672507 Centerline is valid? [True, True] Translation: X:307.69, Y:-27.23, Z:-0.97 [[ 9.59836144e-01 2.79590505e-01 2.33179441e-02 3.07688753e+02] [-2.79489884e-01 9.60119075e-01 -7.53428949e-03 -2.72306514e+01] [-2.44945188e-02 7.14553865e-04 9.99699709e-01 -9.72264712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59592 meters Centerline goodness [0,1] 0.999751787132645 Centerline is valid? [True, True] Translation: X:307.72, Y:-27.24, Z:-0.97 [[ 9.60310770e-01 2.77860243e-01 2.44317369e-02 3.07718240e+02] [-2.77749134e-01 9.60621178e-01 -7.89749541e-03 -2.72431781e+01] [-2.56640439e-02 7.98156145e-04 9.99670306e-01 -9.73069636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62591999999995 meters Centerline goodness [0,1] 0.9998008464027881 Centerline is valid? [True, True] Translation: X:307.75, Y:-27.26, Z:-0.97 [[ 9.60294238e-01 2.78060075e-01 2.27502040e-02 3.07746230e+02] [-2.77963719e-01 9.60563400e-01 -7.35700737e-03 -2.72620060e+01] [-2.38987034e-02 7.41160463e-04 9.99714110e-01 -9.71655071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65592 meters Centerline goodness [0,1] 0.9998008464027881 Centerline is valid? [True, True] Translation: X:307.78, Y:-27.27, Z:-0.97 [[ 9.60242794e-01 2.78237787e-01 2.27488586e-02 3.07777213e+02] [-2.78141382e-01 9.60511939e-01 -7.36116649e-03 -2.72719667e+01] [-2.38987050e-02 7.41108103e-04 9.99714110e-01 -9.71682188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68591999999995 meters Centerline goodness [0,1] 0.9997021297721292 Centerline is valid? [True, True] Translation: X:307.80, Y:-27.29, Z:-0.97 [[ 9.59276844e-01 2.81678167e-01 2.11032482e-02 3.07804250e+02] [-2.81595973e-01 9.59508748e-01 -6.83157181e-03 -2.72933577e+01] [-2.21730559e-02 6.10778937e-04 9.99753961e-01 -9.71296879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71592 meters Centerline goodness [0,1] 0.999801439563167 Centerline is valid? [True, True] Translation: X:307.83, Y:-27.31, Z:-0.97 [[ 9.58433295e-01 2.84623882e-01 1.98711855e-02 3.07833078e+02] [-2.84551582e-01 9.58639130e-01 -6.43545175e-03 -2.73079619e+01] [-2.08809792e-02 5.13573962e-04 9.99781837e-01 -9.70159774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74591999999996 meters Centerline goodness [0,1] 0.9998509390837722 Centerline is valid? [True, True] Translation: X:307.86, Y:-27.32, Z:-0.97 [[ 9.57187874e-01 2.88768831e-01 2.00981439e-02 3.07861943e+02] [-2.88695723e-01 9.57398755e-01 -6.51174138e-03 -2.73229162e+01] [-2.11223259e-02 4.30711687e-04 9.99776806e-01 -9.70743762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.77592 meters Centerline goodness [0,1] 0.9995035496202155 Centerline is valid? [True, True] Translation: X:307.89, Y:-27.34, Z:-0.97 [[ 9.54197190e-01 2.98472618e-01 2.05382136e-02 3.07889641e+02] [-2.98398451e-01 9.54418171e-01 -6.65721536e-03 -2.73426123e+01] [-2.15890407e-02 2.23725081e-04 9.99766904e-01 -9.70585870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80591999999996 meters Centerline goodness [0,1] 0.9993549347491688 Centerline is valid? [True, True] Translation: X:307.92, Y:-27.36, Z:-0.97 [[ 9.52534426e-01 3.03692273e-01 2.11936298e-02 3.07919320e+02] [-3.03614501e-01 9.52770167e-01 -6.87342815e-03 -2.73570061e+01] [-2.22800652e-02 1.12483616e-04 9.99751762e-01 -9.69480732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83592 meters Centerline goodness [0,1] 0.9992054032578467 Centerline is valid? [True, True] Translation: X:307.95, Y:-27.37, Z:-0.97 [[ 9.49274746e-01 3.13733426e-01 2.11847717e-02 3.07949466e+02] [-3.13658108e-01 9.49511097e-01 -6.87517282e-03 -2.73714026e+01] [-2.22721473e-02 -1.18347478e-04 9.99751938e-01 -9.69732597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86591999999996 meters Centerline goodness [0,1] 0.9990065073766827 Centerline is valid? [True, True] Translation: X:307.98, Y:-27.38, Z:-0.97 [[ 9.48046250e-01 3.17582350e-01 1.87018268e-02 3.07980218e+02] [-3.17524347e-01 9.48230678e-01 -6.07214303e-03 -2.73811967e+01] [-1.96620513e-02 -1.81612903e-04 9.99806667e-01 -9.68430777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89592 meters Centerline goodness [0,1] 0.9985596503427039 Centerline is valid? [True, True] Translation: X:308.01, Y:-27.39, Z:-0.97 [[ 9.44708650e-01 3.27246282e-01 2.08671249e-02 3.08010359e+02] [-3.27176350e-01 9.44938988e-01 -6.77824737e-03 -2.73926062e+01] [-2.19363162e-02 -4.23760845e-04 9.99759280e-01 -9.68031502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92591999999996 meters Centerline goodness [0,1] 0.9986066878980892 Centerline is valid? [True, True] Translation: X:308.04, Y:-27.40, Z:-0.97 [[ 9.43287624e-01 3.31259831e-01 2.18032909e-02 3.08040626e+02] [-3.31184421e-01 9.43539421e-01 -7.08807383e-03 -2.74018656e+01] [-2.29202586e-02 -5.34817958e-04 9.99737153e-01 -9.67824957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95592 meters Centerline goodness [0,1] 0.9982628548739328 Centerline is valid? [True, True] Translation: X:308.07, Y:-27.41, Z:-0.97 [[ 9.40784501e-01 3.38317337e-01 2.15847783e-02 3.08071692e+02] [-3.38245164e-01 9.41031826e-01 -7.02224311e-03 -2.74088582e+01] [-2.26877099e-02 -6.94529389e-04 9.99742360e-01 -9.66614157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98591999999996 meters Centerline goodness [0,1] 0.9977159880834161 Centerline is valid? [True, True] Translation: X:308.10, Y:-27.42, Z:-0.97 [[ 9.39773326e-01 3.41224068e-01 1.98048211e-02 3.08103289e+02] [-3.41163892e-01 9.39981727e-01 -6.44604626e-03 -2.74160664e+01] [-2.08157161e-02 -6.98867513e-04 9.99783085e-01 -9.65455165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01592 meters Centerline goodness [0,1] 0.9977162148743918 Centerline is valid? [True, True] Translation: X:308.13, Y:-27.42, Z:-0.97 [[ 9.38804366e-01 3.43855396e-01 2.02442132e-02 3.08134881e+02] [-3.43793069e-01 9.39022296e-01 -6.59194196e-03 -2.74231406e+01] [-2.12764424e-02 -7.71276298e-04 9.99773333e-01 -9.65568471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04591999999997 meters Centerline goodness [0,1] 0.9968212973080361 Centerline is valid? [True, True] Translation: X:308.17, Y:-27.43, Z:-0.97 [[ 9.37414311e-01 3.47659747e-01 1.96751154e-02 3.08167011e+02] [-3.47601667e-01 9.37620397e-01 -6.40875859e-03 -2.74269397e+01] [-2.06758569e-02 -8.31440901e-04 9.99785886e-01 -9.65256824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07592 meters Centerline goodness [0,1] 0.9969725544692044 Centerline is valid? [True, True] Translation: X:308.20, Y:-27.43, Z:-0.97 [[ 9.37012531e-01 3.48701456e-01 2.03669413e-02 3.08198720e+02] [-3.48639404e-01 9.37233438e-01 -6.63695244e-03 -2.74331098e+01] [-2.14028934e-02 -8.81810662e-04 9.99770543e-01 -9.65133125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10591999999997 meters Centerline goodness [0,1] 0.9973660669913528 Centerline is valid? [True, True] Translation: X:308.23, Y:-27.43, Z:-0.97 [[ 9.36273165e-01 3.50541841e-01 2.26490089e-02 3.08231834e+02] [-3.50465507e-01 9.36546514e-01 -7.38618239e-03 -2.74336191e+01] [-2.38010163e-02 -1.02221203e-03 9.99716193e-01 -9.65401668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13592 meters Centerline goodness [0,1] 0.9970684686475206 Centerline is valid? [True, True] Translation: X:308.26, Y:-27.44, Z:-0.96 [[ 9.36131493e-01 3.51057644e-01 2.04048772e-02 3.08263741e+02] [-3.50995748e-01 9.36353387e-01 -6.65726626e-03 -2.74390289e+01] [-2.14432600e-02 -9.29948517e-04 9.99769634e-01 -9.64703839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16591999999997 meters Centerline goodness [0,1] 0.9971719176383032 Centerline is valid? [True, True] Translation: X:308.30, Y:-27.44, Z:-0.97 [[ 9.37260111e-01 3.48039013e-01 2.03059157e-02 3.08297044e+02] [-3.47976947e-01 9.37479662e-01 -6.62785393e-03 -2.74416138e+01] [-2.13431347e-02 -8.53967447e-04 9.99771845e-01 -9.65336985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19592 meters Centerline goodness [0,1] 0.9971696707880232 Centerline is valid? [True, True] Translation: X:308.33, Y:-27.45, Z:-0.96 [[ 9.38054199e-01 3.45842562e-01 2.11480787e-02 3.08329267e+02] [-3.45774616e-01 9.38292186e-01 -6.90572798e-03 -2.74470408e+01] [-2.22313717e-02 -8.34521674e-04 9.99752504e-01 -9.64142010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22592 meters Centerline goodness [0,1] 0.9972715547177299 Centerline is valid? [True, True] Translation: X:308.36, Y:-27.45, Z:-0.96 [[ 9.38877471e-01 3.43495586e-01 2.28008000e-02 3.08361867e+02] [-3.43415835e-01 9.39153918e-01 -7.44865956e-03 -2.74521105e+01] [-2.39720423e-02 -8.36777109e-04 9.99712279e-01 -9.64588130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25591999999995 meters Centerline goodness [0,1] 0.9973707709098125 Centerline is valid? [True, True] Translation: X:308.40, Y:-27.45, Z:-0.96 [[ 9.41197976e-01 3.37126860e-01 2.21776858e-02 3.08395622e+02] [-3.37049596e-01 9.41459002e-01 -7.24691550e-03 -2.74514719e+01] [-2.33225118e-02 -6.54197814e-04 9.99727779e-01 -9.63694228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28592 meters Centerline goodness [0,1] 0.9977677464159929 Centerline is valid? [True, True] Translation: X:308.43, Y:-27.46, Z:-0.96 [[ 9.42462301e-01 3.33580963e-01 2.21032148e-02 3.08426787e+02] [-3.33503203e-01 9.42721287e-01 -7.22419524e-03 -2.74569001e+01] [-2.32470251e-02 -5.62961270e-04 9.99729593e-01 -9.64282432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31591999999995 meters Centerline goodness [0,1] 0.9979671773513809 Centerline is valid? [True, True] Translation: X:308.46, Y:-27.46, Z:-0.96 [[ 9.43639873e-01 3.30196937e-01 2.26665428e-02 3.08458034e+02] [-3.30114147e-01 9.43911936e-01 -7.40996559e-03 -2.74631472e+01] [-2.38419682e-02 -4.90207454e-04 9.99715620e-01 -9.64621170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34592 meters Centerline goodness [0,1] 0.9980656680884833 Centerline is valid? [True, True] Translation: X:308.49, Y:-27.47, Z:-0.96 [[ 9.46130555e-01 3.23096835e-01 2.11046833e-02 3.08488752e+02] [-3.23023291e-01 9.46365866e-01 -6.89942864e-03 -2.74672864e+01] [-2.22019354e-02 -2.89543997e-04 9.99753465e-01 -9.64364672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37591999999995 meters Centerline goodness [0,1] 0.997767081824046 Centerline is valid? [True, True] Translation: X:308.52, Y:-27.47, Z:-0.96 [[ 9.47439441e-01 3.19170955e-01 2.20999441e-02 3.08517870e+02] [-3.19089276e-01 9.47697134e-01 -7.22325074e-03 -2.74740573e+01] [-2.32495055e-02 -2.08262535e-04 9.99729672e-01 -9.64555396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40592 meters Centerline goodness [0,1] 0.9987075607694984 Centerline is valid? [True, True] Translation: X:308.55, Y:-27.48, Z:-0.96 [[ 9.49425925e-01 3.13233460e-01 2.17993831e-02 3.08547183e+02] [-3.13152457e-01 9.49676153e-01 -7.12343339e-03 -2.74783435e+01] [-2.29336520e-02 -6.33580398e-05 9.99736987e-01 -9.64578645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43591999999995 meters Centerline goodness [0,1] 0.9984613857454834 Centerline is valid? [True, True] Translation: X:308.58, Y:-27.49, Z:-0.97 [[ 9.50496823e-01 3.10005234e-01 2.12730697e-02 3.08576154e+02] [-3.09927321e-01 9.50734850e-01 -6.94989194e-03 -2.74856382e+01] [-2.23795516e-02 1.27447249e-05 9.99749546e-01 -9.65365844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46592 meters Centerline goodness [0,1] 0.9985095389507154 Centerline is valid? [True, True] Translation: X:308.60, Y:-27.49, Z:-0.97 [[ 9.51640677e-01 3.06484551e-01 2.11480715e-02 3.08603895e+02] [-3.06406908e-01 9.51875629e-01 -6.89884842e-03 -2.74948067e+01] [-2.22447244e-02 8.53095722e-05 9.99752552e-01 -9.65314388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49591999999996 meters Centerline goodness [0,1] 0.9988086373790023 Centerline is valid? [True, True] Translation: X:308.63, Y:-27.50, Z:-0.96 [[ 9.51876799e-01 3.05740303e-01 2.12938353e-02 3.08631184e+02] [-3.05661638e-01 9.52114940e-01 -6.93576165e-03 -2.75046150e+01] [-2.23947206e-02 9.32820314e-05 9.99749202e-01 -9.64879761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.52592 meters Centerline goodness [0,1] 0.9989584366630294 Centerline is valid? [True, True] Translation: X:308.66, Y:-27.51, Z:-0.96 [[ 9.51755844e-01 3.06172453e-01 2.04754292e-02 3.08658939e+02] [-3.06099857e-01 9.51976062e-01 -6.66741702e-03 -2.75137695e+01] [-2.15334979e-02 7.82271670e-05 9.99768124e-01 -9.63844188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55591999999996 meters Centerline goodness [0,1] 0.9993551267423979 Centerline is valid? [True, True] Translation: X:308.69, Y:-27.52, Z:-0.96 [[ 9.51366598e-01 3.07288037e-01 2.18095939e-02 3.08686267e+02] [-3.07206206e-01 9.51616551e-01 -7.09132075e-03 -2.75224158e+01] [-2.29334485e-02 4.64031272e-05 9.99736993e-01 -9.63859265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58592 meters Centerline goodness [0,1] 0.9993033439490446 Centerline is valid? [True, True] Translation: X:308.71, Y:-27.53, Z:-0.96 [[ 9.51065067e-01 3.08264302e-01 2.11744888e-02 3.08714809e+02] [-3.08187451e-01 9.51300752e-01 -6.88297504e-03 -2.75317621e+01] [-2.22650826e-02 2.04454038e-05 9.99752102e-01 -9.64532264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61591999999996 meters Centerline goodness [0,1] 0.9994046437785274 Centerline is valid? [True, True] Translation: X:308.74, Y:-27.54, Z:-0.96 [[ 9.50547145e-01 3.09911474e-01 2.03716598e-02 3.08742140e+02] [-3.09840931e-01 9.50765417e-01 -6.61208337e-03 -2.75401804e+01] [-2.14178301e-02 -2.68770612e-05 9.99770612e-01 -9.64867415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64592 meters Centerline goodness [0,1] 0.9995037220843672 Centerline is valid? [True, True] Translation: X:308.77, Y:-27.55, Z:-0.97 [[ 9.50491352e-01 3.10062924e-01 2.06681613e-02 3.08769481e+02] [-3.09990574e-01 9.50716036e-01 -6.69794379e-03 -2.75477607e+01] [-2.17263364e-02 -4.05975184e-05 9.99763954e-01 -9.65421559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67591999999996 meters Centerline goodness [0,1] 0.9992064672915737 Centerline is valid? [True, True] Translation: X:308.80, Y:-27.55, Z:-0.97 [[ 9.50229427e-01 3.10816637e-01 2.13788499e-02 3.08797932e+02] [-3.10739658e-01 9.50469891e-01 -6.91748771e-03 -2.75541187e+01] [-2.24700234e-02 -7.00561243e-05 9.99747515e-01 -9.65676577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70592 meters Centerline goodness [0,1] 0.9992059159263487 Centerline is valid? [True, True] Translation: X:308.83, Y:-27.56, Z:-0.97 [[ 9.50422482e-01 3.10183568e-01 2.19831574e-02 3.08825457e+02] [-3.10102260e-01 9.50676680e-01 -7.10200518e-03 -2.75620513e+01] [-2.31018004e-02 -6.71213949e-05 9.99733116e-01 -9.65279771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73591999999996 meters Centerline goodness [0,1] 0.9991081161430978 Centerline is valid? [True, True] Translation: X:308.85, Y:-27.57, Z:-0.96 [[ 9.50766677e-01 3.09126236e-01 2.19930794e-02 3.08852920e+02] [-3.09044826e-01 9.51021013e-01 -7.09420556e-03 -2.75699291e+01] [-2.31088857e-02 -5.19131397e-05 9.99732953e-01 -9.63988843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76592 meters Centerline goodness [0,1] 0.999156746031746 Centerline is valid? [True, True] Translation: X:308.88, Y:-27.58, Z:-0.96 [[ 9.50904521e-01 3.08634895e-01 2.29149206e-02 3.08880559e+02] [-3.08546479e-01 9.51180582e-01 -7.38720648e-03 -2.75765089e+01] [-2.40761772e-02 -4.57900122e-05 9.99710126e-01 -9.64775775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79591999999997 meters Centerline goodness [0,1] 0.9992562475208251 Centerline is valid? [True, True] Translation: X:308.91, Y:-27.58, Z:-0.97 [[ 9.51382230e-01 3.07218900e-01 2.20997873e-02 3.08909674e+02] [-3.07136531e-01 9.51638874e-01 -7.11367344e-03 -2.75792753e+01] [-2.32164716e-02 -1.98294820e-05 9.99730461e-01 -9.65092742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82592 meters Centerline goodness [0,1] 0.9992563581379208 Centerline is valid? [True, True] Translation: X:308.94, Y:-27.58, Z:-0.97 [[ 9.51967655e-01 3.05297376e-01 2.34754591e-02 3.08938505e+02] [-3.05204137e-01 9.52257062e-01 -7.54472504e-03 -2.75838624e+01] [-2.46580565e-02 1.75269744e-05 9.99695944e-01 -9.66107236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85591999999997 meters Centerline goodness [0,1] 0.9991569969255182 Centerline is valid? [True, True] Translation: X:308.97, Y:-27.59, Z:-0.97 [[ 9.52237342e-01 3.04522637e-01 2.25833770e-02 3.08965998e+02] [-3.04436398e-01 9.52505099e-01 -7.24684436e-03 -2.75917252e+01] [-2.37176099e-02 2.55138619e-05 9.99718698e-01 -9.66249325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88592 meters Centerline goodness [0,1] 0.9989092171153751 Centerline is valid? [True, True] Translation: X:308.99, Y:-27.60, Z:-0.97 [[ 9.53062252e-01 3.01897538e-01 2.30264897e-02 3.08993464e+02] [-3.01807392e-01 9.53340374e-01 -7.37756094e-03 -2.75989995e+01] [-2.41793498e-02 8.17100323e-05 9.99707633e-01 -9.66129920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91591999999997 meters Centerline goodness [0,1] 0.9991064336775218 Centerline is valid? [True, True] Translation: X:309.02, Y:-27.60, Z:-0.97 [[ 9.54177952e-01 2.98334131e-01 2.32633404e-02 3.09021618e+02] [-2.98241341e-01 9.54461482e-01 -7.44194934e-03 -2.76039176e+01] [-2.44241499e-02 1.62854128e-04 9.99701673e-01 -9.65919326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94592 meters Centerline goodness [0,1] 0.9991073642449789 Centerline is valid? [True, True] Translation: X:309.05, Y:-27.61, Z:-0.97 [[ 9.55055684e-01 2.95476668e-01 2.37103027e-02 3.09049732e+02] [-2.95379686e-01 9.55349929e-01 -7.57333651e-03 -2.76118603e+01] [-2.48893802e-02 2.29416341e-04 9.99690185e-01 -9.66321727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97592 meters Centerline goodness [0,1] 0.9992554722787512 Centerline is valid? [True, True] Translation: X:309.08, Y:-27.62, Z:-0.97 [[ 9.57156128e-01 2.88694074e-01 2.25361683e-02 3.09077081e+02] [-2.88604834e-01 9.57421323e-01 -7.18744320e-03 -2.76202882e+01] [-2.36515803e-02 3.75458196e-04 9.99720192e-01 -9.65780273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00591999999995 meters Centerline goodness [0,1] 0.9991574147501983 Centerline is valid? [True, True] Translation: X:309.10, Y:-27.63, Z:-0.97 [[ 9.58182492e-01 2.85202220e-01 2.33667615e-02 3.09104522e+02] [-2.85105518e-01 9.58467253e-01 -7.44102952e-03 -2.76296685e+01] [-2.45184738e-02 4.67871593e-04 9.99699268e-01 -9.66454956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03592 meters Centerline goodness [0,1] 0.9998015183843596 Centerline is valid? [True, True] Translation: X:309.13, Y:-27.64, Z:-0.96 [[ 9.59915976e-01 2.79471935e-01 2.13718441e-02 3.09131833e+02] [-2.79389846e-01 9.60153703e-01 -6.79567882e-03 -2.76400097e+01] [-2.24194567e-02 5.52204434e-04 9.99748500e-01 -9.64553654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06591999999995 meters Centerline goodness [0,1] 0.9998512642538423 Centerline is valid? [True, True] Translation: X:309.16, Y:-27.65, Z:-0.96 [[ 9.60303401e-01 2.78076343e-01 2.21568256e-02 3.09158859e+02] [-2.77987984e-01 9.60558792e-01 -7.03484375e-03 -2.76502423e+01] [-2.32391572e-02 5.96253112e-04 9.99729757e-01 -9.64569079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09592 meters Centerline goodness [0,1] 0.9992560630858504 Centerline is valid? [True, True] Translation: X:309.18, Y:-27.66, Z:-0.96 [[ 9.60413624e-01 2.77764851e-01 2.12687217e-02 3.09184926e+02] [-2.77683579e-01 9.60648928e-01 -6.74295936e-03 -2.76628157e+01] [-2.23047318e-02 5.70055284e-04 9.99751056e-01 -9.62959439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12591999999995 meters Centerline goodness [0,1] 0.9995032043320582 Centerline is valid? [True, True] Translation: X:309.21, Y:-27.67, Z:-0.96 [[ 9.60077397e-01 2.79011100e-01 2.01046794e-02 3.09211494e+02] [-2.78938953e-01 9.60287745e-01 -6.36452173e-03 -2.76736469e+01] [-2.10820494e-02 5.02455241e-04 9.99777623e-01 -9.62571617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15592 meters Centerline goodness [0,1] 0.9996033516783183 Centerline is valid? [True, True] Translation: X:309.24, Y:-27.68, Z:-0.96 [[ 9.59668534e-01 2.80262754e-01 2.21154442e-02 3.09237628e+02] [-2.80176058e-01 9.59923188e-01 -6.98919074e-03 -2.76843738e+01] [-2.31879375e-02 5.11088463e-04 9.99730993e-01 -9.63805793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18591999999995 meters Centerline goodness [0,1] 0.9998509761065024 Centerline is valid? [True, True] Translation: X:309.26, Y:-27.70, Z:-0.96 [[ 9.58420793e-01 2.84571314e-01 2.11837197e-02 3.09263487e+02] [-2.84493044e-01 9.58654799e-01 -6.68468234e-03 -2.76971089e+01] [-2.22101433e-02 3.80117665e-04 9.99753252e-01 -9.63797182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21592 meters Centerline goodness [0,1] 0.9992568370986921 Centerline is valid? [True, True] Translation: X:309.29, Y:-27.71, Z:-0.96 [[ 9.57861339e-01 2.86356539e-01 2.23961653e-02 3.09289623e+02] [-2.86269826e-01 9.58123068e-01 -7.05508155e-03 -2.77077146e+01] [-2.34785514e-02 3.46443515e-04 9.99724281e-01 -9.64077830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24591999999996 meters Centerline goodness [0,1] 0.9995036974539679 Centerline is valid? [True, True] Translation: X:309.32, Y:-27.72, Z:-0.96 [[ 9.57165729e-01 2.88661556e-01 2.25449099e-02 3.09316618e+02] [-2.88574582e-01 9.57431160e-01 -7.09108883e-03 -2.77163526e+01] [-2.36321240e-02 2.81459240e-04 9.99720683e-01 -9.63084664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.27592 meters Centerline goodness [0,1] 0.9996031942859978 Centerline is valid? [True, True] Translation: X:309.34, Y:-27.72, Z:-0.96 [[ 9.56802898e-01 2.89950663e-01 2.13735161e-02 3.09344339e+02] [-2.89873047e-01 9.57041567e-01 -6.71230043e-03 -2.77245643e+01] [-2.24015793e-02 2.26742270e-04 9.99749027e-01 -9.62441040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30591999999996 meters Centerline goodness [0,1] 0.9989087301587302 Centerline is valid? [True, True] Translation: X:309.37, Y:-27.73, Z:-0.96 [[ 9.56293455e-01 2.91661304e-01 2.08928483e-02 3.09371584e+02] [-2.91587771e-01 9.56521643e-01 -6.55119998e-03 -2.77322935e+01] [-2.18951932e-02 1.72770592e-04 9.99760257e-01 -9.61875020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33592 meters Centerline goodness [0,1] 0.9992063492063492 Centerline is valid? [True, True] Translation: X:309.40, Y:-27.74, Z:-0.96 [[ 9.55917916e-01 2.92876569e-01 2.10773148e-02 3.09398231e+02] [-2.92802287e-01 9.56150248e-01 -6.59721775e-03 -2.77401896e+01] [-2.20852503e-02 1.34912658e-04 9.99756082e-01 -9.62107501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36591999999996 meters Centerline goodness [0,1] 0.9991077624665411 Centerline is valid? [True, True] Translation: X:309.43, Y:-27.75, Z:-0.96 [[ 9.55326741e-01 2.94603974e-01 2.36498842e-02 3.09427034e+02] [-2.94511269e-01 9.55619427e-01 -7.39072774e-03 -2.77456310e+01] [-2.47776265e-02 9.54024342e-05 9.99692983e-01 -9.62319491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39592 meters Centerline goodness [0,1] 0.9992546583850932 Centerline is valid? [True, True] Translation: X:309.45, Y:-27.75, Z:-0.96 [[ 9.55236301e-01 2.94883901e-01 2.38137505e-02 3.09454547e+02] [-2.94790326e-01 9.55533086e-01 -7.42863320e-03 -2.77515363e+01] [-2.49454108e-02 7.60368362e-05 9.99688812e-01 -9.61790362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42591999999996 meters Centerline goodness [0,1] 0.9987110846718223 Centerline is valid? [True, True] Translation: X:309.48, Y:-27.76, Z:-0.96 [[ 9.55322455e-01 2.94682750e-01 2.28272605e-02 3.09482633e+02] [-2.94596978e-01 9.55595141e-01 -7.10969216e-03 -2.77584786e+01] [-2.39087229e-02 6.72065933e-05 9.99714143e-01 -9.60963899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45592 meters Centerline goodness [0,1] 0.9990587535915981 Centerline is valid? [True, True] Translation: X:309.51, Y:-27.76, Z:-0.96 [[ 9.55438100e-01 2.94332334e-01 2.25058752e-02 3.09509857e+02] [-2.94249160e-01 9.55703130e-01 -6.99707578e-03 -2.77645241e+01] [-2.35684010e-02 6.29379168e-05 9.99722225e-01 -9.61161077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48591999999996 meters Centerline goodness [0,1] 0.9992065459955368 Centerline is valid? [True, True] Translation: X:309.54, Y:-27.77, Z:-0.96 [[ 9.55647271e-01 2.93689759e-01 2.20140760e-02 3.09536518e+02] [-2.93610293e-01 9.55900791e-01 -6.83188927e-03 -2.77713353e+01] [-2.30497286e-02 6.53170416e-05 9.99734318e-01 -9.60711779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51592 meters Centerline goodness [0,1] 0.9988598621920388 Centerline is valid? [True, True] Translation: X:309.57, Y:-27.78, Z:-0.96 [[ 9.55901886e-01 2.92958496e-01 2.06616479e-02 3.09565063e+02] [-2.92888543e-01 9.56125156e-01 -6.40206488e-03 -2.77751196e+01] [-2.16306606e-02 6.81859368e-05 9.99766028e-01 -9.59713265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54591999999997 meters Centerline goodness [0,1] 0.9988598621920388 Centerline is valid? [True, True] Translation: X:309.59, Y:-27.78, Z:-0.96 [[ 9.56051254e-01 2.92470446e-01 2.06648967e-02 3.09591154e+02] [-2.92400606e-01 9.56274560e-01 -6.39157019e-03 -2.77835475e+01] [-2.16306604e-02 6.82403728e-05 9.99766028e-01 -9.59736168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57592 meters Centerline goodness [0,1] 0.9987117871475995 Centerline is valid? [True, True] Translation: X:309.62, Y:-27.79, Z:-0.96 [[ 9.56454243e-01 2.91152434e-01 2.06286559e-02 3.09618992e+02] [-2.91082781e-01 9.56676671e-01 -6.36882750e-03 -2.77896192e+01] [-2.15892535e-02 8.68455622e-05 9.99766921e-01 -9.59256736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60591999999997 meters Centerline goodness [0,1] 0.9990585670399366 Centerline is valid? [True, True] Translation: X:309.65, Y:-27.80, Z:-0.96 [[ 9.56760830e-01 2.90156365e-01 2.04449926e-02 3.09646417e+02] [-2.90087964e-01 9.56979245e-01 -6.30069490e-03 -2.77960710e+01] [-2.13936203e-02 9.74117994e-05 9.99771126e-01 -9.59577655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63592 meters Centerline goodness [0,1] 0.9992566897918731 Centerline is valid? [True, True] Translation: X:309.67, Y:-27.80, Z:-0.96 [[ 9.57567832e-01 2.87538876e-01 1.96275785e-02 3.09674680e+02] [-2.87475509e-01 9.57768957e-01 -6.03791683e-03 -2.78002707e+01] [-2.05348212e-02 1.39266814e-04 9.99789129e-01 -9.58201209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66591999999997 meters Centerline goodness [0,1] 0.9991556151591914 Centerline is valid? [True, True] Translation: X:309.70, Y:-27.81, Z:-0.96 [[ 9.57936235e-01 2.86362576e-01 1.88320097e-02 3.09701461e+02] [-2.86304206e-01 9.58121314e-01 -5.78344873e-03 -2.78068967e+01] [-1.96995132e-02 1.48491518e-04 9.99805935e-01 -9.57178400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69592 meters Centerline goodness [0,1] 0.9991067884080984 Centerline is valid? [True, True] Translation: X:309.73, Y:-27.81, Z:-0.96 [[ 9.58929827e-01 2.83048843e-01 1.83558902e-02 3.09729043e+02] [-2.82992846e-01 9.59105474e-01 -5.63378352e-03 -2.78135382e+01] [-1.91998707e-02 2.07817424e-04 9.99815644e-01 -9.57607772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72592 meters Centerline goodness [0,1] 0.9988604270921072 Centerline is valid? [True, True] Translation: X:309.76, Y:-27.82, Z:-0.96 [[ 9.59268519e-01 2.81980990e-01 1.70478551e-02 3.09755643e+02] [-2.81932683e-01 9.59419970e-01 -5.22328465e-03 -2.78215050e+01] [-1.78289196e-02 2.04185008e-04 9.99841031e-01 -9.56981013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75591999999995 meters Centerline goodness [0,1] 0.9988592401547466 Centerline is valid? [True, True] Translation: X:309.78, Y:-27.83, Z:-0.96 [[ 9.59824473e-01 2.80068112e-01 1.72867986e-02 3.09784638e+02] [-2.80018281e-01 9.59980103e-01 -5.28817103e-03 -2.78265295e+01] [-1.80760307e-02 2.35096350e-04 9.99836588e-01 -9.56252945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78592 meters Centerline goodness [0,1] 0.9989098116947472 Centerline is valid? [True, True] Translation: X:309.81, Y:-27.83, Z:-0.96 [[ 9.60039254e-01 2.79260319e-01 1.83930507e-02 3.09812730e+02] [-2.79203927e-01 9.60215397e-01 -5.61777038e-03 -2.78332448e+01] [-1.92301108e-02 2.57868106e-04 9.99815051e-01 -9.57421792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81591999999995 meters Centerline goodness [0,1] 0.9985613652148031 Centerline is valid? [True, True] Translation: X:309.84, Y:-27.84, Z:-0.96 [[ 9.60462853e-01 2.77828407e-01 1.79578613e-02 3.09840000e+02] [-2.77774583e-01 9.60630680e-01 -5.47521260e-03 -2.78408710e+01] [-1.87720422e-02 2.70500874e-04 9.99823753e-01 -9.58259807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84592 meters Centerline goodness [0,1] 0.9988602576808722 Centerline is valid? [True, True] Translation: X:309.87, Y:-27.85, Z:-0.96 [[ 9.60696104e-01 2.77049459e-01 1.75098063e-02 3.09866360e+02] [-2.76998270e-01 9.60855620e-01 -5.33252818e-03 -2.78494403e+01] [-1.83017698e-02 2.72753005e-04 9.99832471e-01 -9.57024862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87591999999995 meters Centerline goodness [0,1] 0.9987115956392468 Centerline is valid? [True, True] Translation: X:309.89, Y:-27.86, Z:-0.96 [[ 9.61161083e-01 2.75392370e-01 1.81222457e-02 3.09893970e+02] [-2.75337405e-01 9.61331862e-01 -5.51042033e-03 -2.78570688e+01] [-1.89390199e-02 3.06669473e-04 9.99820594e-01 -9.56806361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90592 meters Centerline goodness [0,1] 0.9989079175974187 Centerline is valid? [True, True] Translation: X:309.92, Y:-27.86, Z:-0.96 [[ 9.62198835e-01 2.71672023e-01 1.91758600e-02 3.09921902e+02] [-2.71609923e-01 9.62389816e-01 -5.82171752e-03 -2.78642707e+01] [-2.00362502e-02 3.93295943e-04 9.99799177e-01 -9.56415951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93591999999995 meters Centerline goodness [0,1] 0.9987103814294925 Centerline is valid? [True, True] Translation: X:309.95, Y:-27.87, Z:-0.96 [[ 9.62713990e-01 2.69930816e-01 1.78641422e-02 3.09948040e+02] [-2.69876799e-01 9.62879640e-01 -5.41405675e-03 -2.78727123e+01] [-1.86624396e-02 3.91070662e-04 9.99825765e-01 -9.55607326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96592 meters Centerline goodness [0,1] 0.9985116832862033 Centerline is valid? [True, True] Translation: X:309.98, Y:-27.88, Z:-0.96 [[ 9.63025058e-01 2.68719446e-01 1.93027450e-02 3.09975247e+02] [-2.68656317e-01 9.63218390e-01 -5.84095829e-03 -2.78833170e+01] [-2.01623381e-02 4.39184800e-04 9.99796623e-01 -9.56074991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99591999999996 meters Centerline goodness [0,1] 0.9990064580228515 Centerline is valid? [True, True] Translation: X:310.00, Y:-27.89, Z:-0.96 [[ 9.63000955e-01 2.68800952e-01 1.93702917e-02 3.10001943e+02] [-2.68737606e-01 9.63195652e-01 -5.85103891e-03 -2.78929068e+01] [-2.02301456e-02 4.29030231e-04 9.99795258e-01 -9.56735398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.02592 meters Centerline goodness [0,1] 0.9986611791540636 Centerline is valid? [True, True] Translation: X:310.03, Y:-27.90, Z:-0.96 [[ 9.63100648e-01 2.68388823e-01 2.01142098e-02 3.10028646e+02] [-2.68320626e-01 9.63310563e-01 -6.06631216e-03 -2.79028070e+01] [-2.10043612e-02 4.45411800e-04 9.99779285e-01 -9.58052882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05591999999996 meters Centerline goodness [0,1] 0.998908351113978 Centerline is valid? [True, True] Translation: X:310.05, Y:-27.91, Z:-0.96 [[ 9.63199569e-01 2.68035948e-01 2.00828530e-02 3.10054016e+02] [-2.67968109e-01 9.63408810e-01 -6.04627465e-03 -2.79143745e+01] [-2.09686164e-02 4.42204999e-04 9.99780037e-01 -9.57349248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08592 meters Centerline goodness [0,1] 0.9995042141794744 Centerline is valid? [True, True] Translation: X:310.08, Y:-27.93, Z:-0.96 [[ 9.63586313e-01 2.66488545e-01 2.20288839e-02 3.10080765e+02] [-2.66406754e-01 9.63837950e-01 -6.62181535e-03 -2.79257965e+01] [-2.29969122e-02 5.12047203e-04 9.99735405e-01 -9.59091504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11591999999996 meters Centerline goodness [0,1] 0.9996023856858847 Centerline is valid? [True, True] Translation: X:310.11, Y:-27.94, Z:-0.96 [[ 9.63849095e-01 2.65599972e-01 2.12503225e-02 3.10106693e+02] [-2.65523880e-01 9.64083192e-01 -6.37717595e-03 -2.79362211e+01] [-2.21808565e-02 5.04167174e-04 9.99753847e-01 -9.59093047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14592 meters Centerline goodness [0,1] 0.9995538148827524 Centerline is valid? [True, True] Translation: X:310.13, Y:-27.95, Z:-0.96 [[ 9.64286462e-01 2.63976448e-01 2.16345442e-02 3.10134169e+02] [-2.63897403e-01 9.64528974e-01 -6.48221248e-03 -2.79458272e+01] [-2.25782961e-02 5.41409714e-04 9.99744931e-01 -9.59288834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17591999999996 meters Centerline goodness [0,1] 0.9997028967566229 Centerline is valid? [True, True] Translation: X:310.16, Y:-27.96, Z:-0.96 [[ 9.64447108e-01 2.63395918e-01 2.15491404e-02 3.10160910e+02] [-2.63317607e-01 9.64687668e-01 -6.44522233e-03 -2.79551654e+01] [-2.24858353e-02 5.41807950e-04 9.99747015e-01 -9.59194425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20592 meters Centerline goodness [0,1] 0.9996031549183987 Centerline is valid? [True, True] Translation: X:310.19, Y:-27.97, Z:-0.96 [[ 9.64148237e-01 2.64528534e-01 2.10435704e-02 3.10187153e+02] [-2.64454339e-01 9.64377732e-01 -6.28427378e-03 -2.79663992e+01] [-2.19563204e-02 4.93907993e-04 9.99758809e-01 -9.58717735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23591999999996 meters Centerline goodness [0,1] 0.9996522084761763 Centerline is valid? [True, True] Translation: X:310.21, Y:-27.98, Z:-0.96 [[ 9.63685042e-01 2.66242664e-01 2.06393893e-02 3.10214335e+02] [-2.66171800e-01 9.63905934e-01 -6.15822855e-03 -2.79778700e+01] [-2.15340130e-02 4.40969331e-04 9.99768019e-01 -9.59045953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26592 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:310.24, Y:-27.99, Z:-0.96 [[ 9.63122199e-01 2.68250954e-01 2.09058656e-02 3.10241536e+02] [-2.68178931e-01 9.63348988e-01 -6.22807298e-03 -2.79876824e+01] [-2.18103310e-02 3.91882637e-04 9.99762050e-01 -9.60244530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29591999999997 meters Centerline goodness [0,1] 0.999652501985703 Centerline is valid? [True, True] Translation: X:310.27, Y:-28.00, Z:-0.96 [[ 9.62653439e-01 2.69954157e-01 2.05696350e-02 3.10268564e+02] [-2.69885015e-01 9.62873116e-01 -6.11886049e-03 -2.79968711e+01] [-2.14577604e-02 3.38905839e-04 9.99769698e-01 -9.59280181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32592 meters Centerline goodness [0,1] 0.999851234751562 Centerline is valid? [True, True] Translation: X:310.29, Y:-28.01, Z:-0.96 [[ 9.61851355e-01 2.72676815e-01 2.21206881e-02 3.10294817e+02] [-2.72597850e-01 9.62105645e-01 -6.56814137e-03 -2.80056993e+01] [-2.30734187e-02 2.87523670e-04 9.99733732e-01 -9.59575244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35591999999997 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:310.32, Y:-28.01, Z:-0.96 [[ 9.61873694e-01 2.72691727e-01 2.09336561e-02 3.10322291e+02] [-2.72621232e-01 9.62101426e-01 -6.20568452e-03 -2.80140051e+01] [-2.18325392e-02 2.62125589e-04 9.99761607e-01 -9.58284220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38592 meters Centerline goodness [0,1] 0.9997521439547911 Centerline is valid? [True, True] Translation: X:310.35, Y:-28.02, Z:-0.96 [[ 9.62533578e-01 2.70412834e-01 2.01497080e-02 3.10349158e+02] [-2.70347251e-01 9.62744418e-01 -5.96233263e-03 -2.80210335e+01] [-2.10113102e-02 2.91527181e-04 9.99779196e-01 -9.58337527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41591999999997 meters Centerline goodness [0,1] 0.9997023957144983 Centerline is valid? [True, True] Translation: X:310.38, Y:-28.03, Z:-0.96 [[ 9.63286820e-01 2.67819549e-01 1.87401201e-02 3.10376040e+02] [-2.67762530e-01 9.63469040e-01 -5.53504052e-03 -2.80282372e+01] [-1.95379176e-02 3.13929600e-04 9.99809067e-01 -9.57945851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44592 meters Centerline goodness [0,1] 0.9997020854021847 Centerline is valid? [True, True] Translation: X:310.40, Y:-28.04, Z:-0.96 [[ 9.64657405e-01 2.62792935e-01 1.93898276e-02 3.10403665e+02] [-2.62731062e-01 9.64852163e-01 -5.71777968e-03 -2.80362266e+01] [-2.02109092e-02 4.21388496e-04 9.99795650e-01 -9.58376505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47592 meters Centerline goodness [0,1] 0.9997011505703043 Centerline is valid? [True, True] Translation: X:310.43, Y:-28.05, Z:-0.96 [[ 9.65438909e-01 2.59885002e-01 1.96849736e-02 3.10430684e+02] [-2.59820815e-01 9.65639454e-01 -5.79563680e-03 -2.80452976e+01] [-2.05147862e-02 4.80767385e-04 9.99789434e-01 -9.58690948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50591999999995 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:310.46, Y:-28.05, Z:-0.96 [[ 9.66497343e-01 2.55830401e-01 2.08252831e-02 3.10458149e+02] [-2.55757831e-01 9.66721499e-01 -6.12164611e-03 -2.80545437e+01] [-2.16983521e-02 5.90325465e-04 9.99764389e-01 -9.57770688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53592 meters Centerline goodness [0,1] 0.9999008379195795 Centerline is valid? [True, True] Translation: X:310.49, Y:-28.06, Z:-0.96 [[ 9.66971008e-01 2.54000096e-01 2.12372628e-02 3.10485784e+02] [-2.53924401e-01 9.67203985e-01 -6.23294900e-03 -2.80637426e+01] [-2.21239348e-02 6.34421745e-04 9.99755035e-01 -9.58140784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56591999999995 meters Centerline goodness [0,1] 0.9995047543581617 Centerline is valid? [True, True] Translation: X:310.51, Y:-28.08, Z:-0.96 [[ 9.67433059e-01 2.52089217e-01 2.28976594e-02 3.10512290e+02] [-2.52000936e-01 9.67703729e-01 -6.70978963e-03 -2.80761032e+01] [-2.38496160e-02 7.21040716e-04 9.99715297e-01 -9.57843385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59592 meters Centerline goodness [0,1] 0.9992054427173859 Centerline is valid? [True, True] Translation: X:310.54, Y:-28.09, Z:-0.96 [[ 9.67664544e-01 2.51195669e-01 2.29361181e-02 3.10539315e+02] [-2.51107089e-01 9.67936050e-01 -6.71065902e-03 -2.80872461e+01] [-2.38863840e-02 7.34244939e-04 9.99714410e-01 -9.56729862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62591999999995 meters Centerline goodness [0,1] 0.9992559154719977 Centerline is valid? [True, True] Translation: X:310.57, Y:-28.10, Z:-0.96 [[ 9.67903014e-01 2.50239826e-01 2.33191882e-02 3.10566292e+02] [-2.50148244e-01 9.68183584e-01 -6.81209268e-03 -2.80974090e+01] [-2.42819121e-02 7.60191060e-04 9.99704862e-01 -9.57182615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65592 meters Centerline goodness [0,1] 0.9994545815152717 Centerline is valid? [True, True] Translation: X:310.59, Y:-28.11, Z:-0.96 [[ 9.67988740e-01 2.49858291e-01 2.38460438e-02 3.10592976e+02] [-2.49762678e-01 9.68282103e-01 -6.95510822e-03 -2.81076108e+01] [-2.48274889e-02 7.76614675e-04 9.99691449e-01 -9.58319584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68591999999995 meters Centerline goodness [0,1] 0.9995531724754245 Centerline is valid? [True, True] Translation: X:310.62, Y:-28.12, Z:-0.96 [[ 9.68073753e-01 2.49649034e-01 2.25514781e-02 3.10618619e+02] [-2.49563689e-01 9.68336113e-01 -6.56797291e-03 -2.81216487e+01] [-2.34770987e-02 7.30252113e-04 9.99724108e-01 -9.58326720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71592 meters Centerline goodness [0,1] 0.9997018485390579 Centerline is valid? [True, True] Translation: X:310.65, Y:-28.13, Z:-0.96 [[ 9.67850250e-01 2.50637959e-01 2.11307053e-02 3.10645451e+02] [-2.50563303e-01 9.68080667e-01 -6.15252348e-03 -2.81346850e+01] [-2.19982832e-02 6.60142087e-04 9.99757791e-01 -9.58958101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74591999999996 meters Centerline goodness [0,1] 0.9999007838079175 Centerline is valid? [True, True] Translation: X:310.67, Y:-28.15, Z:-0.96 [[ 9.67659343e-01 2.51387022e-01 2.09752319e-02 3.10672476e+02] [-2.51313840e-01 9.67886444e-01 -6.09793196e-03 -2.81460837e+01] [-2.18345836e-02 6.29354758e-04 9.99761399e-01 -9.59436681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.77592 meters Centerline goodness [0,1] 0.9997019670176833 Centerline is valid? [True, True] Translation: X:310.70, Y:-28.16, Z:-0.96 [[ 9.66812083e-01 2.54498009e-01 2.24757598e-02 3.10699488e+02] [-2.54414845e-01 9.67073113e-01 -6.53305962e-03 -2.81611032e+01] [-2.33983537e-02 5.98074021e-04 9.99726042e-01 -9.58386280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80591999999996 meters Centerline goodness [0,1] 0.9998016856717898 Centerline is valid? [True, True] Translation: X:310.73, Y:-28.17, Z:-0.96 [[ 9.66222125e-01 2.56659167e-01 2.32567686e-02 3.10728200e+02] [-2.56570748e-01 9.66501812e-01 -6.76004929e-03 -2.81726991e+01] [-2.42127376e-02 5.64702667e-04 9.99706669e-01 -9.58423671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83592 meters Centerline goodness [0,1] 0.9998510500968174 Centerline is valid? [True, True] Translation: X:310.76, Y:-28.19, Z:-0.96 [[ 9.65612815e-01 2.59100950e-01 2.14146909e-02 3.10756962e+02] [-2.59026554e-01 9.65850134e-01 -6.22598594e-03 -2.81864296e+01] [-2.22965410e-02 4.64918216e-04 9.99751293e-01 -9.57556600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86591999999996 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:310.79, Y:-28.20, Z:-0.96 [[ 9.65052647e-01 2.61172961e-01 2.14958990e-02 3.10786086e+02] [-2.61098480e-01 9.65291929e-01 -6.25104169e-03 -2.81986958e+01] [-2.23824209e-02 4.20037766e-04 9.99749394e-01 -9.57312536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89592 meters Centerline goodness [0,1] 0.9993553505901022 Centerline is valid? [True, True] Translation: X:310.82, Y:-28.21, Z:-0.96 [[ 9.64391077e-01 2.63644582e-01 2.10091561e-02 3.10815514e+02] [-2.63573991e-01 9.64619826e-01 -6.11092683e-03 -2.82109706e+01] [-2.18769613e-02 3.55856173e-04 9.99760607e-01 -9.57296015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92591999999996 meters Centerline goodness [0,1] 0.9991566623672984 Centerline is valid? [True, True] Translation: X:310.84, Y:-28.22, Z:-0.96 [[ 9.63244378e-01 2.67834653e-01 2.06123197e-02 3.10843916e+02] [-2.67767632e-01 9.63464858e-01 -5.99692022e-03 -2.82249861e+01] [-2.14654287e-02 2.57187655e-04 9.99769558e-01 -9.56405169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95592 meters Centerline goodness [0,1] 0.9997022480273932 Centerline is valid? [True, True] Translation: X:310.87, Y:-28.24, Z:-0.96 [[ 9.62760618e-01 2.69640044e-01 1.96529503e-02 3.10873429e+02] [-2.69579465e-01 9.62961164e-01 -5.71915880e-03 -2.82357093e+01] [-2.04671421e-02 2.08149050e-04 9.99790504e-01 -9.56184251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98591999999996 meters Centerline goodness [0,1] 0.9993056244420196 Centerline is valid? [True, True] Translation: X:310.90, Y:-28.25, Z:-0.96 [[ 9.61953895e-01 2.72485138e-01 1.99136391e-02 3.10901815e+02] [-2.72423521e-01 9.62159980e-01 -5.79640944e-03 -2.82497108e+01] [-2.07395420e-02 1.50934957e-04 9.99784901e-01 -9.55048319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01592 meters Centerline goodness [0,1] 0.9987596745385989 Centerline is valid? [True, True] Translation: X:310.93, Y:-28.26, Z:-0.96 [[ 9.61637631e-01 2.73544867e-01 2.06463671e-02 3.10932204e+02] [-2.73478814e-01 9.61859235e-01 -6.01256426e-03 -2.82615795e+01] [-2.15036050e-02 1.35564057e-04 9.99768762e-01 -9.56524198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04591999999997 meters Centerline goodness [0,1] 0.9987591820528092 Centerline is valid? [True, True] Translation: X:310.96, Y:-28.27, Z:-0.96 [[ 9.61103288e-01 2.75514198e-01 1.92975883e-02 3.10962458e+02] [-2.75456836e-01 9.61296998e-01 -5.62247847e-03 -2.82737075e+01] [-2.00997864e-02 8.81299146e-05 9.99797975e-01 -9.57240373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07592 meters Centerline goodness [0,1] 0.9986606478495957 Centerline is valid? [True, True] Translation: X:310.99, Y:-28.28, Z:-0.96 [[ 9.60777127e-01 2.76647741e-01 1.93219730e-02 3.10992981e+02] [-2.76590409e-01 9.60971395e-01 -5.63229837e-03 -2.82825495e+01] [-2.01260260e-02 6.71110336e-05 9.99797449e-01 -9.57782377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10591999999997 meters Centerline goodness [0,1] 0.9987572699706716 Centerline is valid? [True, True] Translation: X:311.02, Y:-28.29, Z:-0.96 [[ 9.60402517e-01 2.78014524e-01 1.83010986e-02 3.11024177e+02] [-2.77963290e-01 9.60576870e-01 -5.33730287e-03 -2.82918163e+01] [-1.90634597e-02 3.89255490e-05 9.99818275e-01 -9.57303129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13592 meters Centerline goodness [0,1] 0.9986104218362283 Centerline is valid? [True, True] Translation: X:311.05, Y:-28.30, Z:-0.96 [[ 9.59492160e-01 2.81207927e-01 1.72306888e-02 3.11054052e+02] [-2.81162981e-01 9.59646863e-01 -5.02758119e-03 -2.83034065e+01] [-1.79491721e-02 -2.07070998e-05 9.99838900e-01 -9.57513346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16591999999997 meters Centerline goodness [0,1] 0.9984111221449851 Centerline is valid? [True, True] Translation: X:311.08, Y:-28.31, Z:-0.96 [[ 9.59275806e-01 2.81993953e-01 1.64115439e-02 3.11084056e+02] [-2.81953264e-01 9.59416182e-01 -4.79033031e-03 -2.83134141e+01] [-1.70963450e-02 -3.20404187e-05 9.99853846e-01 -9.57031882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19592 meters Centerline goodness [0,1] 0.9984119894794303 Centerline is valid? [True, True] Translation: X:311.12, Y:-28.32, Z:-0.96 [[ 9.59371291e-01 2.81597321e-01 1.75975757e-02 3.11115313e+02] [-2.81550425e-01 9.59532672e-01 -5.13902993e-03 -2.83219404e+01] [-1.83325859e-02 -2.43671432e-05 9.99831944e-01 -9.57414366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22592 meters Centerline goodness [0,1] 0.9986608471381807 Centerline is valid? [True, True] Translation: X:311.15, Y:-28.33, Z:-0.96 [[ 9.59372468e-01 2.81436768e-01 1.99452295e-02 3.11146360e+02] [-2.81376430e-01 9.59579775e-01 -5.82748617e-03 -2.83311175e+01] [-2.07791077e-02 -2.13876831e-05 9.99784091e-01 -9.58733342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25591999999995 meters Centerline goodness [0,1] 0.9989579715178881 Centerline is valid? [True, True] Translation: X:311.18, Y:-28.34, Z:-0.96 [[ 9.59727474e-01 2.80200140e-01 2.02745590e-02 3.11176933e+02] [-2.80137456e-01 9.59941603e-01 -5.92659644e-03 -2.83405610e+01] [-2.11230258e-02 8.25404984e-06 9.99776884e-01 -9.58649050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28592 meters Centerline goodness [0,1] 0.9987599206349206 Centerline is valid? [True, True] Translation: X:311.21, Y:-28.35, Z:-0.96 [[ 9.60671371e-01 2.77009458e-01 1.93978593e-02 3.11207257e+02] [-2.76951371e-01 9.60867189e-01 -5.67307893e-03 -2.83509336e+01] [-2.02102630e-02 7.77007798e-05 9.99795749e-01 -9.57719730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31591999999995 meters Centerline goodness [0,1] 0.9986596505162828 Centerline is valid? [True, True] Translation: X:311.24, Y:-28.36, Z:-0.96 [[ 9.61404390e-01 2.74456386e-01 1.93724115e-02 3.11238187e+02] [-2.74397878e-01 9.61599539e-01 -5.66836321e-03 -2.83593903e+01] [-2.01842204e-02 1.33840673e-04 9.99796269e-01 -9.56179725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34592 meters Centerline goodness [0,1] 0.998806860551827 Centerline is valid? [True, True] Translation: X:311.27, Y:-28.37, Z:-0.96 [[ 9.61800288e-01 2.72982143e-01 2.05172184e-02 3.11268999e+02] [-2.72916118e-01 9.62019084e-01 -6.00622482e-03 -2.83688770e+01] [-2.13775478e-02 1.77309163e-04 9.99771458e-01 -9.56933904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37591999999995 meters Centerline goodness [0,1] 0.9985585048215528 Centerline is valid? [True, True] Translation: X:311.30, Y:-28.38, Z:-0.96 [[ 9.62167201e-01 2.71750785e-01 1.96414848e-02 3.11300054e+02] [-2.71689950e-01 9.62367638e-01 -5.75325114e-03 -2.83791316e+01] [-2.04657799e-02 1.99195525e-04 9.99790534e-01 -9.56025743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40592 meters Centerline goodness [0,1] 0.9988577671831546 Centerline is valid? [True, True] Translation: X:311.33, Y:-28.39, Z:-0.96 [[ 9.62184501e-01 2.71630337e-01 2.04437356e-02 3.11330852e+02] [-2.71564342e-01 9.62401639e-01 -5.99113738e-03 -2.83898891e+01] [-2.13024593e-02 2.12789924e-04 9.99773054e-01 -9.56731794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43591999999995 meters Centerline goodness [0,1] 0.9985093908377224 Centerline is valid? [True, True] Translation: X:311.36, Y:-28.40, Z:-0.96 [[ 9.62235232e-01 2.71441319e-01 2.05661885e-02 3.11360870e+02] [-2.71374426e-01 9.62454966e-01 -6.02988128e-03 -2.84019305e+01] [-2.14307892e-02 2.21026628e-04 9.99770310e-01 -9.56435065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46592 meters Centerline goodness [0,1] 0.9985093908377224 Centerline is valid? [True, True] Translation: X:311.39, Y:-28.41, Z:-0.96 [[ 9.62182302e-01 2.71628971e-01 2.05650281e-02 3.11392101e+02] [-2.71562036e-01 9.62402023e-01 -6.03383749e-03 -2.84110275e+01] [-2.14307897e-02 2.20970743e-04 9.99770310e-01 -9.56462169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49591999999996 meters Centerline goodness [0,1] 0.998560436832961 Centerline is valid? [True, True] Translation: X:311.42, Y:-28.42, Z:-0.96 [[ 9.62216661e-01 2.71436256e-01 2.14815487e-02 3.11422273e+02] [-2.71363104e-01 9.62456390e-01 -6.30582657e-03 -2.84232932e+01] [-2.23866837e-02 2.38271653e-04 9.99749358e-01 -9.56858620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.52592 meters Centerline goodness [0,1] 0.9983119849071592 Centerline is valid? [True, True] Translation: X:311.45, Y:-28.43, Z:-0.96 [[ 9.62212057e-01 2.71431335e-01 2.17482619e-02 3.11453602e+02] [-2.71356252e-01 9.62457776e-01 -6.38865429e-03 -2.84342544e+01] [-2.26658648e-02 2.45713347e-04 9.99743066e-01 -9.57018552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55591999999996 meters Centerline goodness [0,1] 0.9987058882086507 Centerline is valid? [True, True] Translation: X:311.49, Y:-28.45, Z:-0.96 [[ 9.62107987e-01 2.71787481e-01 2.19040148e-02 3.11485131e+02] [-2.71711304e-01 9.62357265e-01 -6.43903991e-03 -2.84451648e+01] [-2.28295382e-02 2.43483312e-04 9.99739342e-01 -9.57909349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58592 meters Centerline goodness [0,1] 0.9988578806236965 Centerline is valid? [True, True] Translation: X:311.51, Y:-28.46, Z:-0.96 [[ 9.62151265e-01 2.71788559e-01 1.98977805e-02 3.11514844e+02] [-2.71725641e-01 9.62356966e-01 -5.85209830e-03 -2.84581904e+01] [-2.07393010e-02 2.23866634e-04 9.99784893e-01 -9.56921123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61591999999996 meters Centerline goodness [0,1] 0.9987590588702472 Centerline is valid? [True, True] Translation: X:311.55, Y:-28.47, Z:-0.96 [[ 9.62234400e-01 2.71373973e-01 2.14738378e-02 3.11545305e+02] [-2.71300521e-01 9.62473949e-01 -6.31862858e-03 -2.84693237e+01] [-2.23827208e-02 2.54138412e-04 9.99749443e-01 -9.57438184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64592 meters Centerline goodness [0,1] 0.9985611510791367 Centerline is valid? [True, True] Translation: X:311.57, Y:-28.48, Z:-0.96 [[ 9.62270749e-01 2.71311176e-01 2.06216439e-02 3.11574563e+02] [-2.71243363e-01 9.62491654e-01 -6.07072850e-03 -2.84846810e+01] [-2.14952166e-02 2.48200415e-04 9.99768920e-01 -9.56532836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67591999999996 meters Centerline goodness [0,1] 0.9984620727290767 Centerline is valid? [True, True] Translation: X:311.60, Y:-28.50, Z:-0.96 [[ 9.61943704e-01 2.72369623e-01 2.18883363e-02 3.11604736e+02] [-2.72293426e-01 9.62192668e-01 -6.44669690e-03 -2.84971503e+01] [-2.28166811e-02 2.41309416e-04 9.99739637e-01 -9.56928152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70592 meters Centerline goodness [0,1] 0.9992065066455068 Centerline is valid? [True, True] Translation: X:311.63, Y:-28.51, Z:-0.96 [[ 9.61508480e-01 2.73883752e-01 2.21163644e-02 3.11634483e+02] [-2.73806288e-01 9.61762781e-01 -6.51694178e-03 -2.85096933e+01] [-2.30555806e-02 2.10495153e-04 9.99734163e-01 -9.57480500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73591999999996 meters Centerline goodness [0,1] 0.999454040103236 Centerline is valid? [True, True] Translation: X:311.66, Y:-28.52, Z:-0.96 [[ 9.60504622e-01 2.77551703e-01 1.98977959e-02 3.11664273e+02] [-2.77489680e-01 9.60710695e-01 -5.86845386e-03 -2.85240322e+01] [-2.07448247e-02 1.15244033e-04 9.99784796e-01 -9.56050621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76592 meters Centerline goodness [0,1] 0.9998014198480862 Centerline is valid? [True, True] Translation: X:311.69, Y:-28.54, Z:-0.96 [[ 9.59954416e-01 2.79457502e-01 1.97743277e-02 3.11693885e+02] [-2.79396590e-01 9.60158059e-01 -5.83496082e-03 -2.85359654e+01] [-2.06171037e-02 7.64166596e-05 9.99787442e-01 -9.55839363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.72, Y:-28.55, Z:-0.95 [[ 9.58472801e-01 2.84448157e-01 2.04727815e-02 3.11723337e+02] [-2.84383909e-01 9.58691423e-01 -6.04543158e-03 -2.85519969e+01] [-2.13466919e-02 -2.77478880e-05 9.99772133e-01 -9.54029828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.75, Y:-28.56, Z:-0.95 [[ 9.57684406e-01 2.87096750e-01 2.03969277e-02 3.11754037e+02] [-2.87033483e-01 9.57901586e-01 -6.02746416e-03 -2.85637904e+01] [-2.12687148e-02 -8.21927871e-05 9.99773792e-01 -9.53731909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.78, Y:-28.58, Z:-0.95 [[ 9.56038508e-01 2.92508892e-01 2.07103614e-02 3.11783666e+02] [-2.92444852e-01 9.56262782e-01 -6.12383831e-03 -2.85758772e+01] [-2.15958250e-02 -2.02013331e-04 9.99766763e-01 -9.52407651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88592 meters Centerline goodness [0,1] 0.9999007197815836 Centerline is valid? [True, True] Translation: X:311.81, Y:-28.59, Z:-0.95 [[ 9.55274431e-01 2.94937353e-01 2.15108954e-02 3.11814439e+02] [-2.94868810e-01 9.55516556e-01 -6.36371906e-03 -2.85863096e+01] [-2.24309151e-02 -2.63794012e-04 9.99748361e-01 -9.52501264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91591999999997 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:311.85, Y:-28.60, Z:-0.95 [[ 9.54341295e-01 2.97877744e-01 2.23951429e-02 3.11845217e+02] [-2.97803999e-01 9.54603968e-01 -6.63636467e-03 -2.85960602e+01] [-2.33553176e-02 -3.36006258e-04 9.99727171e-01 -9.52543270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.88, Y:-28.60, Z:-0.95 [[ 9.53082751e-01 3.01988866e-01 2.08804623e-02 3.11875938e+02] [-3.01925533e-01 9.53311369e-01 -6.19727777e-03 -2.86039409e+01] [-2.17770910e-02 -3.97826153e-04 9.99762772e-01 -9.52821359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.91, Y:-28.61, Z:-0.95 [[ 9.52203237e-01 3.04716250e-01 2.13776052e-02 3.11907593e+02] [-3.04650476e-01 9.52443063e-01 -6.34816934e-03 -2.86101872e+01] [-2.22953421e-02 -4.67950203e-04 9.99751318e-01 -9.53814556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.94, Y:-28.62, Z:-0.95 [[ 9.52144254e-01 3.04917375e-01 2.11356170e-02 3.11939806e+02] [-3.04853032e-01 9.52378696e-01 -6.28085977e-03 -2.86185309e+01] [-2.20442546e-02 -4.62972393e-04 9.99756889e-01 -9.53593966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.97, Y:-28.63, Z:-0.95 [[ 9.52069807e-01 3.05184009e-01 2.06349856e-02 3.11970758e+02] [-3.05122675e-01 9.52293292e-01 -6.13511920e-03 -2.86260491e+01] [-2.15228986e-02 -4.55140240e-04 9.99768252e-01 -9.53035661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06591999999995 meters Centerline goodness [0,1] 0.999900423201394 Centerline is valid? [True, True] Translation: X:312.00, Y:-28.63, Z:-0.95 [[ 9.52220569e-01 3.04641713e-01 2.16659930e-02 3.12004238e+02] [-3.04573851e-01 9.52466910e-01 -6.44631932e-03 -2.86306897e+01] [-2.25999592e-02 -4.60577074e-04 9.99744482e-01 -9.52667197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09592 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:312.04, Y:-28.64, Z:-0.95 [[ 9.52141474e-01 3.04788694e-01 2.30318544e-02 3.12035692e+02] [-3.04711965e-01 9.52419872e-01 -6.85612965e-03 -2.86373236e+01] [-2.40256666e-02 -4.90076235e-04 9.99711222e-01 -9.52542276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.07, Y:-28.64, Z:-0.95 [[ 9.52210292e-01 3.04468499e-01 2.43822283e-02 3.12068348e+02] [-3.04382313e-01 9.52522271e-01 -7.26163313e-03 -2.86411985e+01] [-2.54355540e-02 -5.06917245e-04 9.99676335e-01 -9.54280887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.10, Y:-28.65, Z:-0.96 [[ 9.52239300e-01 3.04327408e-01 2.50028762e-02 3.12100826e+02] [-3.04236589e-01 9.52567356e-01 -7.45186335e-03 -2.86475468e+01] [-2.60847300e-02 -5.10832637e-04 9.99659605e-01 -9.55458649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.13, Y:-28.65, Z:-0.96 [[ 9.52587716e-01 3.03221478e-01 2.51670018e-02 3.12133534e+02] [-3.03128980e-01 9.52919988e-01 -7.50446955e-03 -2.86506797e+01] [-2.62576555e-02 -4.80182085e-04 9.99655093e-01 -9.55860771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.17, Y:-28.66, Z:-0.95 [[ 9.52818976e-01 3.02637767e-01 2.33748009e-02 3.12165454e+02] [-3.02557718e-01 9.53105555e-01 -6.97340562e-03 -2.86576771e+01] [-2.43890685e-02 -4.27833208e-04 9.99702451e-01 -9.54907875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.20, Y:-28.67, Z:-0.96 [[ 9.53280691e-01 3.01091416e-01 2.44925258e-02 3.12197229e+02] [-3.01002881e-01 9.53595196e-01 -7.31215316e-03 -2.86653311e+01] [-2.55575815e-02 -4.01786430e-04 9.99673271e-01 -9.55341453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.27592 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:312.23, Y:-28.67, Z:-0.96 [[ 9.54661133e-01 2.96755515e-01 2.36280742e-02 3.12229057e+02] [-2.96671706e-01 9.54953449e-01 -7.05754442e-03 -2.86699497e+01] [-2.46580762e-02 -2.72217728e-04 9.99695906e-01 -9.55234413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.26, Y:-28.68, Z:-0.96 [[ 9.56505367e-01 2.90687806e-01 2.44557224e-02 3.12260614e+02] [-2.90595943e-01 9.56817948e-01 -7.30833443e-03 -2.86754607e+01] [-2.55241179e-02 -1.16272623e-04 9.99674200e-01 -9.57898664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33592 meters Centerline goodness [0,1] 0.9999007345642248 Centerline is valid? [True, True] Translation: X:312.29, Y:-28.68, Z:-0.96 [[ 9.57254717e-01 2.88231067e-01 2.42127931e-02 3.12291470e+02] [-2.88140146e-01 9.57560886e-01 -7.23923146e-03 -2.86846693e+01] [-2.52717950e-02 -4.68892918e-05 9.99680616e-01 -9.58995355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.32, Y:-28.69, Z:-0.96 [[ 9.57779205e-01 2.86447949e-01 2.46285747e-02 3.12323096e+02] [-2.86353153e-01 9.58095805e-01 -7.36879911e-03 -2.86948760e+01] [-2.57073115e-02 5.21252955e-06 9.99669512e-01 -9.59623583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39592 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:312.35, Y:-28.71, Z:-0.96 [[ 9.57845230e-01 2.86035877e-01 2.67580285e-02 3.12353875e+02] [-2.85923706e-01 9.58218909e-01 -8.00982145e-03 -2.87058303e+01] [-2.79311451e-02 2.14145981e-05 9.99609849e-01 -9.60623834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42591999999996 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:312.38, Y:-28.72, Z:-0.96 [[ 9.57789633e-01 2.86333139e-01 2.55412048e-02 3.12384419e+02] [-2.86230949e-01 9.58130123e-01 -7.64922442e-03 -2.87156445e+01] [-2.66620242e-02 1.56645526e-05 9.99644505e-01 -9.59966831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45592 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:312.41, Y:-28.73, Z:-0.96 [[ 9.56768232e-01 2.89637706e-01 2.65433464e-02 3.12414400e+02] [-2.89528503e-01 9.57136351e-01 -7.95313059e-03 -2.87274480e+01] [-2.77091282e-02 -7.57526540e-05 9.99616026e-01 -9.60856369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.45, Y:-28.74, Z:-0.96 [[ 9.56448737e-01 2.90650089e-01 2.69877508e-02 3.12445333e+02] [-2.90537492e-01 9.56829408e-01 -8.09016707e-03 -2.87379275e+01] [-2.81740814e-02 -1.03123341e-04 9.99603026e-01 -9.61804423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.48, Y:-28.75, Z:-0.96 [[ 9.56068115e-01 2.91804296e-01 2.80002243e-02 3.12475738e+02] [-2.91683467e-01 9.56478036e-01 -8.39770726e-03 -2.87478565e+01] [-2.92320866e-02 -1.38422333e-04 9.99572642e-01 -9.63071395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.51, Y:-28.76, Z:-0.96 [[ 9.55743854e-01 2.92633837e-01 3.03170289e-02 3.12506746e+02] [-2.92492460e-01 9.56224559e-01 -9.09689980e-03 -2.87573467e+01] [-3.16519483e-02 -1.73196269e-04 9.99498937e-01 -9.63517225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.54, Y:-28.77, Z:-0.96 [[ 9.55662807e-01 2.92906089e-01 3.02427225e-02 3.12538749e+02] [-2.92765336e-01 9.56141199e-01 -9.08106403e-03 -2.87672166e+01] [-3.15762119e-02 -1.75585683e-04 9.99501332e-01 -9.63031569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.57, Y:-28.78, Z:-0.96 [[ 9.55812440e-01 2.92519571e-01 2.92383309e-02 3.12569625e+02] [-2.92387703e-01 9.56259524e-01 -8.78371874e-03 -2.87770165e+01] [-3.05288420e-02 -1.53340776e-04 9.99533875e-01 -9.62862574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.60, Y:-28.79, Z:-0.96 [[ 9.56082765e-01 2.91650627e-01 2.90802156e-02 3.12600542e+02] [-2.91519653e-01 9.56524907e-01 -8.74040988e-03 -2.87861369e+01] [-3.03650965e-02 -1.20899110e-04 9.99538867e-01 -9.63171069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66591999999997 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:312.63, Y:-28.80, Z:-0.96 [[ 9.55988812e-01 2.91879145e-01 2.98656281e-02 3.12631297e+02] [-2.91740977e-01 9.56455199e-01 -8.98074608e-03 -2.87953365e+01] [-3.11864278e-02 -1.27534752e-04 9.99513577e-01 -9.63505467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.66, Y:-28.81, Z:-0.96 [[ 9.55665600e-01 2.92762557e-01 3.15173835e-02 3.12661897e+02] [-2.92609011e-01 9.56185159e-01 -9.48195102e-03 -2.88063347e+01] [-3.29124146e-02 -1.60696009e-04 9.99458227e-01 -9.64481778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72592 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:312.69, Y:-28.82, Z:-0.96 [[ 9.55300911e-01 2.93871140e-01 3.22478185e-02 3.12692524e+02] [-2.93710492e-01 9.55845028e-01 -9.71746255e-03 -2.88161354e+01] [-3.36795987e-02 -1.88421814e-04 9.99432664e-01 -9.64232801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75591999999995 meters Centerline goodness [0,1] 0.9999503894428734 Centerline is valid? [True, True] Translation: X:312.72, Y:-28.83, Z:-0.97 [[ 9.54544311e-01 2.96281231e-01 3.25973939e-02 3.12723698e+02] [-2.96117933e-01 9.55100709e-01 -9.83899385e-03 -2.88256709e+01] [-3.40489032e-02 -2.60917276e-04 9.99420134e-01 -9.65055403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.75, Y:-28.83, Z:-0.97 [[ 9.54097461e-01 2.97837174e-01 3.14809966e-02 3.12754724e+02] [-2.97685202e-01 9.54616642e-01 -9.51771977e-03 -2.88347722e+01] [-3.28870140e-02 -2.90594578e-04 9.99459034e-01 -9.65172169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.79, Y:-28.84, Z:-0.97 [[ 9.53692503e-01 2.99327727e-01 2.95554021e-02 3.12785789e+02] [-2.99194039e-01 9.54150312e-01 -8.95037335e-03 -2.88442031e+01] [-3.08793911e-02 -3.06896181e-04 9.99523071e-01 -9.67058885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:312.82, Y:-28.85, Z:-0.97 [[ 9.53308907e-01 3.00421276e-01 3.08088320e-02 3.12816577e+02] [-3.00276425e-01 9.53806549e-01 -9.33466165e-03 -2.88533991e+01] [-3.21899967e-02 -3.52349845e-04 9.99481706e-01 -9.68621375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.85, Y:-28.86, Z:-0.97 [[ 9.52889943e-01 3.01760985e-01 3.06767742e-02 3.12847961e+02] [-3.01617518e-01 9.53383534e-01 -9.31176858e-03 -2.88621994e+01] [-3.20566598e-02 -3.79561869e-04 9.99485981e-01 -9.68847392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.88, Y:-28.87, Z:-0.97 [[ 9.52452372e-01 3.03079299e-01 3.12636917e-02 3.12878956e+02] [-3.02930484e-01 9.52965249e-01 -9.50561528e-03 -2.88699765e+01] [-3.26741670e-02 -4.17079465e-04 9.99465970e-01 -9.70652480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93591999999995 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:312.91, Y:-28.88, Z:-0.97 [[ 9.52099853e-01 3.04133351e-01 3.17612248e-02 3.12909496e+02] [-3.03979855e-01 9.52629364e-01 -9.67170104e-03 -2.88784716e+01] [-3.31981622e-02 -4.46347371e-04 9.99448689e-01 -9.70439949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:312.94, Y:-28.89, Z:-0.97 [[ 9.51992890e-01 3.04468806e-01 3.17534833e-02 3.12941132e+02] [-3.04314972e-01 9.52522205e-01 -9.68741584e-03 -2.88864587e+01] [-3.31954138e-02 -4.40709372e-04 9.99448783e-01 -9.72757261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99591999999996 meters Centerline goodness [0,1] 0.9999503056204343 Centerline is valid? [True, True] Translation: X:312.97, Y:-28.90, Z:-0.97 [[ 9.52009453e-01 3.04513304e-01 3.08163638e-02 3.12972594e+02] [-3.04368255e-01 9.52507988e-01 -9.40731557e-03 -2.88952862e+01] [-3.22174855e-02 -4.23669523e-04 9.99480792e-01 -9.73397582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.00, Y:-28.90, Z:-0.97 [[ 9.52065941e-01 3.04179707e-01 3.23287681e-02 3.13003502e+02] [-3.04019716e-01 9.52614572e-01 -9.87367668e-03 -2.89041241e+01] [-3.38002277e-02 -4.28191627e-04 9.99428517e-01 -9.74386296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.03, Y:-28.91, Z:-0.97 [[ 9.51838840e-01 3.04536021e-01 3.55054082e-02 3.13034347e+02] [-3.04342681e-01 9.52500705e-01 -1.08600362e-02 -2.89116972e+01] [-3.71261985e-02 -4.68806816e-04 9.99310475e-01 -9.74448056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.07, Y:-28.92, Z:-0.97 [[ 9.51749748e-01 3.04865730e-01 3.50614249e-02 3.13065704e+02] [-3.04676786e-01 9.52395231e-01 -1.07415158e-02 -2.89188717e+01] [-3.66670539e-02 -4.59167229e-04 9.99327432e-01 -9.74683297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11591999999996 meters Centerline goodness [0,1] 0.9999502611290724 Centerline is valid? [True, True] Translation: X:313.10, Y:-28.92, Z:-0.97 [[ 9.51247267e-01 3.06732819e-01 3.23050143e-02 3.13097763e+02] [-3.06572956e-01 9.51795542e-01 -9.91312559e-03 -2.89241246e+01] [-3.37884496e-02 -4.74010096e-04 9.99428895e-01 -9.74053761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14592 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:313.13, Y:-28.93, Z:-0.97 [[ 9.51329874e-01 3.06558703e-01 3.15155985e-02 3.13128910e+02] [-3.06406304e-01 9.51851647e-01 -9.67568445e-03 -2.89317520e+01] [-3.29643396e-02 -4.51810408e-04 9.99456426e-01 -9.74899603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17591999999996 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:313.16, Y:-28.94, Z:-0.98 [[ 9.51731405e-01 3.05215395e-01 3.24175225e-02 3.13160059e+02] [-3.05053209e-01 9.52283252e-01 -9.95726425e-03 -2.89391582e+01] [-3.39097741e-02 -4.12428179e-04 9.99424813e-01 -9.78067850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.19, Y:-28.95, Z:-0.98 [[ 9.52107369e-01 3.03750476e-01 3.50315146e-02 3.13191163e+02] [-3.03559896e-01 9.52751542e-01 -1.07651785e-02 -2.89474467e+01] [-3.66462577e-02 -3.84557111e-04 9.99328226e-01 -9.78721483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.22, Y:-28.96, Z:-0.98 [[ 9.52371107e-01 3.02810085e-01 3.59906469e-02 3.13222607e+02] [-3.02608059e-01 9.53050853e-01 -1.10650173e-02 -2.89556602e+01] [-3.76515155e-02 -3.53057033e-04 9.99290868e-01 -9.78823334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26592 meters Centerline goodness [0,1] 0.9999501644572909 Centerline is valid? [True, True] Translation: X:313.25, Y:-28.96, Z:-0.98 [[ 9.54089642e-01 2.97357201e-01 3.59395257e-02 3.13254630e+02] [-2.97151681e-01 9.54766295e-01 -1.10544482e-02 -2.89621482e+01] [-3.76009675e-02 -1.32555944e-04 9.99292825e-01 -9.79699798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29591999999997 meters Centerline goodness [0,1] 0.9998509094523407 Centerline is valid? [True, True] Translation: X:313.29, Y:-28.97, Z:-0.98 [[ 9.54743981e-01 2.95389740e-01 3.47682752e-02 3.13285286e+02] [-2.95195915e-01 9.55376836e-01 -1.06992006e-02 -2.89707172e+01] [-3.63772388e-02 -4.84554476e-05 9.99338128e-01 -9.80503977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32592 meters Centerline goodness [0,1] 0.9997515157539012 Centerline is valid? [True, True] Translation: X:313.32, Y:-28.98, Z:-0.98 [[ 9.55820005e-01 2.91879235e-01 3.48515410e-02 3.13316823e+02] [-2.91681873e-01 9.56455176e-01 -1.07322812e-02 -2.89796141e+01] [-3.64664668e-02 9.25663294e-05 9.99334873e-01 -9.81515149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35591999999997 meters Centerline goodness [0,1] 0.9997515157539012 Centerline is valid? [True, True] Translation: X:313.35, Y:-28.99, Z:-0.98 [[ 9.55763452e-01 2.92064615e-01 3.48494594e-02 3.13347941e+02] [-2.91867129e-01 9.56398584e-01 -1.07390386e-02 -2.89891327e+01] [-3.64664668e-02 9.25689194e-05 9.99334873e-01 -9.81542258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38592 meters Centerline goodness [0,1] 0.9996528294400635 Centerline is valid? [True, True] Translation: X:313.38, Y:-29.00, Z:-0.98 [[ 9.55817849e-01 2.91795009e-01 3.56077652e-02 3.13378772e+02] [-2.91588456e-01 9.56480873e-01 -1.09777835e-02 -2.89981692e+01] [-3.72614088e-02 1.09948127e-04 9.99305547e-01 -9.81874177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41591999999997 meters Centerline goodness [0,1] 0.9996525709747865 Centerline is valid? [True, True] Translation: X:313.41, Y:-29.01, Z:-0.98 [[ 9.55824405e-01 2.91727066e-01 3.59864621e-02 3.13409308e+02] [-2.91515856e-01 9.56501597e-01 -1.10995813e-02 -2.90071203e+01] [-3.76591567e-02 1.18626346e-04 9.99290635e-01 -9.80833260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44592 meters Centerline goodness [0,1] 0.9998016364988842 Centerline is valid? [True, True] Translation: X:313.44, Y:-29.02, Z:-0.98 [[ 9.55936032e-01 2.91537663e-01 3.45267188e-02 3.13439782e+02] [-2.91342946e-01 9.56559342e-01 -1.06542253e-02 -2.90171051e+01] [-3.61329634e-02 1.25641827e-04 9.99346983e-01 -9.80598074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47592 meters Centerline goodness [0,1] 0.999553261193289 Centerline is valid? [True, True] Translation: X:313.47, Y:-29.03, Z:-0.98 [[ 9.55787254e-01 2.92176823e-01 3.32179015e-02 3.13470392e+02] [-2.91996816e-01 9.56364310e-01 -1.02550214e-02 -2.90270263e+01] [-3.47646950e-02 1.02097263e-04 9.99395520e-01 -9.80243985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50591999999995 meters Centerline goodness [0,1] 0.9986601161232693 Centerline is valid? [True, True] Translation: X:313.50, Y:-29.04, Z:-0.98 [[ 9.55658005e-01 2.92771615e-01 3.16632099e-02 3.13501281e+02] [-2.92608211e-01 9.56182396e-01 -9.78060213e-03 -2.90375995e+01] [-3.31392866e-02 8.19955244e-05 9.99450740e-01 -9.80580791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53592 meters Centerline goodness [0,1] 0.9986610463674683 Centerline is valid? [True, True] Translation: X:313.53, Y:-29.05, Z:-0.98 [[ 9.55611113e-01 2.92924445e-01 3.16649673e-02 3.13532684e+02] [-2.92760884e-01 9.56135588e-01 -9.78785103e-03 -2.90475426e+01] [-3.31431030e-02 8.31154017e-05 9.99450613e-01 -9.80674389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56591999999995 meters Centerline goodness [0,1] 0.9979657653187795 Centerline is valid? [True, True] Translation: X:313.56, Y:-29.06, Z:-0.98 [[ 9.55688688e-01 2.92502717e-01 3.31857248e-02 3.13563553e+02] [-2.92322643e-01 9.56264686e-01 -1.02627037e-02 -2.90566434e+01] [-3.47362054e-02 1.07011039e-04 9.99396510e-01 -9.81236325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59592 meters Centerline goodness [0,1] 0.9968231907078329 Centerline is valid? [True, True] Translation: X:313.59, Y:-29.07, Z:-0.98 [[ 9.55917582e-01 2.91399082e-01 3.61683674e-02 3.13594689e+02] [-2.91184188e-01 9.56601562e-01 -1.11902014e-02 -2.90656743e+01] [-3.78595312e-02 1.65253574e-04 9.99283057e-01 -9.81618498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62591999999995 meters Centerline goodness [0,1] 0.9961286480047647 Centerline is valid? [True, True] Translation: X:313.63, Y:-29.08, Z:-0.98 [[ 9.55886285e-01 2.91322806e-01 3.75823374e-02 3.13625917e+02] [-2.91090002e-01 9.56624788e-01 -1.16458169e-02 -2.90750218e+01] [-3.93448876e-02 1.92233965e-04 9.99225672e-01 -9.82528935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65592 meters Centerline goodness [0,1] 0.9947418026687832 Centerline is valid? [True, True] Translation: X:313.66, Y:-29.09, Z:-0.99 [[ 9.56274335e-01 2.90056616e-01 3.75040835e-02 3.13657611e+02] [-2.89822985e-01 9.57009451e-01 -1.16424703e-02 -2.90857135e+01] [-3.92687379e-02 2.63850054e-04 9.99228651e-01 -9.85156540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68591999999995 meters Centerline goodness [0,1] 0.9944924084548973 Centerline is valid? [True, True] Translation: X:313.69, Y:-29.10, Z:-0.99 [[ 9.56503799e-01 2.89268839e-01 3.77362102e-02 3.13688839e+02] [-2.89030863e-01 9.57247845e-01 -1.17355266e-02 -2.90958775e+01] [-3.95176281e-02 3.18146360e-04 9.99218823e-01 -9.85128928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71592 meters Centerline goodness [0,1] 0.9940027755749405 Centerline is valid? [True, True] Translation: X:313.72, Y:-29.11, Z:-0.99 [[ 9.56853386e-01 2.87904809e-01 3.92736256e-02 3.13719824e+02] [-2.87645101e-01 9.57658945e-01 -1.22328121e-02 -2.91057408e+01] [-4.11326243e-02 4.08141679e-04 9.99153612e-01 -9.86202182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74591999999996 meters Centerline goodness [0,1] 0.9936444885799404 Centerline is valid? [True, True] Translation: X:313.75, Y:-29.12, Z:-0.99 [[ 9.57537607e-01 2.85839471e-01 3.76500806e-02 3.13750344e+02] [-2.85598490e-01 9.58277388e-01 -1.17451876e-02 -2.91159882e+01] [-3.94364591e-02 4.93652691e-04 9.99221958e-01 -9.85982428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.77592 meters Centerline goodness [0,1] 0.9932959229279436 Centerline is valid? [True, True] Translation: X:313.78, Y:-29.13, Z:-0.99 [[ 9.57662241e-01 2.85376611e-01 3.79897577e-02 3.13780718e+02] [-2.85130168e-01 9.58415309e-01 -1.18694281e-02 -2.91262202e+01] [-3.97972225e-02 5.34877108e-04 9.99207634e-01 -9.86792250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80591999999996 meters Centerline goodness [0,1] 0.9930548665542216 Centerline is valid? [True, True] Translation: X:313.81, Y:-29.14, Z:-0.99 [[ 9.57685544e-01 2.85265805e-01 3.82337574e-02 3.13811393e+02] [-2.85015256e-01 9.58448279e-01 -1.19666261e-02 -2.91386564e+01] [-4.00587482e-02 5.63060613e-04 9.99197168e-01 -9.87479176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83592 meters Centerline goodness [0,1] 0.9931520444620882 Centerline is valid? [True, True] Translation: X:313.84, Y:-29.15, Z:-0.99 [[ 9.57766636e-01 2.85082440e-01 3.75642436e-02 3.13842146e+02] [-2.84839738e-01 9.58502826e-01 -1.17752105e-02 -2.91484464e+01] [-3.93623394e-02 5.78114406e-04 9.99224836e-01 -9.87750663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86591999999996 meters Centerline goodness [0,1] 0.9931979544213296 Centerline is valid? [True, True] Translation: X:313.87, Y:-29.16, Z:-0.99 [[ 9.57661808e-01 2.85343033e-01 3.82519941e-02 3.13872462e+02] [-2.85090830e-01 9.58425270e-01 -1.20091491e-02 -2.91587392e+01] [-4.00884049e-02 5.95410696e-04 9.99195959e-01 -9.88632080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89592 meters Centerline goodness [0,1] 0.9930042173158026 Centerline is valid? [True, True] Translation: X:313.90, Y:-29.17, Z:-0.99 [[ 9.57394887e-01 2.86057561e-01 3.95740068e-02 3.13901637e+02] [-2.85787438e-01 9.58212246e-01 -1.24431572e-02 -2.91734461e+01] [-4.14797571e-02 6.03261110e-04 9.99139162e-01 -9.89053219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92591999999996 meters Centerline goodness [0,1] 0.9929563492063492 Centerline is valid? [True, True] Translation: X:313.93, Y:-29.19, Z:-0.99 [[ 9.57229942e-01 2.86759404e-01 3.84692501e-02 3.13931890e+02] [-2.86503975e-01 9.58002460e-01 -1.21143808e-02 -2.91859846e+01] [-4.03275489e-02 5.74654922e-04 9.99186348e-01 -9.89449564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95592 meters Centerline goodness [0,1] 0.993155780389823 Centerline is valid? [True, True] Translation: X:313.96, Y:-29.20, Z:-0.99 [[ 9.56370224e-01 2.89672289e-01 3.80257838e-02 3.13961804e+02] [-2.89424288e-01 9.57125775e-01 -1.19930039e-02 -2.91991215e+01] [-3.98694987e-02 4.64166476e-04 9.99204788e-01 -9.89310604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98591999999996 meters Centerline goodness [0,1] 0.9930510746016776 Centerline is valid? [True, True] Translation: X:313.99, Y:-29.21, Z:-0.99 [[ 9.55690189e-01 2.91996343e-01 3.73416570e-02 3.13992342e+02] [-2.91758250e-01 9.56419360e-01 -1.17953523e-02 -2.92096166e+01] [-3.91584835e-02 3.77965981e-04 9.99232941e-01 -9.89295701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01592 meters Centerline goodness [0,1] 0.9930038701994641 Centerline is valid? [True, True] Translation: X:314.02, Y:-29.22, Z:-0.99 [[ 9.54006336e-01 2.97436014e-01 3.74663658e-02 3.14021840e+02] [-2.97199792e-01 9.54741739e-01 -1.18530970e-02 -2.92235248e+01] [-3.92962411e-02 1.72933492e-04 9.99227589e-01 -9.89490415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04591999999997 meters Centerline goodness [0,1] 0.9932023419668552 Centerline is valid? [True, True] Translation: X:314.05, Y:-29.23, Z:-0.99 [[ 9.52813124e-01 3.01083522e-01 3.86763920e-02 3.14051800e+02] [-3.00834011e-01 9.53597772e-01 -1.22550789e-02 -2.92341740e+01] [-4.05715236e-02 4.16258793e-05 9.99176636e-01 -9.89906556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07592 meters Centerline goodness [0,1] 0.9929539026447676 Centerline is valid? [True, True] Translation: X:314.08, Y:-29.24, Z:-0.99 [[ 9.51906156e-01 3.04197325e-01 3.65876826e-02 3.14082697e+02] [-3.03975647e-01 9.52609040e-01 -1.16113502e-02 -2.92441825e+01] [-3.83858989e-02 -6.88487875e-05 9.99262987e-01 -9.89216808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10591999999997 meters Centerline goodness [0,1] 0.9931554409284793 Centerline is valid? [True, True] Translation: X:314.11, Y:-29.26, Z:-0.99 [[ 9.49768320e-01 3.10837492e-01 3.63344386e-02 3.14114282e+02] [-3.10622934e-01 9.50463021e-01 -1.15515509e-02 -2.92551566e+01] [-3.81251954e-02 -3.15012863e-04 9.99272921e-01 -9.89970643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13592 meters Centerline goodness [0,1] 0.992906746031746 Centerline is valid? [True, True] Translation: X:314.15, Y:-29.27, Z:-0.99 [[ 9.48847635e-01 3.13612691e-01 3.65410165e-02 3.14145086e+02] [-3.13397035e-01 9.49550900e-01 -1.16356200e-02 -2.92651139e+01] [-3.83466331e-02 -4.11415713e-04 9.99264413e-01 -9.89521951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16591999999997 meters Centerline goodness [0,1] 0.9930275412122118 Centerline is valid? [True, True] Translation: X:314.18, Y:-29.27, Z:-0.99 [[ 9.47722438e-01 3.17014409e-01 3.63874224e-02 3.14177025e+02] [-3.16802366e-01 9.48420574e-01 -1.16050059e-02 -2.92720000e+01] [-3.81895341e-02 -5.29297034e-04 9.99270373e-01 -9.90743575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19592 meters Centerline goodness [0,1] 0.9930476237771266 Centerline is valid? [True, True] Translation: X:314.21, Y:-29.28, Z:-0.99 [[ 9.47321766e-01 3.18101531e-01 3.73214016e-02 3.14208684e+02] [-3.17878569e-01 9.48056481e-01 -1.19215852e-02 -2.92791017e+01] [-3.91750711e-02 -5.70096584e-04 9.99232200e-01 -9.91835377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22592 meters Centerline goodness [0,1] 0.9932509552875788 Centerline is valid? [True, True] Translation: X:314.24, Y:-29.29, Z:-0.99 [[ 9.46777816e-01 3.19893306e-01 3.57776505e-02 3.14240430e+02] [-3.19689017e-01 9.47453383e-01 -1.14463958e-02 -2.92867807e+01] [-3.75592814e-02 -6.00528309e-04 9.99294221e-01 -9.91885326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25591999999995 meters Centerline goodness [0,1] 0.9933876901660535 Centerline is valid? [True, True] Translation: X:314.27, Y:-29.29, Z:-0.99 [[ 9.46652743e-01 3.20365582e-01 3.48493557e-02 3.14271965e+02] [-3.20171440e-01 9.47293803e-01 -1.11668685e-02 -2.92929209e+01] [-3.65900590e-02 -5.86621718e-04 9.99330187e-01 -9.91384872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28592 meters Centerline goodness [0,1] 0.9931455818804947 Centerline is valid? [True, True] Translation: X:314.30, Y:-29.30, Z:-0.99 [[ 9.46681490e-01 3.20224374e-01 3.53624991e-02 3.14304260e+02] [-3.20023615e-01 9.47341557e-01 -1.13516973e-02 -2.93007557e+01] [-3.71354551e-02 -5.70393059e-04 9.99310078e-01 -9.92086279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31591999999995 meters Centerline goodness [0,1] 0.9934406678592725 Centerline is valid? [True, True] Translation: X:314.34, Y:-29.31, Z:-0.99 [[ 9.46904726e-01 3.19362608e-01 3.71344122e-02 3.14336286e+02] [-3.19139823e-01 9.47632432e-01 -1.19392811e-02 -2.93065909e+01] [-3.90027333e-02 -5.45708081e-04 9.99238955e-01 -9.92550217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34592 meters Centerline goodness [0,1] 0.9934455534038433 Centerline is valid? [True, True] Translation: X:314.37, Y:-29.31, Z:-0.99 [[ 9.46951372e-01 3.19148909e-01 3.77766202e-02 3.14368506e+02] [-3.18917321e-01 9.47704436e-01 -1.21673526e-02 -2.93147798e+01] [-3.96842679e-02 -5.25727335e-04 9.99212131e-01 -9.92530086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37591999999995 meters Centerline goodness [0,1] 0.9935026287074695 Centerline is valid? [True, True] Translation: X:314.40, Y:-29.32, Z:-0.99 [[ 9.47198069e-01 3.18313159e-01 3.86335530e-02 3.14400560e+02] [-3.18069347e-01 9.47985497e-01 -1.24654880e-02 -2.93228264e+01] [-4.05919768e-02 -4.80862838e-04 9.99175690e-01 -9.93690513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40592 meters Centerline goodness [0,1] 0.9936944540986048 Centerline is valid? [True, True] Translation: X:314.43, Y:-29.33, Z:-0.99 [[ 9.47390212e-01 3.17936965e-01 3.69847548e-02 3.14432536e+02] [-3.17712525e-01 9.48111757e-01 -1.19518819e-02 -2.93290727e+01] [-3.88656259e-02 -4.27423894e-04 9.99244355e-01 -9.92927343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43591999999995 meters Centerline goodness [0,1] 0.99398817508819 Centerline is valid? [True, True] Translation: X:314.46, Y:-29.34, Z:-0.99 [[ 9.46916885e-01 3.19462887e-01 3.59426937e-02 3.14464129e+02] [-3.19251338e-01 9.47598677e-01 -1.16331431e-02 -2.93350203e+01] [-3.77756065e-02 -4.59133486e-04 9.99286142e-01 -9.92764792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46592 meters Centerline goodness [0,1] 0.9939917572868564 Centerline is valid? [True, True] Translation: X:314.50, Y:-29.34, Z:-0.99 [[ 9.46540611e-01 3.20505079e-01 3.65700201e-02 3.14495396e+02] [-3.20286152e-01 9.47246669e-01 -1.18544978e-02 -2.93429521e+01] [-3.84402565e-02 -4.92107402e-04 9.99260779e-01 -9.93570904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49591999999996 meters Centerline goodness [0,1] 0.9939439066765947 Centerline is valid? [True, True] Translation: X:314.53, Y:-29.35, Z:-1.00 [[ 9.45892301e-01 3.22357215e-01 3.70618522e-02 3.14526748e+02] [-3.22133055e-01 9.46617935e-01 -1.20324347e-02 -2.93515887e+01] [-3.89621561e-02 -5.57460284e-04 9.99240531e-01 -9.95053426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.52592 meters Centerline goodness [0,1] 0.9940425954425856 Centerline is valid? [True, True] Translation: X:314.56, Y:-29.36, Z:-1.00 [[ 9.45180406e-01 3.24567100e-01 3.59193219e-02 3.14558574e+02] [-3.24357376e-01 9.45862478e-01 -1.16818749e-02 -2.93598755e+01] [-3.77662911e-02 -6.09217793e-04 9.99286413e-01 -9.95205076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55591999999996 meters Centerline goodness [0,1] 0.994688771964658 Centerline is valid? [True, True] Translation: X:314.59, Y:-29.36, Z:-1.00 [[ 9.44304401e-01 3.27425911e-01 3.28857122e-02 3.14591108e+02] [-3.27251683e-01 9.44876627e-01 -1.07002663e-02 -2.93648938e+01] [-3.45764853e-02 -6.57596057e-04 9.99401838e-01 -9.95228805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58592 meters Centerline goodness [0,1] 0.9959777535008442 Centerline is valid? [True, True] Translation: X:314.62, Y:-29.37, Z:-1.00 [[ 9.43833732e-01 3.28735054e-01 3.33339267e-02 3.14623724e+02] [-3.28556690e-01 9.44421918e-01 -1.08509083e-02 -2.93694434e+01] [-3.50483649e-02 -7.10631399e-04 9.99385365e-01 -9.96883287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61591999999996 meters Centerline goodness [0,1] 0.9965755124323787 Centerline is valid? [True, True] Translation: X:314.66, Y:-29.38, Z:-1.00 [[ 9.43628648e-01 3.29159766e-01 3.49116337e-02 3.14655127e+02] [-3.28964219e-01 9.44273942e-01 -1.13695288e-02 -2.93768741e+01] [-3.67085375e-02 -7.56065211e-04 9.99325729e-01 -9.98274024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64592 meters Centerline goodness [0,1] 0.9976191657159863 Centerline is valid? [True, True] Translation: X:314.69, Y:-29.38, Z:-1.00 [[ 9.43262947e-01 3.30222508e-01 3.47578451e-02 3.14686812e+02] [-3.30029218e-01 9.43902787e-01 -1.13244569e-02 -2.93844508e+01] [-3.65476175e-02 -7.89163820e-04 9.99331601e-01 -9.98234842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67591999999996 meters Centerline goodness [0,1] 0.9986603820391963 Centerline is valid? [True, True] Translation: X:314.72, Y:-29.39, Z:-1.00 [[ 9.43251108e-01 3.30173926e-01 3.55320332e-02 3.14719204e+02] [-3.29971700e-01 9.43919774e-01 -1.15818172e-02 -2.93877055e+01] [-3.73634028e-02 -8.00003447e-04 9.99301424e-01 -1.00040349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70592 meters Centerline goodness [0,1] 0.9993050039714059 Centerline is valid? [True, True] Translation: X:314.75, Y:-29.39, Z:-1.00 [[ 9.43391219e-01 3.29856758e-01 3.47494989e-02 3.14751212e+02] [-3.29662947e-01 9.44030684e-01 -1.13317355e-02 -2.93937504e+01] [-3.65424428e-02 -7.65362407e-04 9.99331809e-01 -1.00060331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.78, Y:-29.40, Z:-1.00 [[ 9.43725168e-01 3.28754567e-01 3.61004358e-02 3.14783875e+02] [-3.28544385e-01 9.44415099e-01 -1.17774639e-02 -2.93974311e+01] [-3.79656917e-02 -7.45906374e-04 9.99278765e-01 -1.00312219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.82, Y:-29.40, Z:-1.00 [[ 9.43948117e-01 3.28102001e-01 3.62081377e-02 3.14815807e+02] [-3.27889888e-01 9.44642029e-01 -1.18177325e-02 -2.94047739e+01] [-3.80811503e-02 -7.16955858e-04 9.99274393e-01 -1.00246949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.85, Y:-29.41, Z:-1.00 [[ 9.44699099e-01 3.25873243e-01 3.67456481e-02 3.14847520e+02] [-3.25652893e-01 9.45413259e-01 -1.19984342e-02 -2.94119773e+01] [-3.86497916e-02 -6.31416637e-04 9.99252618e-01 -1.00309109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.88, Y:-29.42, Z:-1.00 [[ 9.45622611e-01 3.23181197e-01 3.67667109e-02 3.14880432e+02] [-3.22958357e-01 9.46336963e-01 -1.20105192e-02 -2.94156216e+01] [-3.86752715e-02 -5.16698051e-04 9.99251698e-01 -1.00498661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.91, Y:-29.42, Z:-1.01 [[ 9.46369301e-01 3.21183283e-01 3.50206367e-02 3.14912324e+02] [-3.20979562e-01 9.47016964e-01 -1.14450931e-02 -2.94218582e+01] [-3.68411096e-02 -4.09623837e-04 9.99321052e-01 -1.00638095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.94, Y:-29.43, Z:-1.01 [[ 9.47773718e-01 3.17074523e-01 3.44779191e-02 3.14944666e+02] [-3.16874171e-01 9.48400595e-01 -1.12725997e-02 -2.94255388e+01] [-3.62731332e-02 -2.41288314e-04 9.99341884e-01 -1.00771616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.98, Y:-29.43, Z:-1.01 [[ 9.48451124e-01 3.15043552e-01 3.44677472e-02 3.14975931e+02] [-3.14841799e-01 9.49077202e-01 -1.12741544e-02 -2.94329448e+01] [-3.62644028e-02 -1.58903095e-04 9.99342218e-01 -1.00771689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.01, Y:-29.44, Z:-1.01 [[ 9.49790695e-01 3.10888631e-01 3.52972483e-02 3.15007007e+02] [-3.10674080e-01 9.50446347e-01 -1.15480300e-02 -2.94379507e+01] [-3.71382920e-02 2.27128009e-06 9.99310136e-01 -1.00896883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.04, Y:-29.45, Z:-1.01 [[ 9.50592839e-01 3.08473492e-01 3.48906767e-02 3.15038490e+02] [-3.08262050e-01 9.51232934e-01 -1.14198793e-02 -2.94454957e+01] [-3.67118908e-02 1.00183982e-04 9.99325886e-01 -1.00993118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.07, Y:-29.45, Z:-1.01 [[ 9.51276239e-01 3.06415976e-01 3.43913693e-02 3.15069435e+02] [-3.06209111e-01 9.51897693e-01 -1.12588950e-02 -2.94527357e+01] [-3.61869704e-02 1.79368695e-04 9.99345021e-01 -1.00953339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03592 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:315.10, Y:-29.46, Z:-1.01 [[ 9.52570486e-01 3.02225337e-01 3.56274328e-02 3.15100530e+02] [-3.02000304e-01 9.53236445e-01 -1.16660049e-02 -2.94582287e+01] [-3.74871297e-02 3.53196393e-04 9.99297048e-01 -1.01109699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06591999999995 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:315.13, Y:-29.47, Z:-1.01 [[ 9.52974685e-01 3.00947174e-01 3.56377385e-02 3.15130777e+02] [-3.00721026e-01 9.53640726e-01 -1.16717974e-02 -2.94669119e+01] [-3.74981932e-02 4.05910123e-04 9.99296613e-01 -1.01205009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09592 meters Centerline goodness [0,1] 0.9999005964214712 Centerline is valid? [True, True] Translation: X:315.16, Y:-29.47, Z:-1.01 [[ 9.53430037e-01 2.99477214e-01 3.58407907e-02 3.15162073e+02] [-2.99247351e-01 9.54103337e-01 -1.17407308e-02 -2.94734610e+01] [-3.77118994e-02 4.68703765e-04 9.99288543e-01 -1.01210586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12591999999995 meters Centerline goodness [0,1] 0.9999503475670308 Centerline is valid? [True, True] Translation: X:315.19, Y:-29.48, Z:-1.01 [[ 9.53440029e-01 2.99503055e-01 3.53557915e-02 3.15192334e+02] [-2.99279301e-01 9.54095229e-01 -1.15842451e-02 -2.94820657e+01] [-3.72023087e-02 4.63626400e-04 9.99307647e-01 -1.01323575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.22, Y:-29.49, Z:-1.01 [[ 9.53189666e-01 3.00600226e-01 3.26950167e-02 3.15222076e+02] [-3.00409463e-01 9.53750151e-01 -1.07146468e-02 -2.94920200e+01] [-3.44037024e-02 3.91198231e-04 9.99407941e-01 -1.01337516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18591999999995 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:315.25, Y:-29.50, Z:-1.01 [[ 9.52241997e-01 3.03269471e-01 3.55359980e-02 3.15250256e+02] [-3.03046045e-01 9.52904784e-01 -1.16433602e-02 -2.95011985e+01] [-3.73934982e-02 3.18252891e-04 9.99300568e-01 -1.01454232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.28, Y:-29.51, Z:-1.01 [[ 9.51835173e-01 3.04445603e-01 3.63686493e-02 3.15280640e+02] [-3.04212347e-01 9.52529683e-01 -1.19185344e-02 -2.95099472e+01] [-3.82707634e-02 2.80688053e-04 9.99267367e-01 -1.01431594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.31, Y:-29.52, Z:-1.02 [[ 9.51191853e-01 3.06545691e-01 3.55499394e-02 3.15311455e+02] [-3.06324152e-01 9.51855925e-01 -1.16538635e-02 -2.95182346e+01] [-3.74108621e-02 1.95254941e-04 9.99299950e-01 -1.01533313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.34, Y:-29.53, Z:-1.02 [[ 9.51172820e-01 3.06604829e-01 3.55492073e-02 3.15340792e+02] [-3.06383248e-01 9.51836877e-01 -1.16560966e-02 -2.95278301e+01] [-3.74108619e-02 1.95280668e-04 9.99299950e-01 -1.01535884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.37, Y:-29.54, Z:-1.02 [[ 9.50965318e-01 3.07289828e-01 3.51841754e-02 3.15370459e+02] [-3.07073155e-01 9.51615959e-01 -1.15388298e-02 -2.95380013e+01] [-3.70275878e-02 1.68911270e-04 9.99314229e-01 -1.01663306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.40, Y:-29.55, Z:-1.02 [[ 9.50761816e-01 3.07988382e-01 3.45705788e-02 3.15399766e+02] [-3.07779577e-01 9.51390107e-01 -1.13399907e-02 -2.95480463e+01] [-3.63826921e-02 1.41511990e-04 9.99337921e-01 -1.01769803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36591999999996 meters Centerline goodness [0,1] 0.9999500823640992 Centerline is valid? [True, True] Translation: X:315.43, Y:-29.56, Z:-1.02 [[ 9.50989416e-01 3.07383204e-01 3.36852521e-02 3.15428396e+02] [-3.07184659e-01 9.51585803e-01 -1.10473709e-02 -2.95551425e+01] [-3.54501840e-02 1.58340084e-04 9.99371432e-01 -1.01770064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.46, Y:-29.56, Z:-1.02 [[ 9.51077703e-01 3.07002317e-01 3.46522717e-02 3.15456994e+02] [-3.06792040e-01 9.51708751e-01 -1.13621207e-02 -2.95635654e+01] [-3.64670676e-02 1.75218544e-04 9.99334840e-01 -1.01845598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.49, Y:-29.57, Z:-1.02 [[ 9.50840292e-01 3.07694101e-01 3.50296865e-02 3.15486032e+02] [-3.07479644e-01 9.51485322e-01 -1.14870013e-02 -2.95740564e+01] [-3.68647151e-02 1.51388078e-04 9.99320254e-01 -1.01793655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.52, Y:-29.58, Z:-1.02 [[ 9.50816317e-01 3.07623683e-01 3.62767375e-02 3.15515230e+02] [-3.07393626e-01 9.51508090e-01 -1.18959649e-02 -2.95833472e+01] [-3.81770897e-02 1.59639689e-04 9.99270976e-01 -1.01871391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48591999999996 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:315.55, Y:-29.59, Z:-1.02 [[ 9.49920761e-01 3.10491978e-01 3.52885151e-02 3.15545662e+02] [-3.10276266e-01 9.50575999e-01 -1.15719044e-02 -2.95897702e+01] [-3.71373990e-02 4.32035657e-05 9.99310168e-01 -1.01941488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.57, Y:-29.60, Z:-1.02 [[ 9.49666756e-01 3.11314863e-01 3.48727421e-02 3.15574260e+02] [-3.11104851e-01 9.50306822e-01 -1.14330933e-02 -2.95966306e+01] [-3.66990966e-02 8.54940351e-06 9.99326361e-01 -1.02052959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54591999999997 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:315.60, Y:-29.60, Z:-1.02 [[ 9.49473307e-01 3.12007845e-01 3.39344083e-02 3.15602955e+02] [-3.11810013e-01 9.50079525e-01 -1.11090947e-02 -2.96022874e+01] [-3.57065112e-02 -3.32994107e-05 9.99362319e-01 -1.02182765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.63, Y:-29.61, Z:-1.02 [[ 9.49691737e-01 3.11523969e-01 3.22245429e-02 3.15630936e+02] [-3.11345830e-01 9.50238294e-01 -1.05336773e-02 -2.96094128e+01] [-3.39024876e-02 -2.92307527e-05 9.99425145e-01 -1.02173427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.66, Y:-29.62, Z:-1.02 [[ 9.49978558e-01 3.10709728e-01 3.16260213e-02 3.15658399e+02] [-3.10538206e-01 9.50504847e-01 -1.03226765e-02 -2.96170038e+01] [-3.32680425e-02 -1.47665935e-05 9.99446465e-01 -1.02241066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63592 meters Centerline goodness [0,1] 0.9999503968253968 Centerline is valid? [True, True] Translation: X:315.69, Y:-29.62, Z:-1.02 [[ 9.50756276e-01 3.08320443e-01 3.16387147e-02 3.15685604e+02] [-3.08148043e-01 9.51282556e-01 -1.03093158e-02 -2.96237756e+01] [-3.32759302e-02 5.22386898e-05 9.99446202e-01 -1.02391786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.71, Y:-29.63, Z:-1.02 [[ 9.51189134e-01 3.07106956e-01 3.04063957e-02 3.15712943e+02] [-3.06947587e-01 9.51675003e-01 -9.89280551e-03 -2.96326528e+01] [-3.19751561e-02 7.67593147e-05 9.99488661e-01 -1.02436882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69592 meters Centerline goodness [0,1] 0.9999502710229251 Centerline is valid? [True, True] Translation: X:315.74, Y:-29.64, Z:-1.02 [[ 9.52429019e-01 3.03400732e-01 2.87569151e-02 3.15740558e+02] [-3.03256918e-01 9.52863036e-01 -9.34222065e-03 -2.96403372e+01] [-3.02358380e-02 1.77068601e-04 9.99542777e-01 -1.02302281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72592 meters Centerline goodness [0,1] 0.999950308089843 Centerline is valid? [True, True] Translation: X:315.77, Y:-29.65, Z:-1.02 [[ 9.53330294e-01 3.00637971e-01 2.78955232e-02 3.15767583e+02] [-3.00501913e-01 9.53738303e-01 -9.04703305e-03 -2.96479567e+01] [-2.93249106e-02 2.42152608e-04 9.99569903e-01 -1.02288541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75591999999995 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:315.79, Y:-29.66, Z:-1.02 [[ 9.53787304e-01 2.99190193e-01 2.78389614e-02 3.15794802e+02] [-2.99054518e-01 9.54193458e-01 -9.01336095e-03 -2.96557684e+01] [-2.92604641e-02 2.71462032e-04 9.99571784e-01 -1.02294626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.82, Y:-29.66, Z:-1.02 [[ 9.54821986e-01 2.95691203e-01 2.96932171e-02 3.15822475e+02] [-2.95535602e-01 9.55283497e-01 -9.59934370e-03 -2.96641738e+01] [-3.12038817e-02 3.90261630e-04 9.99512964e-01 -1.02499501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81591999999995 meters Centerline goodness [0,1] 0.9999503105590062 Centerline is valid? [True, True] Translation: X:315.85, Y:-29.67, Z:-1.02 [[ 9.55272425e-01 2.94158762e-01 3.04173729e-02 3.15849394e+02] [-2.93995159e-01 9.55756471e-01 -9.81911496e-03 -2.96732678e+01] [-3.19599797e-02 4.37369360e-04 9.99489054e-01 -1.02497057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84592 meters Centerline goodness [0,1] 0.9999501520362893 Centerline is valid? [True, True] Translation: X:315.88, Y:-29.68, Z:-1.02 [[ 9.56284282e-01 2.91206374e-01 2.68182670e-02 3.15876399e+02] [-2.91078397e-01 9.56660146e-01 -8.64471461e-03 -2.96831174e+01] [-2.81733632e-02 4.60586547e-04 9.99602946e-01 -1.02416397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87591999999995 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:315.90, Y:-29.69, Z:-1.03 [[ 9.56325972e-01 2.90893192e-01 2.86667991e-02 3.15903019e+02] [-2.90747227e-01 9.56755408e-01 -9.22704992e-03 -2.96935764e+01] [-3.01112010e-02 4.89275159e-04 9.99546435e-01 -1.02605553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.93, Y:-29.70, Z:-1.03 [[ 9.56676322e-01 2.89992786e-01 2.59730347e-02 3.15930356e+02] [-2.89872970e-01 9.57028722e-01 -8.34785118e-03 -2.97036181e+01] [-2.72777568e-02 4.57310875e-04 9.99627788e-01 -1.02645892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93591999999995 meters Centerline goodness [0,1] 0.9999004678013337 Centerline is valid? [True, True] Translation: X:315.96, Y:-29.71, Z:-1.03 [[ 9.56530714e-01 2.90582108e-01 2.47190713e-02 3.15957069e+02] [-2.90474082e-01 9.56849974e-01 -7.93318591e-03 -2.97134817e+01] [-2.59576847e-02 4.08086414e-04 9.99662959e-01 -1.02764174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96592 meters Centerline goodness [0,1] 0.9997513427491546 Centerline is valid? [True, True] Translation: X:315.98, Y:-29.72, Z:-1.03 [[ 9.56239541e-01 2.91429734e-01 2.59740147e-02 3.15983985e+02] [-2.91311107e-01 9.56592157e-01 -8.32365336e-03 -2.97232530e+01] [-2.72722988e-02 3.92887509e-04 9.99627964e-01 -1.02823022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99591999999996 meters Centerline goodness [0,1] 0.9998508279051266 Centerline is valid? [True, True] Translation: X:316.01, Y:-29.73, Z:-1.03 [[ 9.55302013e-01 2.94387369e-01 2.70950285e-02 3.16010210e+02] [-2.94259885e-01 9.55686132e-01 -8.66819116e-03 -2.97343640e+01] [-2.84461490e-02 3.07760467e-04 9.99595279e-01 -1.02818344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.02592 meters Centerline goodness [0,1] 0.9997517378351539 Centerline is valid? [True, True] Translation: X:316.04, Y:-29.74, Z:-1.03 [[ 9.55252317e-01 2.94774376e-01 2.45168870e-02 3.16037518e+02] [-2.94670432e-01 9.55566848e-01 -7.83169785e-03 -2.97438703e+01] [-2.57361082e-02 2.56845856e-04 9.99668739e-01 -1.02793315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.06, Y:-29.76, Z:-1.03 [[ 9.54173100e-01 2.98354941e-01 2.31953672e-02 3.16064101e+02] [-2.98263228e-01 9.54454980e-01 -7.39847477e-03 -2.97552904e+01] [-2.43463052e-02 1.41100503e-04 9.99703575e-01 -1.03004999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.09, Y:-29.76, Z:-1.03 [[ 9.53758553e-01 2.99721685e-01 2.26171198e-02 3.16090936e+02] [-2.99635132e-01 9.54026678e-01 -7.20309735e-03 -2.97649812e+01] [-2.37362602e-02 9.31320232e-05 9.99718251e-01 -1.03051597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.12, Y:-29.77, Z:-1.03 [[ 9.53061990e-01 3.01769766e-01 2.46546397e-02 3.16117991e+02] [-3.01667911e-01 9.53380830e-01 -7.83992013e-03 -2.97743023e+01] [-2.58711118e-02 3.44162007e-05 9.99665286e-01 -1.03136216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.15, Y:-29.78, Z:-1.03 [[ 9.51694891e-01 3.06252814e-01 2.20464955e-02 3.16146053e+02] [-3.06172820e-01 9.51950212e-01 -6.99987128e-03 -2.97802919e+01] [-2.31308964e-02 -8.82959552e-05 9.99732441e-01 -1.02982807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17591999999996 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:316.17, Y:-29.79, Z:-1.03 [[ 9.49884623e-01 3.12045912e-01 1.86158965e-02 3.16174075e+02] [-3.11990165e-01 9.50067002e-01 -5.90158238e-03 -2.97863934e+01] [-1.95279136e-02 -2.02154265e-04 9.99809292e-01 -1.02913117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.20, Y:-29.79, Z:-1.03 [[ 9.49171212e-01 3.14172024e-01 1.92340788e-02 3.16201739e+02] [-3.14113140e-01 9.49366036e-01 -6.08811748e-03 -2.97935708e+01] [-2.01728973e-02 -2.63011031e-04 9.99796472e-01 -1.02927480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23591999999996 meters Centerline goodness [0,1] 0.9997516021660291 Centerline is valid? [True, True] Translation: X:316.23, Y:-29.80, Z:-1.03 [[ 9.48245836e-01 3.16996756e-01 1.85173222e-02 3.16229860e+02] [-3.16942893e-01 9.48426568e-01 -5.85218515e-03 -2.98002481e+01] [-1.94174441e-02 -3.19623472e-04 9.99811413e-01 -1.02977250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.26, Y:-29.80, Z:-1.03 [[ 9.46516707e-01 3.22178953e-01 1.75170096e-02 3.16258867e+02] [-3.22131699e-01 9.46678698e-01 -5.53275821e-03 -2.98026192e+01] [-1.83655181e-02 -4.05935971e-04 9.99831257e-01 -1.02895253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.29, Y:-29.80, Z:-1.03 [[ 9.45236629e-01 3.25979447e-01 1.62823654e-02 3.16289149e+02] [-3.25939313e-01 9.45376748e-01 -5.13507367e-03 -2.98025188e+01] [-1.70668981e-02 -4.53203269e-04 9.99854247e-01 -1.02819804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.32, Y:-29.81, Z:-1.03 [[ 9.45164103e-01 3.26221298e-01 1.56359771e-02 3.16316915e+02] [-3.26184464e-01 9.45293322e-01 -4.92249289e-03 -2.98061292e+01] [-1.63864067e-02 -4.47649229e-04 9.99865634e-01 -1.02811395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.34, Y:-29.81, Z:-1.03 [[ 9.45272340e-01 3.25979083e-01 1.40656189e-02 3.16344659e+02] [-3.25949365e-01 9.45376895e-01 -4.42026953e-03 -2.98099832e+01] [-1.47382265e-02 -4.06321025e-04 9.99891304e-01 -1.02841027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.38, Y:-29.81, Z:-1.03 [[ 9.46166261e-01 3.23241108e-01 1.68698734e-02 3.16375508e+02] [-3.23198072e-01 9.46316537e-01 -5.29314130e-03 -2.98075679e+01] [-1.76752011e-02 -4.44118848e-04 9.99843683e-01 -1.02957326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.40, Y:-29.81, Z:-1.03 [[ 9.46821296e-01 3.21319118e-01 1.68362174e-02 3.16404184e+02] [-3.21276096e-01 9.46970882e-01 -5.27431044e-03 -2.98112274e+01] [-1.76381444e-02 -4.15244740e-04 9.99844350e-01 -1.02922578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.43, Y:-29.81, Z:-1.03 [[ 9.48373215e-01 3.16811828e-01 1.47821082e-02 3.16434726e+02] [-3.16778220e-01 9.48488364e-01 -4.62406997e-03 -2.98112788e+01] [-1.54856177e-02 -2.97305820e-04 9.99880046e-01 -1.02933951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.46, Y:-29.82, Z:-1.03 [[ 9.49327164e-01 3.13864562e-01 1.63392907e-02 3.16463445e+02] [-3.13823201e-01 9.49467723e-01 -5.10314675e-03 -2.98154955e+01] [-1.71153261e-02 -2.83092686e-04 9.99853482e-01 -1.03042625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.49, Y:-29.82, Z:-1.03 [[ 9.50102242e-01 3.11350455e-01 1.91474161e-02 3.16491746e+02] [-3.11293331e-01 9.50295118e-01 -5.97078392e-03 -2.98199042e+01] [-2.00547023e-02 -2.87607743e-04 9.99798843e-01 -1.03168483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53592 meters Centerline goodness [0,1] 0.9999007641163045 Centerline is valid? [True, True] Translation: X:316.52, Y:-29.82, Z:-1.03 [[ 9.51629515e-01 3.06576394e-01 2.03022572e-02 3.16521520e+02] [-3.06511294e-01 9.51846034e-01 -6.32097985e-03 -2.98215084e+01] [-2.12624862e-02 -2.07640146e-04 9.99773906e-01 -1.03343777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56591999999995 meters Centerline goodness [0,1] 0.9998511609446319 Centerline is valid? [True, True] Translation: X:316.55, Y:-29.82, Z:-1.03 [[ 9.53263651e-01 3.01655062e-01 1.71065823e-02 3.16550235e+02] [-3.01608199e-01 9.53417126e-01 -5.31778229e-03 -2.98248269e+01] [-1.79138445e-02 -9.02369359e-05 9.99839530e-01 -1.03416412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59592 meters Centerline goodness [0,1] 0.9998011829613798 Centerline is valid? [True, True] Translation: X:316.58, Y:-29.83, Z:-1.03 [[ 9.54113700e-01 2.99024521e-01 1.58550945e-02 3.16578477e+02] [-2.98984028e-01 9.54245426e-01 -4.92110306e-03 -2.98307908e+01] [-1.66011819e-02 -4.51281734e-05 9.99862190e-01 -1.03393318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.61, Y:-29.84, Z:-1.03 [[ 9.54925094e-01 2.96497476e-01 1.43983008e-02 3.16606842e+02] [-2.96463899e-01 9.55033636e-01 -4.46205290e-03 -2.98362211e+01] [-1.50738490e-02 -7.65011237e-06 9.99886383e-01 -1.03361917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65592 meters Centerline goodness [0,1] 0.9996525364836693 Centerline is valid? [True, True] Translation: X:316.63, Y:-29.84, Z:-1.03 [[ 9.55939945e-01 2.93173297e-01 1.51076181e-02 3.16634448e+02] [-2.93136046e-01 9.56059316e-01 -4.67356848e-03 -2.98420738e+01] [-1.58139445e-02 3.90633572e-05 9.99874951e-01 -1.03399595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68591999999995 meters Centerline goodness [0,1] 0.9996028002581798 Centerline is valid? [True, True] Translation: X:316.66, Y:-29.85, Z:-1.03 [[ 9.57448448e-01 2.88162873e-01 1.59570751e-02 3.16663160e+02] [-2.88120746e-01 9.57581403e-01 -4.92866516e-03 -2.98465919e+01] [-1.67004567e-02 1.21378412e-04 9.99860530e-01 -1.03399934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71592 meters Centerline goodness [0,1] 0.9995038698154396 Centerline is valid? [True, True] Translation: X:316.69, Y:-29.85, Z:-1.04 [[ 9.58757808e-01 2.83788839e-01 1.57276829e-02 3.16691315e+02] [-2.83747447e-01 9.58886782e-01 -4.85043794e-03 -2.98532926e+01] [-1.64575674e-02 1.87705387e-04 9.99864547e-01 -1.03533721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74591999999996 meters Centerline goodness [0,1] 0.9990568847413879 Centerline is valid? [True, True] Translation: X:316.72, Y:-29.86, Z:-1.04 [[ 9.59582018e-01 2.81119660e-01 1.31942473e-02 3.16717693e+02] [-2.81090373e-01 9.59672705e-01 -4.06222544e-03 -2.98609547e+01] [-1.38041304e-02 1.89262599e-04 9.99904701e-01 -1.03598132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.77592 meters Centerline goodness [0,1] 0.9996522430324407 Centerline is valid? [True, True] Translation: X:316.74, Y:-29.87, Z:-1.04 [[ 9.60030235e-01 2.79610082e-01 1.26550268e-02 3.16744167e+02] [-2.79583097e-01 9.60113620e-01 -3.88950533e-03 -2.98683954e+01] [-1.32378085e-02 1.95911134e-04 9.99912357e-01 -1.03607996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80591999999996 meters Centerline goodness [0,1] 0.9993548707260186 Centerline is valid? [True, True] Translation: X:316.77, Y:-29.88, Z:-1.04 [[ 9.60256211e-01 2.78894065e-01 1.12298639e-02 3.16771258e+02] [-2.78872836e-01 9.60321857e-01 -3.44554096e-03 -2.98751985e+01] [-1.17452247e-02 1.76898123e-04 9.99931007e-01 -1.03531317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83592 meters Centerline goodness [0,1] 0.9993546465448769 Centerline is valid? [True, True] Translation: X:316.80, Y:-29.88, Z:-1.03 [[ 9.60278617e-01 2.78827999e-01 1.09510284e-02 3.16798933e+02] [-2.78807874e-01 9.60341043e-01 -3.35420096e-03 -2.98793580e+01] [-1.14519672e-02 1.67734517e-04 9.99934410e-01 -1.03308459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86591999999996 meters Centerline goodness [0,1] 0.999305590000496 Centerline is valid? [True, True] Translation: X:316.83, Y:-29.89, Z:-1.03 [[ 9.59607384e-01 2.81030172e-01 1.32556283e-02 3.16826574e+02] [-2.81000994e-01 9.59698919e-01 -4.05292492e-03 -2.98854638e+01] [-1.38604063e-02 1.64371955e-04 9.99903926e-01 -1.03301687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89592 meters Centerline goodness [0,1] 0.9994049094966526 Centerline is valid? [True, True] Translation: X:316.85, Y:-29.89, Z:-1.03 [[ 9.59364260e-01 2.81765655e-01 1.51106844e-02 3.16853642e+02] [-2.81727874e-01 9.59483239e-01 -4.61724463e-03 -2.98937182e+01] [-1.57994294e-02 1.72518488e-04 9.99875166e-01 -1.03466235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92591999999996 meters Centerline goodness [0,1] 0.9994047619047619 Centerline is valid? [True, True] Translation: X:316.88, Y:-29.90, Z:-1.03 [[ 9.59374082e-01 2.81809132e-01 1.36009144e-02 3.16881513e+02] [-2.81778616e-01 9.59470474e-01 -4.14977699e-03 -2.99021056e+01] [-1.42191209e-02 1.48741648e-04 9.99898892e-01 -1.03447937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95592 meters Centerline goodness [0,1] 0.999156913310851 Centerline is valid? [True, True] Translation: X:316.91, Y:-29.91, Z:-1.04 [[ 9.59650136e-01 2.80903136e-01 1.28469537e-02 3.16908243e+02] [-2.80875921e-01 9.59736113e-01 -3.91288476e-03 -2.99103129e+01] [-1.34288270e-02 1.46600454e-04 9.99909818e-01 -1.03536537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98591999999996 meters Centerline goodness [0,1] 0.9993551267423979 Centerline is valid? [True, True] Translation: X:316.94, Y:-29.92, Z:-1.04 [[ 9.60329446e-01 2.78533973e-01 1.36448291e-02 3.16935632e+02] [-2.78503124e-01 9.60426360e-01 -4.14943316e-03 -2.99203060e+01] [-1.42606117e-02 1.84695303e-04 9.99898295e-01 -1.03542478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01592 meters Centerline goodness [0,1] 0.9993062094256405 Centerline is valid? [True, True] Translation: X:316.96, Y:-29.93, Z:-1.03 [[ 9.61633671e-01 2.74014807e-01 1.32878734e-02 3.16962132e+02] [-2.73985154e-01 9.61725442e-01 -4.03843901e-03 -2.99305508e+01] [-1.38858780e-02 2.42818886e-04 9.99903557e-01 -1.03444035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04591999999997 meters Centerline goodness [0,1] 0.9990068527162578 Centerline is valid? [True, True] Translation: X:316.99, Y:-29.94, Z:-1.03 [[ 9.62547723e-01 2.70703667e-01 1.48797166e-02 3.16989221e+02] [-2.70666190e-01 9.62662673e-01 -4.51564261e-03 -2.99400467e+01] [-1.55465487e-02 3.19085329e-04 9.99879094e-01 -1.03499092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07592 meters Centerline goodness [0,1] 0.9991568296795953 Centerline is valid? [True, True] Translation: X:317.02, Y:-29.95, Z:-1.03 [[ 9.63246030e-01 2.68227767e-01 1.45241572e-02 3.17016065e+02] [-2.68191878e-01 9.63355462e-01 -4.40111972e-03 -2.99497526e+01] [-1.51724287e-02 3.44100096e-04 9.99884833e-01 -1.03460262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10591999999997 meters Centerline goodness [0,1] 0.9990560882309106 Centerline is valid? [True, True] Translation: X:317.04, Y:-29.96, Z:-1.03 [[ 9.63668253e-01 2.66833123e-01 1.19826295e-02 3.17041917e+02] [-2.66808665e-01 9.63742703e-01 -3.62487177e-03 -2.99607884e+01] [-1.25154076e-02 2.96104469e-04 9.99921635e-01 -1.03460694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13592 meters Centerline goodness [0,1] 0.9990568847413879 Centerline is valid? [True, True] Translation: X:317.07, Y:-29.98, Z:-1.04 [[ 9.64787402e-01 2.62800582e-01 1.10055612e-02 3.17067837e+02] [-2.62779744e-01 9.64850120e-01 -3.32430636e-03 -2.99753337e+01] [-1.14923467e-02 3.15210345e-04 9.99933911e-01 -1.03618879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16591999999997 meters Centerline goodness [0,1] 0.9990568847413879 Centerline is valid? [True, True] Translation: X:317.09, Y:-29.98, Z:-1.04 [[ 9.64911945e-01 2.62342869e-01 1.10071222e-02 3.17093944e+02] [-2.62322061e-01 9.64974673e-01 -3.31913362e-03 -2.99835590e+01] [-1.14923452e-02 3.15260690e-04 9.99933911e-01 -1.03621169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19592 meters Centerline goodness [0,1] 0.999403222597971 Centerline is valid? [True, True] Translation: X:317.12, Y:-30.00, Z:-1.04 [[ 9.65191707e-01 2.61312589e-01 1.09863230e-02 3.17119909e+02] [-2.61291817e-01 9.65254176e-01 -3.31080912e-03 -2.99954522e+01] [-1.14697503e-02 3.24929212e-04 9.99934167e-01 -1.03584219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22592 meters Centerline goodness [0,1] 0.9993050039714059 Centerline is valid? [True, True] Translation: X:317.14, Y:-30.01, Z:-1.04 [[ 9.65008695e-01 2.61931780e-01 1.22458165e-02 3.17144205e+02] [-2.61906100e-01 9.65086328e-01 -3.68424423e-03 -3.00118644e+01] [-1.27832907e-02 3.48073683e-04 9.99918230e-01 -1.03684410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25591999999995 meters Centerline goodness [0,1] 0.9993543580829402 Centerline is valid? [True, True] Translation: X:317.17, Y:-30.02, Z:-1.04 [[ 9.64655806e-01 2.63201687e-01 1.28081115e-02 3.17170160e+02] [-2.63173784e-01 9.64740771e-01 -3.84752149e-03 -3.00249004e+01] [-1.33691815e-02 3.40774782e-04 9.99910570e-01 -1.03652924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28592 meters Centerline goodness [0,1] 0.9993033439490446 Centerline is valid? [True, True] Translation: X:317.20, Y:-30.04, Z:-1.03 [[ 9.62896467e-01 2.69661852e-01 1.06244983e-02 3.17195314e+02] [-2.69643063e-01 9.62955057e-01 -3.18998214e-03 -3.00413196e+01] [-1.10911308e-02 2.06800276e-04 9.99938470e-01 -1.03446088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31591999999995 meters Centerline goodness [0,1] 0.9996516373046681 Centerline is valid? [True, True] Translation: X:317.22, Y:-30.05, Z:-1.03 [[ 9.61965041e-01 2.72944198e-01 1.11680380e-02 3.17221507e+02] [-2.72923715e-01 9.62029851e-01 -3.34824112e-03 -3.00529500e+01] [-1.16578689e-02 1.72868490e-04 9.99932030e-01 -1.03468560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34592 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:317.25, Y:-30.07, Z:-1.04 [[ 9.59065914e-01 2.82914829e-01 1.23196083e-02 3.17247466e+02] [-2.82890800e-01 9.59145034e-01 -3.68759474e-03 -3.00671859e+01] [-1.28595663e-02 5.15425814e-05 9.99917311e-01 -1.03617366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37591999999995 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:317.27, Y:-30.08, Z:-1.04 [[ 9.57966528e-01 2.86652785e-01 1.14153951e-02 3.17273870e+02] [-2.86632494e-01 9.58034540e-01 -3.41072033e-03 -3.00767215e+01] [-1.19140353e-02 -4.66726113e-06 9.99929025e-01 -1.03543317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.30, Y:-30.09, Z:-1.04 [[ 9.56782241e-01 2.90511146e-01 1.30773685e-02 3.17300648e+02] [-2.90484962e-01 9.56871606e-01 -3.90091447e-03 -3.00859485e+01] [-1.36466217e-02 -6.64532024e-05 9.99906878e-01 -1.03542657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43591999999995 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:317.33, Y:-30.09, Z:-1.03 [[ 9.54935625e-01 2.96644612e-01 9.99630743e-03 3.17328177e+02] [-2.96629694e-01 9.54987937e-01 -2.97746741e-03 -3.00940296e+01] [-1.04296027e-02 -1.21911914e-04 9.99945603e-01 -1.03480919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.36, Y:-30.10, Z:-1.03 [[ 9.54636808e-01 2.97646207e-01 8.67758271e-03 3.17355048e+02] [-2.97635049e-01 9.54676239e-01 -2.57999547e-03 -3.01015202e+01] [-9.05220789e-03 -1.19794117e-04 9.99959021e-01 -1.03488131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.38, Y:-30.11, Z:-1.04 [[ 9.54296226e-01 2.98691626e-01 1.01007538e-02 3.17383072e+02] [-2.98676620e-01 9.54349668e-01 -2.99809464e-03 -3.01072353e+01] [-1.05351568e-02 -1.55788600e-04 9.99944492e-01 -1.03597744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.41, Y:-30.11, Z:-1.04 [[ 9.54600387e-01 2.97707604e-01 1.04059153e-02 3.17410524e+02] [-2.97691681e-01 9.54657090e-01 -3.08297209e-03 -3.01141565e+01] [-1.08519050e-02 -1.54748066e-04 9.99941104e-01 -1.03693005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.44, Y:-30.12, Z:-1.04 [[ 9.54735753e-01 2.97265211e-01 1.06318309e-02 3.17437009e+02] [-2.97248626e-01 9.54794936e-01 -3.14400412e-03 -3.01211698e+01] [-1.10858213e-02 -1.58603985e-04 9.99938538e-01 -1.03637192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.47, Y:-30.13, Z:-1.04 [[ 9.55026216e-01 2.96303423e-01 1.13669596e-02 3.17465203e+02] [-2.96284473e-01 9.55093846e-01 -3.35507238e-03 -3.01257075e+01] [-1.18506326e-02 -1.63671548e-04 9.99929765e-01 -1.03546258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.49, Y:-30.13, Z:-1.03 [[ 9.55003313e-01 2.96434085e-01 9.77270947e-03 3.17493845e+02] [-2.96420112e-01 9.55053304e-01 -2.88174552e-03 -3.01320513e+01] [-1.01877061e-02 -1.44751123e-04 9.99948094e-01 -1.03386757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.52, Y:-30.14, Z:-1.03 [[ 9.55025769e-01 2.96310580e-01 1.12169962e-02 3.17521965e+02] [-2.96292226e-01 9.55091625e-01 -3.30236305e-03 -3.01381302e+01] [-1.16917842e-02 -1.69666959e-04 9.99931634e-01 -1.03437966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67591999999996 meters Centerline goodness [0,1] 0.9999007591921798 Centerline is valid? [True, True] Translation: X:317.55, Y:-30.15, Z:-1.03 [[ 9.55429800e-01 2.95061074e-01 9.63638321e-03 3.17549952e+02] [-2.95047510e-01 9.55478385e-01 -2.83241294e-03 -3.01457410e+01] [-1.00430907e-02 -1.37019141e-04 9.99949558e-01 -1.03307549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.58, Y:-30.15, Z:-1.03 [[ 9.56475313e-01 2.91679702e-01 8.82758280e-03 3.17577875e+02] [-2.91668215e-01 9.56516044e-01 -2.59045990e-03 -3.01525425e+01] [-9.19930915e-03 -9.70143698e-05 9.99957681e-01 -1.03267741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.61, Y:-30.16, Z:-1.03 [[ 9.57009701e-01 2.89959141e-01 7.49189736e-03 3.17605327e+02] [-2.89950842e-01 9.57039023e-01 -2.19495740e-03 -3.01608186e+01] [-7.80648609e-03 -7.16864202e-05 9.99969526e-01 -1.03257998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.63, Y:-30.17, Z:-1.03 [[ 9.58460663e-01 2.85115269e-01 7.90190955e-03 3.17632231e+02] [-2.85105903e-01 9.58493235e-01 -2.31122619e-03 -3.01694641e+01] [-8.23289272e-03 -3.76616745e-05 9.99966108e-01 -1.03347731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79591999999997 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:317.66, Y:-30.18, Z:-1.03 [[ 9.59019075e-01 2.83180628e-01 9.54703394e-03 3.17658590e+02] [-2.83166914e-01 9.59066594e-01 -2.78710031e-03 -3.01786186e+01] [-9.94549413e-03 -3.05217734e-05 9.99950542e-01 -1.03486037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.68, Y:-30.19, Z:-1.03 [[ 9.59720716e-01 2.80838804e-01 8.10636303e-03 3.17684958e+02] [-2.80828871e-01 9.59754951e-01 -2.36212384e-03 -3.01884597e+01] [-8.44349809e-03 -9.52159399e-06 9.99964353e-01 -1.03440075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85591999999997 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:317.71, Y:-30.20, Z:-1.03 [[ 9.60226145e-01 2.79131143e-01 7.18027070e-03 3.17709758e+02] [-2.79123330e-01 9.60252990e-01 -2.08837039e-03 -3.02012307e+01] [-7.47780563e-03 1.12677419e-06 9.99972041e-01 -1.03292136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88592 meters Centerline goodness [0,1] 0.9998508427385273 Centerline is valid? [True, True] Translation: X:317.74, Y:-30.21, Z:-1.03 [[ 9.60258816e-01 2.79052145e-01 5.73643782e-03 3.17736353e+02] [-2.79047176e-01 9.60275950e-01 -1.66535572e-03 -3.02104492e+01] [-5.97328437e-03 -1.56426234e-06 9.99982160e-01 -1.03179920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91591999999997 meters Centerline goodness [0,1] 0.9999008182494421 Centerline is valid? [True, True] Translation: X:317.76, Y:-30.22, Z:-1.03 [[ 9.59598554e-01 2.81355132e-01 3.14731548e-03 3.17762799e+02] [-2.81353654e-01 9.59603715e-01 -9.12164347e-04 -3.02201837e+01] [-3.27681775e-03 -1.01971223e-05 9.99994631e-01 -1.02981675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.79, Y:-30.23, Z:-1.03 [[ 9.58874523e-01 2.83812336e-01 3.19492103e-03 3.17789444e+02] [-2.83810831e-01 9.58879845e-01 -9.24363881e-04 -3.02304482e+01] [-3.32589125e-03 -2.04042168e-05 9.99994469e-01 -1.02977448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.82, Y:-30.24, Z:-1.03 [[ 9.57317437e-01 2.88978304e-01 5.90463854e-03 3.17815999e+02] [-2.88973282e-01 9.57335644e-01 -1.70518780e-03 -3.02429967e+01] [-6.14548322e-03 -7.38767703e-05 9.99981114e-01 -1.02996143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00591999999995 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:317.84, Y:-30.25, Z:-1.03 [[ 9.56612915e-01 2.91334386e-01 4.00085808e-03 3.17843329e+02] [-2.91332109e-01 9.56621279e-01 -1.15359716e-03 -3.02525335e+01] [-4.16338850e-03 -6.20324844e-05 9.99991331e-01 -1.02773255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:317.87, Y:-30.26, Z:-1.03 [[ 9.56333006e-01 2.92250894e-01 4.07386510e-03 3.17871030e+02] [-2.92248549e-01 9.56341681e-01 -1.17268059e-03 -3.02607992e+01] [-4.23872395e-03 -6.91080119e-05 9.99991014e-01 -1.02689360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.90, Y:-30.27, Z:-1.03 [[ 9.55667111e-01 2.94441076e-01 2.19674851e-03 3.17898553e+02] [-2.94440402e-01 9.55669635e-01 -6.31458212e-04 -3.02698549e+01] [-2.28529308e-03 -4.33476683e-05 9.99997388e-01 -1.02653199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.93, Y:-30.28, Z:-1.03 [[ 9.55872058e-01 2.93773677e-01 2.37383323e-03 3.17925500e+02] [-2.93772892e-01 9.55875005e-01 -6.81062744e-04 -3.02779146e+01] [-2.46916616e-03 -4.63590052e-05 9.99996951e-01 -1.02677361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.95, Y:-30.29, Z:-1.02 [[ 9.55400153e-01 2.95314161e-01 -3.07360314e-04 3.17953616e+02] [-2.95314148e-01 9.55400202e-01 8.75922566e-05 -3.02856857e+01] [ 3.19519339e-04 7.08219383e-06 9.99999949e-01 -1.02401232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.98, Y:-30.29, Z:-1.02 [[ 9.55152709e-01 2.96113497e-01 -3.14846591e-04 3.17981862e+02] [-2.96113483e-01 9.55152761e-01 8.95792571e-05 -3.02927240e+01] [ 3.27252217e-04 7.66845063e-06 9.99999946e-01 -1.02262987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18591999999995 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:318.01, Y:-30.30, Z:-1.02 [[ 9.54586110e-01 2.97935093e-01 -1.97715861e-04 3.18010589e+02] [-2.97935087e-01 9.54586131e-01 5.60131498e-05 -3.02979965e+01] [ 2.05425101e-04 5.43711752e-06 9.99999979e-01 -1.02121229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21592 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:318.04, Y:-30.30, Z:-1.02 [[ 9.54539904e-01 2.98082665e-01 -5.43960527e-04 3.18038945e+02] [-2.98082626e-01 9.54540059e-01 1.54524277e-04 -3.03048525e+01] [ 5.65293121e-04 1.46455938e-05 9.99999840e-01 -1.02134123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.07, Y:-30.31, Z:-1.02 [[ 9.54532764e-01 2.98098717e-01 -2.08751118e-03 3.18067180e+02] [-2.98098132e-01 9.54535045e-01 5.93091689e-04 -3.03115877e+01] [ 2.16940245e-03 5.61577345e-05 9.99997645e-01 -1.01969714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.10, Y:-30.32, Z:-1.02 [[ 9.55220278e-01 2.95893675e-01 -1.07414674e-03 3.18096021e+02] [-2.95893519e-01 9.55220882e-01 3.04466079e-04 -3.03165874e+01] [ 1.11613698e-03 2.70008869e-05 9.99999377e-01 -1.02082726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.12, Y:-30.32, Z:-1.02 [[ 9.55857872e-01 2.93824595e-01 -1.68421965e-03 3.18124244e+02] [-2.93824211e-01 9.55859355e-01 4.76792423e-04 -3.03234345e+01] [ 1.74997045e-03 3.91187204e-05 9.99998468e-01 -1.02078325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33592 meters Centerline goodness [0,1] 0.9999005123613391 Centerline is valid? [True, True] Translation: X:318.15, Y:-30.33, Z:-1.02 [[ 9.57077793e-01 2.89815231e-01 -3.03800422e-03 3.18152818e+02] [-2.89813964e-01 9.57082613e-01 8.58881559e-04 -3.03292456e+01] [ 3.15653797e-03 5.84395773e-05 9.99995016e-01 -1.02053966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36591999999996 meters Centerline goodness [0,1] 0.9998512716275841 Centerline is valid? [True, True] Translation: X:318.18, Y:-30.34, Z:-1.02 [[ 9.57963339e-01 2.86880287e-01 -2.43745308e-03 3.18181014e+02] [-2.86879466e-01 9.57966439e-01 6.87835008e-04 -3.03352835e+01] [ 2.53232455e-03 4.03345147e-05 9.99996793e-01 -1.02063906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39592 meters Centerline goodness [0,1] 0.9999005420458501 Centerline is valid? [True, True] Translation: X:318.21, Y:-30.34, Z:-1.02 [[ 9.58557676e-01 2.84895597e-01 -1.29624830e-03 3.18209324e+02] [-2.84895363e-01 9.58558553e-01 3.64980450e-04 -3.03406579e+01] [ 1.34651122e-03 1.94403198e-05 9.99999093e-01 -1.02019118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.24, Y:-30.35, Z:-1.02 [[ 9.58957742e-01 2.83548810e-01 -3.47603204e-04 3.18236703e+02] [-2.83548793e-01 9.58957805e-01 9.73379380e-05 -3.03463535e+01] [ 3.60936861e-04 5.21949953e-06 9.99999935e-01 -1.01974018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.26, Y:-30.35, Z:-1.02 [[ 9.58985253e-01 2.83443702e-01 2.63666570e-03 3.18263604e+02] [-2.83442736e-01 9.58988877e-01 -7.40715603e-04 -3.03535785e+01] [-2.73848425e-03 -3.70083999e-05 9.99996250e-01 -1.01889254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48591999999996 meters Centerline goodness [0,1] 0.9998508798091261 Centerline is valid? [True, True] Translation: X:318.29, Y:-30.36, Z:-1.02 [[ 9.59197593e-01 2.82729393e-01 2.01694470e-03 3.18289674e+02] [-2.82728829e-01 9.59199713e-01 -5.65609093e-04 -3.03638393e+01] [-2.09456709e-03 -2.77175306e-05 9.99997806e-01 -1.01793277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51592 meters Centerline goodness [0,1] 0.9997513922036595 Centerline is valid? [True, True] Translation: X:318.32, Y:-30.37, Z:-1.02 [[ 9.59449645e-01 2.81872612e-01 2.05157863e-03 3.18316181e+02] [-2.81872028e-01 9.59451838e-01 -5.74173288e-04 -3.03728351e+01] [-2.13023461e-03 -2.73922711e-05 9.99997731e-01 -1.01848193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54591999999997 meters Centerline goodness [0,1] 0.9998511978572492 Centerline is valid? [True, True] Translation: X:318.34, Y:-30.38, Z:-1.02 [[ 9.59707634e-01 2.80991248e-01 2.27488832e-03 3.18342921e+02] [-2.80990531e-01 9.59710330e-01 -6.35362036e-04 -3.03813737e+01] [-2.36176499e-03 -2.94602803e-05 9.99997211e-01 -1.01875858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.37, Y:-30.39, Z:-1.02 [[ 9.60210364e-01 2.79268263e-01 2.30105849e-03 3.18369956e+02] [-2.79267528e-01 9.60213120e-01 -6.41397884e-04 -3.03899097e+01] [-2.38862863e-03 -2.67340220e-05 9.99997147e-01 -1.01900367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60591999999997 meters Centerline goodness [0,1] 0.9999007985714994 Centerline is valid? [True, True] Translation: X:318.40, Y:-30.40, Z:-1.02 [[ 9.60391061e-01 2.78640373e-01 2.92436478e-03 3.18396454e+02] [-2.78639188e-01 9.60395513e-01 -8.13409882e-04 -3.03991981e+01] [-3.03519564e-03 -3.36510478e-05 9.99995393e-01 -1.01873460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63592 meters Centerline goodness [0,1] 0.999950411583854 Centerline is valid? [True, True] Translation: X:318.42, Y:-30.41, Z:-1.02 [[ 9.60509053e-01 2.78219314e-01 4.04626951e-03 3.18422793e+02] [-2.78217051e-01 9.60517575e-01 -1.12308230e-03 -3.04079219e+01] [-4.19897617e-03 -4.70104526e-05 9.99991183e-01 -1.01776251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66591999999997 meters Centerline goodness [0,1] 0.9998511535599107 Centerline is valid? [True, True] Translation: X:318.45, Y:-30.42, Z:-1.02 [[ 9.60110192e-01 2.79583550e-01 4.63233883e-03 3.18450750e+02] [-2.79580611e-01 9.60121365e-01 -1.28342321e-03 -3.04158824e+01] [-4.80643149e-03 -6.28844203e-05 9.99988447e-01 -1.01745196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69592 meters Centerline goodness [0,1] 0.9998506868405336 Centerline is valid? [True, True] Translation: X:318.48, Y:-30.42, Z:-1.02 [[ 9.59531637e-01 2.81560608e-01 4.76043286e-03 3.18478749e+02] [-2.81557540e-01 9.59543443e-01 -1.31662899e-03 -3.04232215e+01] [-4.93855299e-03 -7.69885962e-05 9.99987802e-01 -1.01603815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72592 meters Centerline goodness [0,1] 0.999900457893689 Centerline is valid? [True, True] Translation: X:318.51, Y:-30.43, Z:-1.02 [[ 9.58435177e-01 2.85293439e-01 3.10901321e-03 3.18506046e+02] [-2.85292154e-01 9.58440217e-01 -8.58523275e-04 -3.04324746e+01] [-3.22473435e-03 -6.41381684e-05 9.99994798e-01 -1.01638656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75591999999995 meters Centerline goodness [0,1] 0.9999007985714994 Centerline is valid? [True, True] Translation: X:318.53, Y:-30.44, Z:-1.02 [[ 9.57948431e-01 2.86900951e-01 4.75898491e-03 3.18533327e+02] [-2.86897973e-01 9.57960246e-01 -1.31163719e-03 -3.04413436e+01] [-4.93522832e-03 -1.08862342e-04 9.99987816e-01 -1.01710407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.56, Y:-30.45, Z:-1.02 [[ 9.57687391e-01 2.87771194e-01 4.75405799e-03 3.18560943e+02] [-2.87768245e-01 9.57699184e-01 -1.30799854e-03 -3.04477316e+01] [-4.92936176e-03 -1.15413210e-04 9.99987844e-01 -1.01638941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.59, Y:-30.45, Z:-1.02 [[ 9.58007252e-01 2.86709750e-01 4.42992266e-03 3.18588164e+02] [-2.86707188e-01 9.58017489e-01 -1.21645751e-03 -3.04537900e+01] [-4.59271361e-03 -1.04715556e-04 9.99989448e-01 -1.01590938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.62, Y:-30.46, Z:-1.02 [[ 9.58297830e-01 2.85731397e-01 4.77886353e-03 3.18615354e+02] [-2.85728417e-01 9.58309739e-01 -1.30959066e-03 -3.04602504e+01] [-4.95382263e-03 -1.10479220e-04 9.99987724e-01 -1.01593138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.64, Y:-30.47, Z:-1.02 [[ 9.58529531e-01 2.84962582e-01 4.17905484e-03 3.18642339e+02] [-2.84960305e-01 9.58538637e-01 -1.14296828e-03 -3.04674643e+01] [-4.33148873e-03 -9.52958934e-05 9.99990615e-01 -1.01571768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.67, Y:-30.47, Z:-1.02 [[ 9.59010753e-01 2.83340879e-01 4.04013423e-03 3.18670710e+02] [-2.83338745e-01 9.59019259e-01 -1.10298065e-03 -3.04742072e+01] [-4.18708604e-03 -8.69562582e-05 9.99991230e-01 -1.01518141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.70, Y:-30.48, Z:-1.02 [[ 9.60169258e-01 2.79318203e-01 7.50577052e-03 3.18698743e+02] [-2.79310747e-01 9.60198586e-01 -2.04514728e-03 -3.04793680e+01] [-7.77827711e-03 -1.32754829e-04 9.99969740e-01 -1.01588119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.73, Y:-30.49, Z:-1.02 [[ 9.61575892e-01 2.74442863e-01 7.27457796e-03 3.18726504e+02] [-2.74435746e-01 9.61603404e-01 -1.97866632e-03 -3.04870609e+01] [-7.53828978e-03 -9.37663931e-05 9.99971582e-01 -1.01584154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.75, Y:-30.50, Z:-1.02 [[ 9.62340795e-01 2.71739721e-01 7.59724972e-03 3.18753558e+02] [-2.71731903e-01 9.62370780e-01 -2.06279775e-03 -3.04954277e+01] [-7.87191522e-03 -7.93007048e-05 9.99969013e-01 -1.01506982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.02592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.78, Y:-30.50, Z:-1.01 [[ 9.62999942e-01 2.69430552e-01 6.18776749e-03 3.18781382e+02] [-2.69425337e-01 9.63019821e-01 -1.67721154e-03 -3.05030060e+01] [-6.41083477e-03 -5.19867207e-05 9.99979449e-01 -1.01349746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.81, Y:-30.51, Z:-1.01 [[ 9.63789853e-01 2.66596310e-01 5.96048748e-03 3.18809346e+02] [-2.66591434e-01 9.63808283e-01 -1.61276616e-03 -3.05098895e+01] [-6.17472471e-03 -3.46472443e-05 9.99980936e-01 -1.01378665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.84, Y:-30.52, Z:-1.01 [[ 9.63926584e-01 2.66101490e-01 5.96129997e-03 3.18835671e+02] [-2.66096623e-01 9.63945017e-01 -1.60975993e-03 -3.05173436e+01] [-6.17472491e-03 -3.45913955e-05 9.99980936e-01 -1.01380954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11591999999996 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:318.86, Y:-30.52, Z:-1.01 [[ 9.65586261e-01 2.60056633e-01 3.70406618e-03 3.18863545e+02] [-2.60054716e-01 9.65593366e-01 -9.98548034e-04 -3.05226411e+01] [-3.83630077e-03 9.24385575e-07 9.99992641e-01 -1.01256709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14592 meters Centerline goodness [0,1] 0.9998016561709724 Centerline is valid? [True, True] Translation: X:318.89, Y:-30.53, Z:-1.01 [[ 9.67131104e-01 2.54156698e-01 7.86131668e-03 3.18891276e+02] [-2.54147901e-01 9.67163053e-01 -2.11507744e-03 -3.05304668e+01] [-8.14073614e-03 4.76200429e-05 9.99966863e-01 -1.01259159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17591999999996 meters Centerline goodness [0,1] 0.999702366188799 Centerline is valid? [True, True] Translation: X:318.92, Y:-30.54, Z:-1.01 [[ 9.68099348e-01 2.50433103e-01 8.18009798e-03 3.18919111e+02] [-2.50423478e-01 9.68133903e-01 -2.19699082e-03 -3.05390862e+01] [-8.46962941e-03 7.84167885e-05 9.99964129e-01 -1.01120807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20592 meters Centerline goodness [0,1] 0.9998014789815872 Centerline is valid? [True, True] Translation: X:318.95, Y:-30.55, Z:-1.01 [[ 9.68910462e-01 2.47253292e-01 8.85021664e-03 3.18946516e+02] [-2.47241931e-01 9.68950875e-01 -2.37279770e-03 -3.05475422e+01] [-9.16210720e-03 1.10883860e-04 9.99958021e-01 -1.01106304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23591999999996 meters Centerline goodness [0,1] 0.9990578668121188 Centerline is valid? [True, True] Translation: X:318.97, Y:-30.56, Z:-1.01 [[ 9.70249671e-01 2.41927956e-01 9.29732450e-03 3.18974116e+02] [-2.41915215e-01 9.70294201e-01 -2.48839167e-03 -3.05567336e+01] [-9.62315156e-03 1.65196943e-04 9.99953683e-01 -1.01052592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26592 meters Centerline goodness [0,1] 0.9988070977682787 Centerline is valid? [True, True] Translation: X:319.00, Y:-30.57, Z:-1.01 [[ 9.70721857e-01 2.40021563e-01 9.41939388e-03 3.19000717e+02] [-2.40008437e-01 9.70767540e-01 -2.51676923e-03 -3.05669309e+01] [-9.74812071e-03 1.82348893e-04 9.99952469e-01 -1.01082063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29591999999997 meters Centerline goodness [0,1] 0.9986601826121477 Centerline is valid? [True, True] Translation: X:319.03, Y:-30.58, Z:-1.01 [[ 9.71307153e-01 2.37591603e-01 1.06133869e-02 3.19026659e+02] [-2.37574847e-01 9.71365111e-01 -2.83088836e-03 -3.05802501e+01] [-1.09820690e-02 2.28188352e-04 9.99939669e-01 -1.01104065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32592 meters Centerline goodness [0,1] 0.9990071978158352 Centerline is valid? [True, True] Translation: X:319.05, Y:-30.59, Z:-1.01 [[ 9.71459624e-01 2.36993473e-01 1.00146356e-02 3.19053437e+02] [-2.36978572e-01 9.71511218e-01 -2.66638856e-03 -3.05899661e+01] [-1.03612475e-02 2.17034779e-04 9.99946297e-01 -1.00988395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35591999999997 meters Centerline goodness [0,1] 0.9983080368250808 Centerline is valid? [True, True] Translation: X:319.08, Y:-30.60, Z:-1.01 [[ 9.71681116e-01 2.36098447e-01 9.66089969e-03 3.19079498e+02] [-2.36084585e-01 9.71729118e-01 -2.56724678e-03 -3.05994199e+01] [-9.99390051e-03 2.13755722e-04 9.99950037e-01 -1.00938448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38592 meters Centerline goodness [0,1] 0.9974180734856007 Centerline is valid? [True, True] Translation: X:319.11, Y:-30.61, Z:-1.01 [[ 9.72018593e-01 2.34687790e-01 1.00744782e-02 3.19105134e+02] [-2.34672689e-01 9.72070772e-01 -2.67250452e-03 -3.06138873e+01] [-1.04203100e-02 2.33519190e-04 9.99945680e-01 -1.01155825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41591999999997 meters Centerline goodness [0,1] 0.9974183298580082 Centerline is valid? [True, True] Translation: X:319.13, Y:-30.63, Z:-1.01 [[ 9.72038724e-01 2.34622026e-01 9.65527039e-03 3.19130912e+02] [-2.34608201e-01 9.72086651e-01 -2.55638642e-03 -3.06261074e+01] [-9.98554402e-03 2.19700972e-04 9.99950119e-01 -1.01047864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44592 meters Centerline goodness [0,1] 0.9972184969949833 Centerline is valid? [True, True] Translation: X:319.16, Y:-30.64, Z:-1.01 [[ 9.72011314e-01 2.34734123e-01 9.69006695e-03 3.19155075e+02] [-2.34720255e-01 9.72059589e-01 -2.56058636e-03 -3.06422401e+01] [-1.00203795e-02 2.14463924e-04 9.99949772e-01 -1.01043229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47592 meters Centerline goodness [0,1] 0.9971654483067284 Centerline is valid? [True, True] Translation: X:319.18, Y:-30.66, Z:-1.01 [[ 9.71738168e-01 2.35867869e-01 9.55410647e-03 3.19181932e+02] [-2.35854482e-01 9.71785115e-01 -2.52057148e-03 -3.06550174e+01] [-9.87906028e-03 1.95956686e-04 9.99951182e-01 -1.01073474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50591999999995 meters Centerline goodness [0,1] 0.9976132464820248 Centerline is valid? [True, True] Translation: X:319.21, Y:-30.67, Z:-1.01 [[ 9.71399485e-01 2.37225529e-01 1.03483877e-02 3.19208483e+02] [-2.37209951e-01 9.71454585e-01 -2.72538868e-03 -3.06681564e+01] [-1.06995204e-02 1.92700625e-04 9.99942740e-01 -1.01034034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53592 meters Centerline goodness [0,1] 0.997316370142133 Centerline is valid? [True, True] Translation: X:319.23, Y:-30.69, Z:-1.01 [[ 9.70215765e-01 2.41877911e-01 1.32832591e-02 3.19233331e+02] [-2.41852765e-01 9.70306676e-01 -3.49207279e-03 -3.06856130e+01] [-1.37334903e-02 1.75471129e-04 9.99905676e-01 -1.00969194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56591999999995 meters Centerline goodness [0,1] 0.9976156177040385 Centerline is valid? [True, True] Translation: X:319.26, Y:-30.70, Z:-1.01 [[ 9.69977232e-01 2.42809298e-01 1.37045138e-02 3.19259467e+02] [-2.42782727e-01 9.70074028e-01 -3.59560806e-03 -3.06967650e+01] [-1.41674400e-02 1.60438716e-04 9.99899624e-01 -1.01001165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59592 meters Centerline goodness [0,1] 0.9970686142992001 Centerline is valid? [True, True] Translation: X:319.28, Y:-30.71, Z:-1.01 [[ 9.68741901e-01 2.47716260e-01 1.32583102e-02 3.19284583e+02] [-2.47691936e-01 9.68832621e-01 -3.47229314e-03 -3.07131061e+01] [-1.37052269e-02 7.97793343e-05 9.99906076e-01 -1.00843822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62591999999995 meters Centerline goodness [0,1] 0.9970691967612141 Centerline is valid? [True, True] Translation: X:319.31, Y:-30.72, Z:-1.01 [[ 9.68054266e-01 2.50420639e-01 1.26665561e-02 3.19310919e+02] [-2.50398742e-01 9.68137130e-01 -3.31172901e-03 -3.07245834e+01] [-1.30922885e-02 3.42436877e-05 9.99914292e-01 -1.00793162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65592 meters Centerline goodness [0,1] 0.9964678374210238 Centerline is valid? [True, True] Translation: X:319.34, Y:-30.74, Z:-1.01 [[ 9.67433604e-01 2.52854042e-01 1.17071037e-02 3.19336657e+02] [-2.52835591e-01 9.67504436e-01 -3.05452548e-03 -3.07350929e+01] [-1.20990239e-02 -4.92191068e-06 9.99926804e-01 -1.00812135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68591999999995 meters Centerline goodness [0,1] 0.996772271327838 Centerline is valid? [True, True] Translation: X:319.36, Y:-30.75, Z:-1.01 [[ 9.65773662e-01 2.59127866e-01 1.15750671e-02 3.19363469e+02] [-2.59110347e-01 9.65843021e-01 -3.01443656e-03 -3.07462071e+01] [-1.19608223e-02 -8.79562196e-05 9.99928463e-01 -1.00579095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71592 meters Centerline goodness [0,1] 0.997073848137678 Centerline is valid? [True, True] Translation: X:319.39, Y:-30.75, Z:-1.01 [[ 9.65215560e-01 2.61204595e-01 1.14491334e-02 3.19391289e+02] [-2.61187666e-01 9.65283453e-01 -2.97613554e-03 -3.07543085e+01] [-1.18290394e-02 -1.17760118e-04 9.99930028e-01 -1.00558004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74591999999996 meters Centerline goodness [0,1] 0.9974190986698431 Centerline is valid? [True, True] Translation: X:319.42, Y:-30.76, Z:-1.00 [[ 9.64127508e-01 2.65242407e-01 1.02281061e-02 3.19417985e+02] [-2.65229175e-01 9.64181747e-01 -2.65388279e-03 -3.07638149e+01] [-1.05656755e-02 -1.54110746e-04 9.99944170e-01 -1.00417532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.77592 meters Centerline goodness [0,1] 0.9973663287616776 Centerline is valid? [True, True] Translation: X:319.44, Y:-30.77, Z:-1.00 [[ 9.64176227e-01 2.65036159e-01 1.09561573e-02 3.19444974e+02] [-2.65021031e-01 9.64238459e-01 -2.83673841e-03 -3.07715156e+01] [-1.13161864e-02 -1.68496357e-04 9.99935956e-01 -1.00407286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80591999999996 meters Centerline goodness [0,1] 0.9973655432945621 Centerline is valid? [True, True] Translation: X:319.47, Y:-30.78, Z:-1.00 [[ 9.64735103e-01 2.62922885e-01 1.25593590e-02 3.19472349e+02] [-2.62902918e-01 9.64816836e-01 -3.24474834e-03 -3.07784925e+01] [-1.29705996e-02 -1.71569514e-04 9.99915864e-01 -1.00412480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83592 meters Centerline goodness [0,1] 0.9973701185927654 Centerline is valid? [True, True] Translation: X:319.50, Y:-30.79, Z:-1.00 [[ 9.64955402e-01 2.62071390e-01 1.34037166e-02 3.19499436e+02] [-2.62048669e-01 9.65048473e-01 -3.45546693e-03 -3.07865672e+01] [-1.38408153e-02 -1.78054624e-04 9.99904195e-01 -1.00419695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86591999999996 meters Centerline goodness [0,1] 0.9970697789918053 Centerline is valid? [True, True] Translation: X:319.53, Y:-30.79, Z:-1.00 [[ 9.65349629e-01 2.60647937e-01 1.27572277e-02 3.19527030e+02] [-2.60627312e-01 9.65433907e-01 -3.28266377e-03 -3.07949011e+01] [-1.31718798e-02 -1.55963713e-04 9.99913235e-01 -1.00418689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89592 meters Centerline goodness [0,1] 0.9969232296163962 Centerline is valid? [True, True] Translation: X:319.56, Y:-30.80, Z:-1.00 [[ 9.65611914e-01 2.59715847e-01 1.18873679e-02 3.19555302e+02] [-2.59697909e-01 9.65685073e-01 -3.05553618e-03 -3.08024559e+01] [-1.22730249e-02 -1.36662432e-04 9.99924674e-01 -1.00362659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92591999999996 meters Centerline goodness [0,1] 0.996871430699707 Centerline is valid? [True, True] Translation: X:319.58, Y:-30.81, Z:-1.00 [[ 9.65770274e-01 2.59086911e-01 1.27181281e-02 3.19582159e+02] [-2.59066411e-01 9.65854001e-01 -3.26230966e-03 -3.08096252e+01] [-1.31290767e-02 -1.44198114e-04 9.99913800e-01 -1.00415258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95592 meters Centerline goodness [0,1] 0.9972191876055219 Centerline is valid? [True, True] Translation: X:319.61, Y:-30.82, Z:-1.00 [[ 9.65784773e-01 2.59051170e-01 1.23394850e-02 3.19608639e+02] [-2.59031957e-01 9.65863588e-01 -3.15836038e-03 -3.08167801e+01] [-1.27364362e-02 -1.46024584e-04 9.99918878e-01 -1.00435687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98591999999996 meters Centerline goodness [0,1] 0.9973212956991915 Centerline is valid? [True, True] Translation: X:319.64, Y:-30.82, Z:-1.00 [[ 9.65586821e-01 2.59753114e-01 1.30541263e-02 3.19636168e+02] [-2.59731761e-01 9.65675044e-01 -3.33489802e-03 -3.08236844e+01] [-1.34722941e-02 -1.70437632e-04 9.99909230e-01 -1.00455747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01592 meters Centerline goodness [0,1] 0.9970223325062034 Centerline is valid? [True, True] Translation: X:319.66, Y:-30.83, Z:-1.00 [[ 9.66012217e-01 2.58170182e-01 1.29828510e-02 3.19663922e+02] [-2.58149013e-01 9.66099443e-01 -3.30963162e-03 -3.08296943e+01] [-1.33971733e-02 -1.54365604e-04 9.99910242e-01 -1.00375629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04591999999997 meters Centerline goodness [0,1] 0.9971193006854078 Centerline is valid? [True, True] Translation: X:319.69, Y:-30.84, Z:-1.00 [[ 9.66406335e-01 2.56635696e-01 1.40326426e-02 3.19690771e+02] [-2.56610917e-01 9.66508198e-01 -3.56945731e-03 -3.08372169e+01] [-1.44787143e-02 -1.51383122e-04 9.99895166e-01 -1.00450258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07592 meters Centerline goodness [0,1] 0.9969672864671373 Centerline is valid? [True, True] Translation: X:319.72, Y:-30.84, Z:-1.00 [[ 9.67195796e-01 2.53725913e-01 1.24680674e-02 3.19718295e+02] [-2.53706186e-01 9.67276150e-01 -3.16548728e-03 -3.08443385e+01] [-1.28632304e-02 -1.01579843e-04 9.99917260e-01 -1.00302091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10591999999997 meters Centerline goodness [0,1] 0.9971667163733969 Centerline is valid? [True, True] Translation: X:319.75, Y:-30.85, Z:-1.00 [[ 9.69082819e-01 2.46429548e-01 1.22868983e-02 3.19746456e+02] [-2.46409879e-01 9.69160708e-01 -3.11348892e-03 -3.08485869e+01] [-1.26752347e-02 -1.03845015e-05 9.99919666e-01 -1.00352464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13592 meters Centerline goodness [0,1] 0.9970719602977668 Centerline is valid? [True, True] Translation: X:319.77, Y:-30.85, Z:-1.00 [[ 9.69937136e-01 2.43041066e-01 1.23689995e-02 3.19773611e+02] [-2.43020943e-01 9.70016000e-01 -3.12757293e-03 -3.08540695e+01] [-1.27582561e-02 2.76232036e-05 9.99918610e-01 -1.00301109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16591999999997 meters Centerline goodness [0,1] 0.996776273372018 Centerline is valid? [True, True] Translation: X:319.80, Y:-30.86, Z:-1.00 [[ 9.71375955e-01 2.37184233e-01 1.31298927e-02 3.19801277e+02] [-2.37161108e-01 9.71464682e-01 -3.31367774e-03 -3.08604935e+01] [-1.35411791e-02 1.04926982e-04 9.99908309e-01 -1.00413020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19592 meters Centerline goodness [0,1] 0.9964266216685692 Centerline is valid? [True, True] Translation: X:319.83, Y:-30.87, Z:-1.00 [[ 9.71812203e-01 2.35352924e-01 1.37855907e-02 3.19828628e+02] [-2.35327283e-01 9.71909967e-01 -3.47660726e-03 -3.08677960e+01] [-1.42165826e-02 1.34483770e-04 9.99898930e-01 -1.00273404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22592 meters Centerline goodness [0,1] 0.9964743271427152 Centerline is valid? [True, True] Translation: X:319.86, Y:-30.87, Z:-1.00 [[ 9.72469898e-01 2.32503502e-01 1.56338823e-02 3.19856623e+02] [-2.32470269e-01 9.72595540e-01 -3.93568355e-03 -3.08746353e+01] [-1.61205044e-02 1.92920961e-04 9.99870038e-01 -1.00333447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25591999999995 meters Centerline goodness [0,1] 0.996576192130204 Centerline is valid? [True, True] Translation: X:319.88, Y:-30.88, Z:-1.00 [[ 9.73138555e-01 2.29750741e-01 1.46952086e-02 3.19884275e+02] [-2.29721168e-01 9.73249480e-01 -3.69261443e-03 -3.08811903e+01] [-1.51504850e-02 2.17624998e-04 9.99885201e-01 -1.00225597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28592 meters Centerline goodness [0,1] 0.9964793970347597 Centerline is valid? [True, True] Translation: X:319.91, Y:-30.89, Z:-1.00 [[ 9.73576610e-01 2.27920655e-01 1.41689597e-02 3.19911422e+02] [-2.27893063e-01 9.73679681e-01 -3.55389308e-03 -3.08894674e+01] [-1.46060338e-02 2.30979563e-04 9.99893300e-01 -1.00169492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31591999999995 meters Centerline goodness [0,1] 0.9964230711908192 Centerline is valid? [True, True] Translation: X:319.94, Y:-30.90, Z:-1.00 [[ 9.73975873e-01 2.26319759e-01 1.22623765e-02 3.19937108e+02] [-2.26299046e-01 9.74053038e-01 -3.06936451e-03 -3.09023896e+01] [-1.26388629e-02 2.14522862e-04 9.99920103e-01 -1.00229470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34592 meters Centerline goodness [0,1] 0.9960270162892332 Centerline is valid? [True, True] Translation: X:319.96, Y:-30.91, Z:-1.00 [[ 9.74387467e-01 2.24546034e-01 1.21713744e-02 3.19964266e+02] [-2.24525560e-01 9.74463455e-01 -3.04093427e-03 -3.09114431e+01] [-1.25433893e-02 2.30263593e-04 9.99921302e-01 -1.00273242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37591999999995 meters Centerline goodness [0,1] 0.9962286621675268 Centerline is valid? [True, True] Translation: X:319.99, Y:-30.92, Z:-1.00 [[ 9.74300571e-01 2.24846960e-01 1.34997173e-02 3.19990368e+02] [-2.24821901e-01 9.74394060e-01 -3.36573611e-03 -3.09216467e+01] [-1.39108198e-02 2.44206523e-04 9.99903210e-01 -1.00209557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40592 meters Centerline goodness [0,1] 0.996475727191502 Centerline is valid? [True, True] Translation: X:320.02, Y:-30.93, Z:-1.00 [[ 9.74142485e-01 2.25549978e-01 1.31767498e-02 3.20017296e+02] [-2.25526250e-01 9.74231573e-01 -3.27913021e-03 -3.09310891e+01] [-1.35768134e-02 2.22637099e-04 9.99907806e-01 -1.00112127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43591999999995 meters Centerline goodness [0,1] 0.9965710878099687 Centerline is valid? [True, True] Translation: X:320.04, Y:-30.94, Z:-1.00 [[ 9.73394881e-01 2.28814750e-01 1.20919849e-02 3.20044103e+02] [-2.28795085e-01 9.73469971e-01 -3.00397246e-03 -3.09443735e+01] [-1.24585374e-02 1.57464694e-04 9.99922377e-01 -1.00122198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46592 meters Centerline goodness [0,1] 0.9968255542879817 Centerline is valid? [True, True] Translation: X:320.07, Y:-30.95, Z:-1.00 [[ 9.73337714e-01 2.29064240e-01 1.19694424e-02 3.20070922e+02] [-2.29045068e-01 9.73411297e-01 -2.96723864e-03 -3.09539891e+01] [-1.23308787e-02 1.46583527e-04 9.99923961e-01 -1.00085419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49591999999996 meters Centerline goodness [0,1] 0.9966737824554436 Centerline is valid? [True, True] Translation: X:320.10, Y:-30.97, Z:-1.00 [[ 9.72882439e-01 2.30840432e-01 1.45758472e-02 3.20096678e+02] [-2.30812318e-01 9.72991611e-01 -3.60545593e-03 -3.09661138e+01] [-1.50144621e-02 1.43399672e-04 9.99887266e-01 -1.00187327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.52592 meters Centerline goodness [0,1] 0.9963766317565891 Centerline is valid? [True, True] Translation: X:320.12, Y:-30.98, Z:-1.00 [[ 9.73013962e-01 2.30290595e-01 1.44938393e-02 3.20122818e+02] [-2.30262853e-01 9.73121894e-01 -3.57733589e-03 -3.09756863e+01] [-1.49280992e-02 1.43404983e-04 9.99888559e-01 -1.00172115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55591999999996 meters Centerline goodness [0,1] 0.9964685401641383 Centerline is valid? [True, True] Translation: X:320.15, Y:-30.99, Z:-1.00 [[ 9.72980148e-01 2.30483244e-01 1.36786792e-02 3.20148644e+02] [-2.30458657e-01 9.73076286e-01 -3.36881799e-03 -3.09864473e+01] [-1.40868545e-02 1.25422991e-04 9.99900767e-01 -1.00184855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58592 meters Centerline goodness [0,1] 0.996674112683048 Centerline is valid? [True, True] Translation: X:320.17, Y:-31.00, Z:-1.00 [[ 9.72531462e-01 2.32447310e-01 1.22801947e-02 3.20174712e+02] [-2.32427723e-01 9.72608987e-01 -3.01860872e-03 -3.09992629e+01] [-1.26454952e-02 8.14342573e-05 9.99920039e-01 -1.00065893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61591999999996 meters Centerline goodness [0,1] 0.9969678894522318 Centerline is valid? [True, True] Translation: X:320.20, Y:-31.01, Z:-1.00 [[ 9.72235569e-01 2.33670245e-01 1.24985802e-02 3.20201414e+02] [-2.33650143e-01 9.72315902e-01 -3.06553033e-03 -3.10076406e+01] [-1.28688915e-02 6.01225655e-05 9.99917191e-01 -1.00035797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64592 meters Centerline goodness [0,1] 0.9972685736988478 Centerline is valid? [True, True] Translation: X:320.23, Y:-31.02, Z:-1.00 [[ 9.71488607e-01 2.36688314e-01 1.37305801e-02 3.20228004e+02] [-2.36664462e-01 9.71585633e-01 -3.36014477e-03 -3.10176774e+01] [-1.41357414e-02 1.48020003e-05 9.99900085e-01 -9.99348713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67591999999996 meters Centerline goodness [0,1] 0.99786833234186 Centerline is valid? [True, True] Translation: X:320.25, Y:-31.03, Z:-1.00 [[ 9.70970502e-01 2.38831970e-01 1.32504499e-02 3.20254421e+02] [-2.38810056e-01 9.71060909e-01 -3.23533021e-03 -3.10275049e+01] [-1.36396942e-02 -2.29304916e-05 9.99906975e-01 -9.98932618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70592 meters Centerline goodness [0,1] 0.9980658599484229 Centerline is valid? [True, True] Translation: X:320.28, Y:-31.04, Z:-1.00 [[ 9.70849689e-01 2.39279320e-01 1.40102744e-02 3.20280970e+02] [-2.39254979e-01 9.70950774e-01 -3.41311187e-03 -3.10374619e+01] [-1.44199739e-02 -3.84093136e-05 9.99896026e-01 -9.98685016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73591999999996 meters Centerline goodness [0,1] 0.998905472636816 Centerline is valid? [True, True] Translation: X:320.31, Y:-31.05, Z:-1.00 [[ 9.70587957e-01 2.40372137e-01 1.34258589e-02 3.20306391e+02] [-2.40349991e-01 9.70680809e-01 -3.26337025e-03 -3.10502083e+01] [-1.38166469e-02 -5.95172024e-05 9.99904544e-01 -9.98317498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76592 meters Centerline goodness [0,1] 0.999056556929341 Centerline is valid? [True, True] Translation: X:320.33, Y:-31.06, Z:-1.00 [[ 9.70517430e-01 2.40704130e-01 1.25474760e-02 3.20332355e+02] [-2.40684904e-01 9.70598536e-01 -3.04290023e-03 -3.10599032e+01] [-1.29110005e-02 -6.68003483e-05 9.99916647e-01 -9.98229995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79591999999997 meters Centerline goodness [0,1] 0.9996525537300839 Centerline is valid? [True, True] Translation: X:320.36, Y:-31.07, Z:-1.00 [[ 9.70464446e-01 2.40862936e-01 1.35574746e-02 3.20359213e+02] [-2.40840600e-01 9.70559137e-01 -3.28117868e-03 -3.10711931e+01] [-1.39486452e-02 -8.09230576e-05 9.99902710e-01 -1.00000657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82592 meters Centerline goodness [0,1] 0.999851072279587 Centerline is valid? [True, True] Translation: X:320.39, Y:-31.08, Z:-1.00 [[ 9.70556657e-01 2.40491855e-01 1.35441520e-02 3.20385805e+02] [-2.40469630e-01 9.70651153e-01 -3.27047948e-03 -3.10799087e+01] [-1.39331705e-02 -8.27716106e-05 9.99902925e-01 -9.99810093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.41, Y:-31.09, Z:-1.00 [[ 9.70478854e-01 2.40770674e-01 1.41518687e-02 3.20412238e+02] [-2.40746555e-01 9.70582028e-01 -3.40935199e-03 -3.10885256e+01] [-1.45564214e-02 -9.83096336e-05 9.99894045e-01 -1.00003087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.44, Y:-31.10, Z:-1.00 [[ 9.69881014e-01 2.43114601e-01 1.50369541e-02 3.20439640e+02] [-2.43087765e-01 9.69997561e-01 -3.61522491e-03 -3.10986848e+01] [-1.54647227e-02 -1.48961554e-04 9.99880403e-01 -9.99003874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.47, Y:-31.11, Z:-1.00 [[ 9.69359918e-01 2.45223097e-01 1.43868565e-02 3.20466945e+02] [-2.45198867e-01 9.69466657e-01 -3.45193295e-03 -3.11062652e+01] [-1.47940713e-02 -1.81475464e-04 9.99890545e-01 -9.99511518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.49, Y:-31.11, Z:-1.00 [[ 9.69167789e-01 2.45993094e-01 1.41843365e-02 3.20494795e+02] [-2.45969724e-01 9.69271561e-01 -3.39644635e-03 -3.11137564e+01] [-1.45839763e-02 -1.97190930e-04 9.99893629e-01 -9.99211509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.52, Y:-31.12, Z:-1.00 [[ 9.69298021e-01 2.45479328e-01 1.41861210e-02 3.20521407e+02] [-2.45456013e-01 9.69401806e-01 -3.38898467e-03 -3.11204417e+01] [-1.45839770e-02 -1.97132567e-04 9.99893629e-01 -9.99234414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00591999999995 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:320.55, Y:-31.13, Z:-1.00 [[ 9.69210846e-01 2.45714298e-01 1.59630748e-02 3.20549318e+02] [-2.45684937e-01 9.69342266e-01 -3.80556148e-03 -3.11271518e+01] [-1.64087640e-02 -2.33495567e-04 9.99865340e-01 -1.00039413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.58, Y:-31.13, Z:-1.00 [[ 9.69682768e-01 2.43765257e-01 1.71414337e-02 3.20577789e+02] [-2.43731243e-01 9.69834238e-01 -4.07813888e-03 -3.11321254e+01] [-1.76184579e-02 -2.23401954e-04 9.99844758e-01 -9.99672267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06591999999995 meters Centerline goodness [0,1] 0.9998012323593719 Centerline is valid? [True, True] Translation: X:320.61, Y:-31.13, Z:-1.00 [[ 9.70529089e-01 2.40386342e-01 1.69615572e-02 3.20606431e+02] [-2.40352605e-01 9.70677279e-01 -4.03067258e-03 -3.11348128e+01] [-1.74331168e-02 -1.64869451e-04 9.99848018e-01 -9.98839324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.63, Y:-31.14, Z:-1.00 [[ 9.71209997e-01 2.37653118e-01 1.64965609e-02 3.20634635e+02] [-2.37620946e-01 9.71350082e-01 -3.91218908e-03 -3.11406667e+01] [-1.69536797e-02 -1.20371264e-04 9.99856269e-01 -9.99759155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12591999999995 meters Centerline goodness [0,1] 0.9999006803396733 Centerline is valid? [True, True] Translation: X:320.66, Y:-31.14, Z:-1.00 [[ 9.72886500e-01 2.30478502e-01 1.92748192e-02 3.20663235e+02] [-2.30433356e-01 9.73077417e-01 -4.56165231e-03 -3.11447486e+01] [-1.98072541e-02 -3.59131189e-06 9.99803817e-01 -1.00081131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:320.69, Y:-31.15, Z:-1.00 [[ 9.73493033e-01 2.27780269e-01 2.06752204e-02 3.20692264e+02] [-2.27727751e-01 9.73712558e-01 -4.89131008e-03 -3.11501531e+01] [-2.12458656e-02 5.33348435e-05 9.99774280e-01 -1.00089843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18591999999995 meters Centerline goodness [0,1] 0.9997021593447506 Centerline is valid? [True, True] Translation: X:320.72, Y:-31.16, Z:-1.00 [[ 9.74153019e-01 2.25055091e-01 1.93933416e-02 3.20722648e+02] [-2.25008345e-01 9.74346034e-01 -4.58799376e-03 -3.11560388e+01] [-1.99283768e-02 1.05744271e-04 9.99801405e-01 -1.00129531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21592 meters Centerline goodness [0,1] 0.9998013606793464 Centerline is valid? [True, True] Translation: X:320.75, Y:-31.16, Z:-1.00 [[ 9.74892795e-01 2.21913596e-01 1.83954738e-02 3.20751841e+02] [-2.21871001e-01 9.75066321e-01 -4.35073913e-03 -3.11623628e+01] [-1.89022951e-02 1.60082055e-04 9.99821323e-01 -1.00127201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24591999999996 meters Centerline goodness [0,1] 0.9998014494192395 Centerline is valid? [True, True] Translation: X:320.78, Y:-31.17, Z:-1.00 [[ 9.74989037e-01 2.21404804e-01 1.93982127e-02 3.20780863e+02] [-2.21357362e-01 9.75181973e-01 -4.58660020e-03 -3.11689954e+01] [-1.99322827e-02 1.77947719e-04 9.99801316e-01 -1.00109399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.27592 meters Centerline goodness [0,1] 0.9996023856858847 Centerline is valid? [True, True] Translation: X:320.81, Y:-31.18, Z:-1.00 [[ 9.75255932e-01 2.20250883e-01 1.91158531e-02 3.20810121e+02] [-2.20204616e-01 9.75443237e-01 -4.51856351e-03 -3.11757875e+01] [-1.96416472e-02 1.97356774e-04 9.99807065e-01 -1.00089336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30591999999996 meters Centerline goodness [0,1] 0.9996027410865032 Centerline is valid? [True, True] Translation: X:320.84, Y:-31.18, Z:-1.00 [[ 9.75254833e-01 2.20273051e-01 1.89154305e-02 3.20838356e+02] [-2.20227778e-01 9.75438233e-01 -4.46992607e-03 -3.11844454e+01] [-1.94354384e-02 1.93613756e-04 9.99811095e-01 -9.99922184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33592 meters Centerline goodness [0,1] 0.9997016854770546 Centerline is valid? [True, True] Translation: X:320.87, Y:-31.19, Z:-1.00 [[ 9.75387497e-01 2.19479226e-01 2.11684001e-02 3.20867451e+02] [-2.19422339e-01 9.75617146e-01 -5.00226718e-03 -3.11931158e+01] [-2.17501478e-02 2.34329011e-04 9.99763410e-01 -1.00053254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36591999999996 meters Centerline goodness [0,1] 0.9995535714285714 Centerline is valid? [True, True] Translation: X:320.90, Y:-31.20, Z:-1.00 [[ 9.75955609e-01 2.16913574e-01 2.14277949e-02 3.20897676e+02] [-2.16854635e-01 9.76190767e-01 -5.06494631e-03 -3.12021869e+01] [-2.20162712e-02 2.96446106e-04 9.99757569e-01 -1.00097788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39592 meters Centerline goodness [0,1] 0.9997515651396204 Centerline is valid? [True, True] Translation: X:320.93, Y:-31.21, Z:-1.00 [[ 9.76105611e-01 2.16211350e-01 2.16907341e-02 3.20929048e+02] [-2.16150719e-01 9.76346532e-01 -5.12992789e-03 -3.12112008e+01] [-2.22868217e-02 3.18883622e-04 9.99751567e-01 -1.00132445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42591999999996 meters Centerline goodness [0,1] 0.9996025042233926 Centerline is valid? [True, True] Translation: X:320.96, Y:-31.22, Z:-1.00 [[ 9.75860070e-01 2.17432666e-01 2.04978014e-02 3.20958396e+02] [-2.17378761e-01 9.76075284e-01 -4.84920127e-03 -3.12233306e+01] [-2.10617720e-02 2.76355230e-04 9.99778138e-01 -1.00133161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45592 meters Centerline goodness [0,1] 0.999751577482983 Centerline is valid? [True, True] Translation: X:320.99, Y:-31.23, Z:-1.00 [[ 9.75695026e-01 2.18037366e-01 2.18843234e-02 3.20988786e+02] [-2.17976024e-01 9.75940381e-01 -5.17940063e-03 -3.12325235e+01] [-2.24870978e-02 2.83257618e-04 9.99747093e-01 -1.00075272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48591999999996 meters Centerline goodness [0,1] 0.9995035989079176 Centerline is valid? [True, True] Translation: X:321.02, Y:-31.24, Z:-1.00 [[ 9.75424659e-01 2.19067140e-01 2.35865133e-02 3.21019943e+02] [-2.18996107e-01 9.75709746e-01 -5.58539617e-03 -3.12415128e+01] [-2.42371676e-02 2.82778559e-04 9.99706197e-01 -1.00164337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51592 meters Centerline goodness [0,1] 0.9999503598907917 Centerline is valid? [True, True] Translation: X:321.05, Y:-31.25, Z:-1.00 [[ 9.74679810e-01 2.22307022e-01 2.40594237e-02 3.21050652e+02] [-2.22234018e-01 9.74976689e-01 -5.70060759e-03 -3.12506834e+01] [-2.47246623e-02 2.09444722e-04 9.99694277e-01 -1.00134988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54591999999997 meters Centerline goodness [0,1] 0.9998507165605095 Centerline is valid? [True, True] Translation: X:321.08, Y:-31.26, Z:-1.00 [[ 9.74579414e-01 2.22776144e-01 2.37856301e-02 3.21081639e+02] [-2.22704855e-01 9.74869607e-01 -5.63893683e-03 -3.12598907e+01] [-2.44441084e-02 1.98416461e-04 9.99701178e-01 -1.00171588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57592 meters Centerline goodness [0,1] 0.9997517994539588 Centerline is valid? [True, True] Translation: X:321.11, Y:-31.27, Z:-1.00 [[ 9.74274828e-01 2.24141574e-01 2.34331911e-02 3.21111629e+02] [-2.24072700e-01 9.74556580e-01 -5.55857966e-03 -3.12710068e+01] [-2.40828793e-02 1.64845854e-04 9.99709952e-01 -1.00223879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60591999999997 meters Centerline goodness [0,1] 0.9995529505265249 Centerline is valid? [True, True] Translation: X:321.14, Y:-31.28, Z:-1.00 [[ 9.74323446e-01 2.24018232e-01 2.25755425e-02 3.21142252e+02] [-2.23954203e-01 9.74584940e-01 -5.35822108e-03 -3.12795015e+01] [-2.32021230e-02 1.64752797e-04 9.99730781e-01 -1.00093975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63592 meters Centerline goodness [0,1] 0.9996029579631743 Centerline is valid? [True, True] Translation: X:321.17, Y:-31.29, Z:-1.00 [[ 9.74283748e-01 2.24411014e-01 2.02700404e-02 3.21173442e+02] [-2.24359424e-01 9.74494575e-01 -4.81378239e-03 -3.12879076e+01] [-2.08333102e-02 1.42215362e-04 9.99782953e-01 -9.98240109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66591999999997 meters Centerline goodness [0,1] 0.9997020262216925 Centerline is valid? [True, True] Translation: X:321.20, Y:-31.30, Z:-1.00 [[ 9.74316674e-01 2.24205034e-01 2.09552124e-02 3.21204443e+02] [-2.24149788e-01 9.74541984e-01 -4.97933645e-03 -3.12952370e+01] [-2.15381265e-02 1.54344116e-04 9.99768016e-01 -9.97950993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69591999999994 meters Centerline goodness [0,1] 0.9995531059138985 Centerline is valid? [True, True] Translation: X:321.24, Y:-31.30, Z:-1.00 [[ 9.74471177e-01 2.23611846e-01 2.00914839e-02 3.21235365e+02] [-2.23560879e-01 9.74678263e-01 -4.77682261e-03 -3.13032626e+01] [-2.06508868e-02 1.63206150e-04 9.99786734e-01 -9.98750691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72592 meters Centerline goodness [0,1] 0.9995532833672507 Centerline is valid? [True, True] Translation: X:321.27, Y:-31.31, Z:-1.00 [[ 9.74608209e-01 2.22973904e-01 2.05299038e-02 3.21266904e+02] [-2.22920487e-01 9.74824397e-01 -4.88384928e-03 -3.13114434e+01] [-2.11020220e-02 1.83303450e-04 9.99777311e-01 -9.99679773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75591999999995 meters Centerline goodness [0,1] 0.9994040228457909 Centerline is valid? [True, True] Translation: X:321.30, Y:-31.32, Z:-1.00 [[ 9.74848675e-01 2.21960417e-01 2.00906196e-02 3.21298042e+02] [-2.21908977e-01 9.75055656e-01 -4.78272127e-03 -3.13192305e+01] [-2.06510470e-02 2.04140653e-04 9.99786724e-01 -9.98871426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78592 meters Centerline goodness [0,1] 0.9995026854983091 Centerline is valid? [True, True] Translation: X:321.33, Y:-31.33, Z:-1.00 [[ 9.76102919e-01 2.16344602e-01 2.04476281e-02 3.21328974e+02] [-2.16290001e-01 9.76317009e-01 -4.87163424e-03 -3.13261956e+01] [-2.10173189e-02 3.32598880e-04 9.99779056e-01 -9.99968423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81591999999995 meters Centerline goodness [0,1] 0.9992545843065149 Centerline is valid? [True, True] Translation: X:321.36, Y:-31.34, Z:-1.00 [[ 9.76569685e-01 2.14407582e-01 1.84672578e-02 3.21360414e+02] [-2.14362653e-01 9.76744221e-01 -4.40230411e-03 -3.13352325e+01] [-1.89816747e-02 3.40466362e-04 9.99819774e-01 -9.99656347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84592 meters Centerline goodness [0,1] 0.9985093167701863 Centerline is valid? [True, True] Translation: X:321.39, Y:-31.35, Z:-1.00 [[ 9.77697607e-01 2.09141923e-01 1.91584032e-02 3.21391029e+02] [-2.09092506e-01 9.77885189e-01 -4.56961487e-03 -3.13464275e+01] [-1.96904168e-02 4.61823001e-04 9.99806018e-01 -9.99729523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87591999999995 meters Centerline goodness [0,1] 0.9981124577786609 Centerline is valid? [True, True] Translation: X:321.42, Y:-31.36, Z:-1.00 [[ 9.78185540e-01 2.06881971e-01 1.87856126e-02 3.21421862e+02] [-2.06833994e-01 9.78365780e-01 -4.48316113e-03 -3.13551437e+01] [-1.93066857e-02 4.99860116e-04 9.99813484e-01 -1.00018976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90592 meters Centerline goodness [0,1] 0.9986594508713569 Centerline is valid? [True, True] Translation: X:321.45, Y:-31.36, Z:-1.00 [[ 9.78509757e-01 2.05372358e-01 1.84621130e-02 3.21452553e+02] [-2.05325705e-01 9.78683770e-01 -4.40836730e-03 -3.13634157e+01] [-1.89739271e-02 5.22884050e-04 9.99819842e-01 -9.99511865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93591999999995 meters Centerline goodness [0,1] 0.9975181177404944 Centerline is valid? [True, True] Translation: X:321.48, Y:-31.37, Z:-1.00 [[ 9.79137579e-01 2.02426881e-01 1.76906440e-02 3.21483887e+02] [-2.02383524e-01 9.79297221e-01 -4.22645464e-03 -3.13724751e+01] [-1.81799466e-02 5.57985683e-04 9.99834575e-01 -9.99640989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96592 meters Centerline goodness [0,1] 0.9983612256046084 Centerline is valid? [True, True] Translation: X:321.51, Y:-31.38, Z:-1.00 [[ 9.78917203e-01 2.03311808e-01 1.96320998e-02 3.21513879e+02] [-2.03258537e-01 9.79113857e-01 -4.69282398e-03 -3.13834197e+01] [-2.01761675e-02 6.03494242e-04 9.99796258e-01 -1.00061412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99591999999996 meters Centerline goodness [0,1] 0.997764419494262 Centerline is valid? [True, True] Translation: X:321.55, Y:-31.40, Z:-1.00 [[ 9.78913618e-01 2.03367294e-01 1.92320781e-02 3.21545477e+02] [-2.03316109e-01 9.79102340e-01 -4.60091646e-03 -3.13952414e+01] [-1.97658486e-02 5.93708493e-04 9.99804460e-01 -1.00063966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.02592 meters Centerline goodness [0,1] 0.997964149163315 Centerline is valid? [True, True] Translation: X:321.57, Y:-31.41, Z:-1.00 [[ 9.78297761e-01 2.06234182e-01 2.00238080e-02 3.21574854e+02] [-2.06179240e-01 9.78502503e-01 -4.79298977e-03 -3.14111110e+01] [-2.05818246e-02 5.60477643e-04 9.99788015e-01 -1.00083641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05591999999996 meters Centerline goodness [0,1] 0.9982600049714143 Centerline is valid? [True, True] Translation: X:321.61, Y:-31.42, Z:-1.00 [[ 9.78051299e-01 2.07427705e-01 1.97332972e-02 3.21605191e+02] [-2.07374537e-01 9.78250206e-01 -4.72602693e-03 -3.14215923e+01] [-2.02844109e-02 5.30113420e-04 9.99794110e-01 -1.00083843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08592 meters Centerline goodness [0,1] 0.9985081306877518 Centerline is valid? [True, True] Translation: X:321.63, Y:-31.43, Z:-1.00 [[ 9.77276588e-01 2.11313018e-01 1.66517155e-02 3.21634260e+02] [-2.11275704e-01 9.77418367e-01 -3.98914117e-03 -3.14347563e+01] [-1.71186501e-02 3.80391351e-04 9.99853393e-01 -9.98871039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11591999999996 meters Centerline goodness [0,1] 0.9981131138586822 Centerline is valid? [True, True] Translation: X:321.67, Y:-31.45, Z:-1.00 [[ 9.76821379e-01 2.13386840e-01 1.69130104e-02 3.21665280e+02] [-2.13348609e-01 9.76967723e-01 -4.05446918e-03 -3.14455837e+01] [-1.73886356e-02 3.52124937e-04 9.99848744e-01 -9.99453320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14592 meters Centerline goodness [0,1] 0.998409226486379 Centerline is valid? [True, True] Translation: X:321.70, Y:-31.46, Z:-1.00 [[ 9.76455193e-01 2.15087470e-01 1.65117133e-02 3.21696328e+02] [-2.15051236e-01 9.76594737e-01 -3.96049007e-03 -3.14558998e+01] [-1.69771041e-02 3.16376736e-04 9.99855829e-01 -9.99092087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17591999999996 meters Centerline goodness [0,1] 0.9987073680023864 Centerline is valid? [True, True] Translation: X:321.73, Y:-31.47, Z:-1.00 [[ 9.75666837e-01 2.18604698e-01 1.69177281e-02 3.21726570e+02] [-2.18567149e-01 9.75813464e-01 -4.06015075e-03 -3.14661792e+01] [-1.73961149e-02 2.63694839e-04 9.99848641e-01 -9.98291951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20592 meters Centerline goodness [0,1] 0.9988080456915818 Centerline is valid? [True, True] Translation: X:321.76, Y:-31.48, Z:-1.00 [[ 9.75399455e-01 2.19747391e-01 1.75210390e-02 3.21758357e+02] [-2.19707236e-01 9.75556774e-01 -4.20848856e-03 -3.14755393e+01] [-1.80175727e-02 2.55458387e-04 9.99837638e-01 -9.99057478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23591999999996 meters Centerline goodness [0,1] 0.9991044776119403 Centerline is valid? [True, True] Translation: X:321.79, Y:-31.49, Z:-1.00 [[ 9.75156766e-01 2.20846239e-01 1.72110273e-02 3.21789048e+02] [-2.20807622e-01 9.75308610e-01 -4.13640970e-03 -3.14854416e+01] [-1.76995737e-02 2.33321887e-04 9.99843323e-01 -9.98510927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26592 meters Centerline goodness [0,1] 0.9997017596182524 Centerline is valid? [True, True] Translation: X:321.82, Y:-31.50, Z:-1.00 [[ 9.74858479e-01 2.22045328e-01 1.86230541e-02 3.21819144e+02] [-2.22000284e-01 9.75036317e-01 -4.47830393e-03 -3.14964227e+01] [-1.91525406e-02 2.31389239e-04 9.99816547e-01 -9.99250823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29591999999997 meters Centerline goodness [0,1] 0.9997020410190197 Centerline is valid? [True, True] Translation: X:321.85, Y:-31.50, Z:-1.00 [[ 9.74709233e-01 2.22575597e-01 2.00502999e-02 3.21849948e+02] [-2.22523439e-01 9.74915404e-01 -4.82424984e-03 -3.15039675e+01] [-2.06211065e-02 2.40579170e-04 9.99787333e-01 -9.99628097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32592 meters Centerline goodness [0,1] 0.9996029382568989 Centerline is valid? [True, True] Translation: X:321.88, Y:-31.51, Z:-1.00 [[ 9.74517353e-01 2.23462753e-01 1.95019634e-02 3.21881597e+02] [-2.23413533e-01 9.74712445e-01 -4.69496138e-03 -3.15118141e+01] [-2.00579554e-02 2.18318788e-04 9.99798795e-01 -9.99693349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35591999999997 meters Centerline goodness [0,1] 0.9997021149836163 Centerline is valid? [True, True] Translation: X:321.91, Y:-31.52, Z:-1.00 [[ 9.74152660e-01 2.25053092e-01 1.94345140e-02 3.21912875e+02] [-2.25004463e-01 9.74346484e-01 -4.68199381e-03 -3.15208154e+01] [-1.99896475e-02 1.88124336e-04 9.99800169e-01 -9.98851674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38592 meters Centerline goodness [0,1] 0.9996517932646869 Centerline is valid? [True, True] Translation: X:321.94, Y:-31.53, Z:-1.00 [[ 9.73709223e-01 2.26935892e-01 1.97598129e-02 3.21943740e+02] [-2.26885953e-01 9.73909686e-01 -4.76312228e-03 -3.15299764e+01] [-2.03251966e-02 1.54672113e-04 9.99793410e-01 -9.98448242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41591999999997 meters Centerline goodness [0,1] 0.9997019374068554 Centerline is valid? [True, True] Translation: X:321.98, Y:-31.54, Z:-1.00 [[ 9.72692417e-01 2.31140441e-01 2.10608304e-02 3.21975934e+02] [-2.31084599e-01 9.72920393e-01 -5.08106904e-03 -3.15386433e+01] [-2.16649519e-02 7.54837797e-05 9.99765285e-01 -9.99266219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44591999999994 meters Centerline goodness [0,1] 0.9998011829613798 Centerline is valid? [True, True] Translation: X:322.01, Y:-31.55, Z:-1.00 [[ 9.72201656e-01 2.33160979e-01 2.14452206e-02 3.22008197e+02] [-2.33103472e-01 9.72438150e-01 -5.17830629e-03 -3.15463117e+01] [-2.20615296e-02 3.54025712e-05 9.99756614e-01 -9.99040740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47592 meters Centerline goodness [0,1] 0.999602286850609 Centerline is valid? [True, True] Translation: X:322.04, Y:-31.56, Z:-1.00 [[ 9.71519203e-01 2.35917120e-01 2.22160061e-02 3.22039450e+02] [-2.35855862e-01 9.71773179e-01 -5.37586338e-03 -3.15554948e+01] [-2.28571771e-02 -1.70207752e-05 9.99738740e-01 -9.99171096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50591999999995 meters Centerline goodness [0,1] 0.999751688518077 Centerline is valid? [True, True] Translation: X:322.07, Y:-31.56, Z:-1.00 [[ 9.71287247e-01 2.36913527e-01 2.17500251e-02 3.22071602e+02] [-2.36854789e-01 9.71530741e-01 -5.27534090e-03 -3.15643440e+01] [-2.23806176e-02 -2.77262517e-05 9.99749522e-01 -9.99467074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53592 meters Centerline goodness [0,1] 0.9997515157539012 Centerline is valid? [True, True] Translation: X:322.10, Y:-31.57, Z:-1.00 [[ 9.70900181e-01 2.38578847e-01 2.08080091e-02 3.22103391e+02] [-2.38525399e-01 9.71123128e-01 -5.05010248e-03 -3.15712752e+01] [-2.14119865e-02 -6.00932629e-05 9.99770735e-01 -1.00043209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56591999999995 meters Centerline goodness [0,1] 0.9998011730788349 Centerline is valid? [True, True] Translation: X:322.13, Y:-31.58, Z:-1.00 [[ 9.70456609e-01 2.40543004e-01 1.87891596e-02 3.22134616e+02] [-2.40499743e-01 9.70638478e-01 -4.56275214e-03 -3.15785441e+01] [-1.93350194e-02 -9.08350820e-05 9.99813057e-01 -9.99373612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59592 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:322.17, Y:-31.58, Z:-1.00 [[ 9.69501061e-01 2.43914818e-01 2.39427426e-02 3.22166454e+02] [-2.43845510e-01 9.69796640e-01 -5.81763322e-03 -3.15841947e+01] [-2.46385982e-02 -1.98128699e-04 9.99696404e-01 -9.99186464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62591999999995 meters Centerline goodness [0,1] 0.999900700064545 Centerline is valid? [True, True] Translation: X:322.20, Y:-31.59, Z:-1.00 [[ 9.68786622e-01 2.46850430e-01 2.27452221e-02 3.22199003e+02] [-2.46788403e-01 9.69053561e-01 -5.53897203e-03 -3.15894604e+01] [-2.34086361e-02 -2.47175038e-04 9.99725950e-01 -9.98249537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65592 meters Centerline goodness [0,1] 0.9997516391814028 Centerline is valid? [True, True] Translation: X:322.23, Y:-31.59, Z:-1.00 [[ 9.68471742e-01 2.48169504e-01 2.17803244e-02 3.22231180e+02] [-2.48112887e-01 9.68716588e-01 -5.30736194e-03 -3.15938157e+01] [-2.24160869e-02 -2.63949096e-04 9.99748693e-01 -9.98107443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68591999999995 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:322.26, Y:-31.59, Z:-1.00 [[ 9.68445076e-01 2.48357341e-01 2.08030184e-02 3.22263624e+02] [-2.48305671e-01 9.68668451e-01 -5.07212434e-03 -3.15946437e+01] [-2.14109269e-02 -2.53433594e-04 9.99770728e-01 -9.99301426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71592 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:322.30, Y:-31.60, Z:-1.00 [[ 9.68978933e-01 2.46263753e-01 2.08324597e-02 3.22295288e+02] [-2.46211391e-01 9.69202828e-01 -5.08221246e-03 -3.16003201e+01] [-2.14424435e-02 -2.04632063e-04 9.99770063e-01 -9.99246179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74591999999996 meters Centerline goodness [0,1] 0.9997515651396204 Centerline is valid? [True, True] Translation: X:322.33, Y:-31.61, Z:-1.00 [[ 9.71156377e-01 2.37286741e-01 2.34583428e-02 3.22326771e+02] [-2.37217639e-01 9.71439655e-01 -5.72617088e-03 -3.16054794e+01] [-2.41471089e-02 -3.72534503e-06 9.99708416e-01 -1.00158482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.77592 meters Centerline goodness [0,1] 0.9995030562043433 Centerline is valid? [True, True] Translation: X:322.36, Y:-31.61, Z:-1.00 [[ 9.72191857e-01 2.33067830e-01 2.28556145e-02 3.22358868e+02] [-2.33000955e-01 9.72460475e-01 -5.58379195e-03 -3.16118590e+01] [-2.35275840e-02 1.03137061e-04 9.99723183e-01 -1.00252832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80591999999996 meters Centerline goodness [0,1] 0.9994524639123942 Centerline is valid? [True, True] Translation: X:322.39, Y:-31.62, Z:-1.00 [[ 9.73443054e-01 2.27830146e-01 2.24063625e-02 3.22390243e+02] [-2.27764414e-01 9.73700864e-01 -5.47716269e-03 -3.16176737e+01] [-2.30649573e-02 2.28333938e-04 9.99733942e-01 -1.00331509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83592 meters Centerline goodness [0,1] 0.9995030315078024 Centerline is valid? [True, True] Translation: X:322.42, Y:-31.63, Z:-1.00 [[ 9.74791462e-01 2.21809363e-01 2.41290771e-02 3.22421591e+02] [-2.21731204e-01 9.75089967e-01 -5.90157411e-03 -3.16251640e+01] [-2.48370454e-02 4.02634742e-04 9.99691432e-01 -1.00389038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86591999999996 meters Centerline goodness [0,1] 0.9993031011996615 Centerline is valid? [True, True] Translation: X:322.45, Y:-31.63, Z:-1.00 [[ 9.75367672e-01 2.19557960e-01 2.12651687e-02 3.22452416e+02] [-2.19496659e-01 9.75599372e-01 -5.20394855e-03 -3.16342340e+01] [-2.18888536e-02 4.08129688e-04 9.99760327e-01 -1.00275045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89592 meters Centerline goodness [0,1] 0.9993031011996615 Centerline is valid? [True, True] Translation: X:322.48, Y:-31.64, Z:-1.00 [[ 9.75325832e-01 2.19743841e-01 2.12641895e-02 3.22484026e+02] [-2.19682497e-01 9.75557521e-01 -5.20794835e-03 -3.16419107e+01] [-2.18888546e-02 4.08076305e-04 9.99760327e-01 -1.00277755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92591999999996 meters Centerline goodness [0,1] 0.9996521739130435 Centerline is valid? [True, True] Translation: X:322.51, Y:-31.65, Z:-1.00 [[ 9.75479999e-01 2.18665411e-01 2.49841891e-02 3.22514427e+02] [-2.18580281e-01 9.75799762e-01 -6.12245997e-03 -3.16524746e+01] [-2.57183361e-02 5.11286176e-04 9.99669098e-01 -1.00421932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95592 meters Centerline goodness [0,1] 0.9998013014753365 Centerline is valid? [True, True] Translation: X:322.55, Y:-31.66, Z:-1.00 [[ 9.75300296e-01 2.19813995e-01 2.17057766e-02 3.22545566e+02] [-2.19749809e-01 9.75541709e-01 -5.32883498e-03 -3.16610248e+01] [-2.23462429e-02 4.27374071e-04 9.99750200e-01 -1.00317707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98591999999996 meters Centerline goodness [0,1] 0.9991062562065541 Centerline is valid? [True, True] Translation: X:322.58, Y:-31.67, Z:-1.00 [[ 9.74924176e-01 2.21523406e-01 2.12186536e-02 3.22576566e+02] [-2.21462406e-01 9.75154980e-01 -5.21235223e-03 -3.16709049e+01] [-2.18461337e-02 3.82514123e-04 9.99761272e-01 -1.00442083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01592 meters Centerline goodness [0,1] 0.9996025239727729 Centerline is valid? [True, True] Translation: X:322.61, Y:-31.68, Z:-1.00 [[ 9.74006895e-01 2.25363117e-01 2.28480804e-02 3.22606430e+02] [-2.25293369e-01 9.74274788e-01 -5.61570271e-03 -3.16848924e+01] [-2.35258810e-02 3.22212141e-04 9.99723176e-01 -1.00338859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04591999999997 meters Centerline goodness [0,1] 0.9995531946581939 Centerline is valid? [True, True] Translation: X:322.64, Y:-31.69, Z:-1.00 [[ 9.73671268e-01 2.26929798e-01 2.16131530e-02 3.22637605e+02] [-2.26867707e-01 9.73911081e-01 -5.31511091e-03 -3.16943304e+01] [-2.22554463e-02 2.71844313e-04 9.99752280e-01 -1.00220599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07592 meters Centerline goodness [0,1] 0.9998008563178333 Centerline is valid? [True, True] Translation: X:322.67, Y:-31.70, Z:-1.00 [[ 9.73459879e-01 2.27692893e-01 2.30610170e-02 3.22668104e+02] [-2.27622342e-01 9.73732957e-01 -5.67433592e-03 -3.17046135e+01] [-2.37472782e-02 2.74535658e-04 9.99717956e-01 -1.00439185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10591999999997 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:322.70, Y:-31.72, Z:-1.00 [[ 9.73203847e-01 2.28996924e-01 2.08489880e-02 3.22698212e+02] [-2.28939352e-01 9.73427119e-01 -5.13969398e-03 -3.17152187e+01] [-2.14719445e-02 2.28816144e-04 9.99769425e-01 -1.00390235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:322.73, Y:-31.73, Z:-1.00 [[ 9.73103805e-01 2.29380309e-01 2.12992492e-02 3.22729072e+02] [-2.29320214e-01 9.73336849e-01 -5.25531374e-03 -3.17286802e+01] [-2.19368096e-02 2.29617424e-04 9.99759333e-01 -1.00336367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16591999999997 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:322.76, Y:-31.74, Z:-1.00 [[ 9.73014934e-01 2.29624979e-01 2.26783578e-02 3.22760487e+02] [-2.29556666e-01 9.73279152e-01 -5.60625157e-03 -3.17370728e+01] [-2.33597083e-02 2.48998295e-04 9.99727094e-01 -1.00275944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.79, Y:-31.75, Z:-1.00 [[ 9.72763676e-01 2.30693506e-01 2.26127648e-02 3.22791911e+02] [-2.30625590e-01 9.73026439e-01 -5.60230578e-03 -3.17459688e+01] [-2.32952336e-02 2.34637328e-04 9.99728602e-01 -1.00293010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:322.82, Y:-31.76, Z:-1.00 [[ 9.72171123e-01 2.33154077e-01 2.28579268e-02 3.22822428e+02] [-2.33085063e-01 9.72439788e-01 -5.67566425e-03 -3.17605143e+01] [-2.35512618e-02 1.89875573e-04 9.99722613e-01 -1.00278600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25591999999995 meters Centerline goodness [0,1] 0.9998510648860647 Centerline is valid? [True, True] Translation: X:322.85, Y:-31.77, Z:-1.00 [[ 9.71878629e-01 2.34196050e-01 2.45792761e-02 3.22852882e+02] [-2.34116279e-01 9.72189372e-01 -6.11498935e-03 -3.17709159e+01] [-2.53278173e-02 1.88618802e-04 9.99679182e-01 -1.00334597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28592 meters Centerline goodness [0,1] 0.9997514910536779 Centerline is valid? [True, True] Translation: X:322.88, Y:-31.78, Z:-1.00 [[ 9.70808950e-01 2.38829760e-01 2.21433567e-02 3.22883849e+02] [-2.38766131e-01 9.71061451e-01 -5.51301379e-03 -3.17816175e+01] [-2.28192319e-02 6.49995200e-05 9.99739605e-01 -1.00282206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31591999999995 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:322.92, Y:-31.79, Z:-1.00 [[ 9.70328616e-01 2.40770466e-01 2.21801774e-02 3.22915644e+02] [-2.40706853e-01 9.70582084e-01 -5.53434805e-03 -3.17905492e+01] [-2.28601904e-02 3.12155699e-05 9.99738671e-01 -1.00367716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34592 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:322.95, Y:-31.80, Z:-1.00 [[ 9.69600396e-01 2.43629110e-01 2.28019535e-02 3.22946626e+02] [-2.43562368e-01 9.69868474e-01 -5.70235404e-03 -3.18016821e+01] [-2.35041553e-02 -2.46930445e-05 9.99723739e-01 -1.00406041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.98, Y:-31.82, Z:-1.00 [[ 9.68545665e-01 2.47714992e-01 2.35919006e-02 3.22976380e+02] [-2.47644470e-01 9.68832942e-01 -5.91162478e-03 -3.18153451e+01] [-2.43210085e-02 -1.16725167e-04 9.99704194e-01 -1.00272371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.01, Y:-31.82, Z:-1.00 [[ 9.68014120e-01 2.49918209e-01 2.21258352e-02 3.23007187e+02] [-2.49856508e-01 9.68266940e-01 -5.55510803e-03 -3.18244098e+01] [-2.28120373e-02 -1.50860902e-04 9.99739760e-01 -1.00264923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.04, Y:-31.83, Z:-1.00 [[ 9.67587081e-01 2.51477784e-01 2.31119924e-02 3.23037878e+02] [-2.51410651e-01 9.67863053e-01 -5.81336867e-03 -3.18323253e+01] [-2.38311766e-02 -1.85660623e-04 9.99715980e-01 -1.00317827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46592 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:323.07, Y:-31.84, Z:-1.00 [[ 9.67016914e-01 2.53696740e-01 2.27211844e-02 3.23069648e+02] [-2.53632172e-01 9.67283781e-01 -5.72776873e-03 -3.18416055e+01] [-2.34309495e-02 -2.23974122e-04 9.99725433e-01 -1.00263971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.10, Y:-31.85, Z:-1.00 [[ 9.66651244e-01 2.55188429e-01 2.15461942e-02 3.23101619e+02] [-2.55130466e-01 9.66891313e-01 -5.44378801e-03 -3.18503699e+01] [-2.22220197e-02 -2.34846115e-04 9.99753033e-01 -1.00193319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.52592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:323.13, Y:-31.86, Z:-1.00 [[ 9.66191226e-01 2.56813303e-01 2.28351053e-02 3.23132469e+02] [-2.56748382e-01 9.66460993e-01 -5.78080546e-03 -3.18592897e+01] [-2.35538263e-02 -2.77512825e-04 9.99722532e-01 -1.00215333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.16, Y:-31.87, Z:-1.00 [[ 9.65799232e-01 2.58223065e-01 2.35094155e-02 3.23163236e+02] [-2.58154408e-01 9.66085272e-01 -5.96234812e-03 -3.18668787e+01] [-2.42517158e-02 -3.10627989e-04 9.99705836e-01 -1.00216168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.20, Y:-31.87, Z:-1.00 [[ 9.65433403e-01 2.59577617e-01 2.36179024e-02 3.23195774e+02] [-2.59508406e-01 9.65722191e-01 -6.00313197e-03 -3.18746220e+01] [-2.43666111e-02 -3.33420081e-04 9.99703034e-01 -1.00233147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.23, Y:-31.88, Z:-1.00 [[ 9.64621916e-01 2.62637795e-01 2.29335656e-02 3.23228127e+02] [-2.62573095e-01 9.64894419e-01 -5.84212666e-03 -3.18796807e+01] [-2.36628327e-02 -3.86293881e-04 9.99719921e-01 -1.00238306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.26, Y:-31.89, Z:-1.00 [[ 9.63830865e-01 2.65589899e-01 2.21826106e-02 3.23259982e+02] [-2.65529900e-01 9.64086001e-01 -5.66167741e-03 -3.18854860e+01] [-2.28896287e-02 -4.33246933e-04 9.99737904e-01 -1.00210463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.29, Y:-31.89, Z:-1.00 [[ 9.62989922e-01 2.68650064e-01 2.18529894e-02 3.23292183e+02] [-2.68592383e-01 9.63237720e-01 -5.58811428e-03 -3.18911876e+01] [-2.25508710e-02 -4.88248780e-04 9.99745578e-01 -1.00183462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.32, Y:-31.90, Z:-1.00 [[ 9.62058829e-01 2.71928071e-01 2.23144329e-02 3.23323684e+02] [-2.71868559e-01 9.62317413e-01 -5.71695395e-03 -3.18970927e+01] [-2.30281676e-02 -5.66546687e-04 9.99734656e-01 -1.00167950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.36, Y:-31.90, Z:-1.00 [[ 9.60954342e-01 2.75816585e-01 2.21802602e-02 3.23355567e+02] [-2.75758589e-01 9.61210068e-01 -5.69267312e-03 -3.19000937e+01] [-2.28900231e-02 -6.45998311e-04 9.99737780e-01 -1.00231654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.39, Y:-31.90, Z:-1.00 [[ 9.60584769e-01 2.77249488e-01 2.02391416e-02 3.23388300e+02] [-2.77201286e-01 9.60797767e-01 -5.20553597e-03 -3.19048167e+01] [-2.08889542e-02 -6.09957509e-04 9.99781616e-01 -1.00176524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.42, Y:-31.91, Z:-1.00 [[ 9.60740170e-01 2.76752573e-01 1.96555251e-02 3.23420617e+02] [-2.76706946e-01 9.60941038e-01 -5.05846217e-03 -3.19065941e+01] [-2.02877431e-02 -5.78952504e-04 9.99794015e-01 -1.00268989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.45, Y:-31.91, Z:-1.00 [[ 9.60874092e-01 2.76348027e-01 1.87815500e-02 3.23452392e+02] [-2.76306240e-01 9.61057477e-01 -4.83612434e-03 -3.19109883e+01] [-1.93866025e-02 -5.42552881e-04 9.99811915e-01 -1.00260841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.49, Y:-31.91, Z:-1.00 [[ 9.61488587e-01 2.74143831e-01 1.96177434e-02 3.23485153e+02] [-2.74097726e-01 9.61688563e-01 -5.05417841e-03 -3.19110348e+01] [-2.02517313e-02 -5.17643989e-04 9.99794779e-01 -1.00212673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.52, Y:-31.92, Z:-1.00 [[ 9.61768793e-01 2.73118101e-01 2.01814503e-02 3.23516851e+02] [-2.73069024e-01 9.61980377e-01 -5.20222671e-03 -3.19154197e+01] [-2.08349815e-02 -5.07589636e-04 9.99782799e-01 -1.00220170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.55, Y:-31.92, Z:-1.00 [[ 9.62306255e-01 2.71137909e-01 2.12345397e-02 3.23548803e+02] [-2.71083028e-01 9.62540388e-01 -5.47669347e-03 -3.19202366e+01] [-2.19240413e-02 -4.86066935e-04 9.99759521e-01 -1.00141020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.58, Y:-31.93, Z:-1.00 [[ 9.63074268e-01 2.68308338e-01 2.23291340e-02 3.23580910e+02] [-2.68246819e-01 9.63332986e-01 -5.76216319e-03 -3.19253141e+01] [-2.30564277e-02 -4.40328054e-04 9.99734068e-01 -1.00226221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.61, Y:-31.93, Z:-1.00 [[ 9.64371417e-01 2.63578038e-01 2.26801222e-02 3.23613254e+02] [-2.63513184e-01 9.64638020e-01 -5.85595146e-03 -3.19279523e+01] [-2.34216084e-02 -3.29199007e-04 9.99725622e-01 -1.00343666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.64, Y:-31.93, Z:-1.01 [[ 9.65753607e-01 2.58326466e-01 2.42365017e-02 3.23644922e+02] [-2.58250662e-01 9.66057655e-01 -6.26125145e-03 -3.19335399e+01] [-2.50313049e-02 -2.12266439e-04 9.99686645e-01 -1.00572289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.68, Y:-31.94, Z:-1.00 [[ 9.66427591e-01 2.55749976e-01 2.46913374e-02 3.23676916e+02] [-2.55670348e-01 9.66742949e-01 -6.38308536e-03 -3.19403166e+01] [-2.55026502e-02 -1.44053020e-04 9.99674744e-01 -1.00476664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.71, Y:-31.95, Z:-1.00 [[ 9.67014520e-01 2.53470529e-01 2.52113035e-02 3.23709367e+02] [-2.53386598e-01 9.67343106e-01 -6.52285849e-03 -3.19467618e+01] [-2.60413330e-02 -8.05075541e-05 9.99660864e-01 -1.00453659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.74, Y:-31.95, Z:-1.00 [[ 9.67252986e-01 2.52399369e-01 2.67622787e-02 3.23740808e+02] [-2.52304275e-01 9.67623148e-01 -6.92796174e-03 -3.19524916e+01] [-2.76444136e-02 -5.11456617e-05 9.99617819e-01 -1.00373349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.77, Y:-31.96, Z:-1.00 [[ 9.67249044e-01 2.52497446e-01 2.59677893e-02 3.23773279e+02] [-2.52407853e-01 9.67597560e-01 -6.72594960e-03 -3.19565295e+01] [-2.68246547e-02 -4.88056265e-05 9.99640153e-01 -1.00379515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.81, Y:-31.96, Z:-1.01 [[ 9.66879895e-01 2.53888951e-01 2.61470563e-02 3.23805744e+02] [-2.53798478e-01 9.67233371e-01 -6.77782982e-03 -3.19641285e+01] [-2.70111215e-02 -8.27357147e-05 9.99635130e-01 -1.00537336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.84, Y:-31.97, Z:-1.01 [[ 9.66551088e-01 2.55350596e-01 2.39805527e-02 3.23837371e+02] [-2.55274861e-01 9.66848520e-01 -6.21965349e-03 -3.19695580e+01] [-2.47737541e-02 -1.10019401e-04 9.99693077e-01 -1.00586875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.87, Y:-31.98, Z:-1.01 [[ 9.66546650e-01 2.55440127e-01 2.31929878e-02 3.23869446e+02] [-2.55369215e-01 9.66824871e-01 -6.01942780e-03 -3.19761163e+01] [-2.39611609e-02 -1.04717309e-04 9.99712885e-01 -1.00534626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.90, Y:-31.98, Z:-1.01 [[ 9.66675635e-01 2.55085736e-01 2.16675734e-02 3.23901420e+02] [-2.55023688e-01 9.66918435e-01 -5.62660339e-03 -3.19815727e+01] [-2.23860425e-02 -8.66440870e-05 9.99749397e-01 -1.00517466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.93, Y:-31.99, Z:-1.01 [[ 9.67209328e-01 2.53000729e-01 2.22878260e-02 3.23934210e+02] [-2.52934416e-01 9.67466087e-01 -5.79235887e-03 -3.19880236e+01] [-2.30281868e-02 -3.49347118e-05 9.99734816e-01 -1.00543515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.97, Y:-31.99, Z:-1.01 [[ 9.67668095e-01 2.51177097e-01 2.29896613e-02 3.23965870e+02] [-2.51105948e-01 9.67941148e-01 -5.97805614e-03 -3.19933892e+01] [-2.37541900e-02 1.19334828e-05 9.99717829e-01 -1.00594675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.00, Y:-32.00, Z:-1.01 [[ 9.68159219e-01 2.49479614e-01 2.06796738e-02 3.23997854e+02] [-2.49421597e-01 9.68380049e-01 -5.38025765e-03 -3.19989273e+01] [-2.13680481e-02 5.09887768e-05 9.99771676e-01 -1.00538727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36591999999996 meters Centerline goodness [0,1] 0.9996520874751491 Centerline is valid? [True, True] Translation: X:324.03, Y:-32.00, Z:-1.01 [[ 9.68012770e-01 2.49996831e-01 2.12805187e-02 3.24030180e+02] [-2.49935453e-01 9.68246654e-01 -5.53955805e-03 -3.20040528e+01] [-2.19896630e-02 4.36068541e-05 9.99758197e-01 -1.00751312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39592 meters Centerline goodness [0,1] 0.999105100924729 Centerline is valid? [True, True] Translation: X:324.06, Y:-32.01, Z:-1.01 [[ 9.67369147e-01 2.52419644e-01 2.19375517e-02 3.24061028e+02] [-2.52354970e-01 9.67617860e-01 -5.71364457e-03 -3.20125351e+01] [-2.26694030e-02 -8.84673483e-06 9.99743016e-01 -1.00731148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42591999999996 meters Centerline goodness [0,1] 0.9989562105472439 Centerline is valid? [True, True] Translation: X:324.09, Y:-32.02, Z:-1.01 [[ 9.67271735e-01 2.52700870e-01 2.29708525e-02 3.24092203e+02] [-2.52629962e-01 9.67544454e-01 -5.98601502e-03 -3.20202605e+01] [-2.37379921e-02 -1.30224561e-05 9.99718214e-01 -1.00757073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45592 meters Centerline goodness [0,1] 0.9987581342208534 Centerline is valid? [True, True] Translation: X:324.12, Y:-32.03, Z:-1.01 [[ 9.67156426e-01 2.53236736e-01 2.18998489e-02 3.24123468e+02] [-2.53172355e-01 9.67404339e-01 -5.70998265e-03 -3.20276841e+01] [-2.26319862e-02 -2.19899004e-05 9.99743864e-01 -1.00763825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48591999999996 meters Centerline goodness [0,1] 0.998857994041708 Centerline is valid? [True, True] Translation: X:324.15, Y:-32.03, Z:-1.01 [[ 9.66964055e-01 2.53883570e-01 2.28833771e-02 3.24154808e+02] [-2.53813381e-01 9.67234786e-01 -5.96962217e-03 -3.20337583e+01] [-2.36491873e-02 -3.56972265e-05 9.99720318e-01 -1.00783834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51592 meters Centerline goodness [0,1] 0.9984107275887758 Centerline is valid? [True, True] Translation: X:324.19, Y:-32.04, Z:-1.01 [[ 9.66961126e-01 2.54010126e-01 2.15646981e-02 3.24186647e+02] [-2.53947758e-01 9.67201558e-01 -5.62861529e-03 -3.20391374e+01] [-2.22871349e-02 -3.36545592e-05 9.99751610e-01 -1.00799407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54591999999997 meters Centerline goodness [0,1] 0.9980112365136976 Centerline is valid? [True, True] Translation: X:324.22, Y:-32.05, Z:-1.01 [[ 9.67050892e-01 2.53784251e-01 2.01525586e-02 3.24218345e+02] [-2.53729677e-01 9.67260851e-01 -5.26285604e-03 -3.20464947e+01] [-2.08284110e-02 -2.38525615e-05 9.99783065e-01 -1.00597770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57592 meters Centerline goodness [0,1] 0.9980612447802744 Centerline is valid? [True, True] Translation: X:324.25, Y:-32.05, Z:-1.01 [[ 9.67071460e-01 2.53731827e-01 1.98229940e-02 3.24249801e+02] [-2.53678956e-01 9.67274604e-01 -5.17954587e-03 -3.20537826e+01] [-2.04884943e-02 -1.96854398e-05 9.99790089e-01 -1.00596913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60591999999997 meters Centerline goodness [0,1] 0.9983097191150883 Centerline is valid? [True, True] Translation: X:324.28, Y:-32.06, Z:-1.01 [[ 9.67259372e-01 2.52918416e-01 2.10138663e-02 3.24281143e+02] [-2.52858745e-01 9.67487610e-01 -5.49366037e-03 -3.20604900e+01] [-2.17201032e-02 2.54613135e-07 9.99764091e-01 -1.00700314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63592 meters Centerline goodness [0,1] 0.9983605742957922 Centerline is valid? [True, True] Translation: X:324.31, Y:-32.07, Z:-1.01 [[ 9.67186074e-01 2.53342219e-01 1.92046251e-02 3.24312736e+02] [-2.53292412e-01 9.67376721e-01 -5.02334626e-03 -3.20682901e+01] [-1.98507330e-02 -5.87528325e-06 9.99802955e-01 -1.00705786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66591999999997 meters Centerline goodness [0,1] 0.9982601779589402 Centerline is valid? [True, True] Translation: X:324.34, Y:-32.08, Z:-1.01 [[ 9.66799222e-01 2.54764868e-01 1.98526344e-02 3.24344430e+02] [-2.54711885e-01 9.67003031e-01 -5.19562668e-03 -3.20754992e+01] [-2.05212208e-02 -3.35740945e-05 9.99789417e-01 -1.00653176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69591999999994 meters Centerline goodness [0,1] 0.9980115331079737 Centerline is valid? [True, True] Translation: X:324.38, Y:-32.08, Z:-1.01 [[ 9.65686112e-01 2.59033342e-01 1.87632818e-02 3.24376743e+02] [-2.58986768e-01 9.65868373e-01 -4.91314502e-03 -3.20803061e+01] [-1.93955289e-02 -1.14885811e-04 9.99811882e-01 -1.00560892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72592 meters Centerline goodness [0,1] 0.9977615281301299 Centerline is valid? [True, True] Translation: X:324.41, Y:-32.09, Z:-1.00 [[ 9.65119489e-01 2.61255235e-01 1.70315889e-02 3.24408668e+02] [-2.61217166e-01 9.65269746e-01 -4.46207133e-03 -3.20867751e+01] [-1.76058170e-02 -1.42511398e-04 9.99844995e-01 -1.00471399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75591999999995 meters Centerline goodness [0,1] 0.9978634602007354 Centerline is valid? [True, True] Translation: X:324.44, Y:-32.09, Z:-1.01 [[ 9.64539216e-01 2.63357340e-01 1.75217619e-02 3.24439177e+02] [-2.63317372e-01 9.64698335e-01 -4.59176771e-03 -3.20929494e+01] [-1.81124902e-02 -1.84844253e-04 9.99835938e-01 -1.00579726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78592 meters Centerline goodness [0,1] 0.9978634602007354 Centerline is valid? [True, True] Translation: X:324.47, Y:-32.10, Z:-1.01 [[ 9.64522098e-01 2.63420046e-01 1.75214634e-02 3.24469020e+02] [-2.63380068e-01 9.64681214e-01 -4.59290664e-03 -3.21007517e+01] [-1.81124902e-02 -1.84844253e-04 9.99835938e-01 -1.00582296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81591999999995 meters Centerline goodness [0,1] 0.9978620792522249 Centerline is valid? [True, True] Translation: X:324.50, Y:-32.11, Z:-1.00 [[ 9.63889433e-01 2.65610019e-01 1.91957907e-02 3.24500036e+02] [-2.65562442e-01 9.64080524e-01 -5.03313454e-03 -3.21063138e+01] [-1.98431389e-02 -2.46295858e-04 9.99803075e-01 -1.00497322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84592 meters Centerline goodness [0,1] 0.9978104005971635 Centerline is valid? [True, True] Translation: X:324.53, Y:-32.11, Z:-1.00 [[ 9.64028241e-01 2.65061126e-01 1.98027790e-02 3.24530350e+02] [-2.65010335e-01 9.64231581e-01 -5.19432349e-03 -3.21125106e+01] [-2.04712782e-02 -2.40466572e-04 9.99790413e-01 -1.00418879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87591999999995 meters Centerline goodness [0,1] 0.9976140769460184 Centerline is valid? [True, True] Translation: X:324.56, Y:-32.12, Z:-1.00 [[ 9.64447306e-01 2.63501404e-01 2.02090177e-02 3.24562205e+02] [-2.63448105e-01 9.64658990e-01 -5.30373242e-03 -3.21197253e+01] [-2.08923516e-02 -2.08856972e-04 9.99781709e-01 -1.00431707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90592 meters Centerline goodness [0,1] 0.9980147898158718 Centerline is valid? [True, True] Translation: X:324.59, Y:-32.13, Z:-1.01 [[ 9.65200944e-01 2.60583641e-01 2.19841803e-02 3.24593527e+02] [-2.60519737e-01 9.65451263e-01 -5.77273695e-03 -3.21269790e+01] [-2.27289355e-02 -1.55461730e-04 9.99741652e-01 -1.00593162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93591999999995 meters Centerline goodness [0,1] 0.998064996278839 Centerline is valid? [True, True] Translation: X:324.63, Y:-32.13, Z:-1.01 [[ 9.65599402e-01 2.59122448e-01 2.17566681e-02 3.24625152e+02] [-2.59059421e-01 9.65844472e-01 -5.71603043e-03 -3.21346363e+01] [-2.24947094e-02 -1.16874279e-04 9.99746955e-01 -1.00675521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96592 meters Centerline goodness [0,1] 0.9977671926168502 Centerline is valid? [True, True] Translation: X:324.66, Y:-32.14, Z:-1.01 [[ 9.65723578e-01 2.58786301e-01 2.01896142e-02 3.24656851e+02] [-2.58731881e-01 9.65934594e-01 -5.30780348e-03 -3.21425050e+01] [-2.08754337e-02 -9.78259038e-05 9.99782080e-01 -1.00574990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99591999999996 meters Centerline goodness [0,1] 0.9979145978152929 Centerline is valid? [True, True] Translation: X:324.69, Y:-32.15, Z:-1.01 [[ 9.65400424e-01 2.60047295e-01 1.94274487e-02 3.24687563e+02] [-2.59997107e-01 9.65595873e-01 -5.11017292e-03 -3.21510190e+01] [-2.00879509e-02 -1.17717344e-04 9.99798210e-01 -1.00533095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.02592 meters Centerline goodness [0,1] 0.9974192267606333 Centerline is valid? [True, True] Translation: X:324.72, Y:-32.16, Z:-1.00 [[ 9.64956016e-01 2.61742226e-01 1.87321766e-02 3.24718885e+02] [-2.61695836e-01 9.65137807e-01 -4.92988224e-03 -3.21596099e+01] [-1.93694902e-02 -1.45013091e-04 9.99812383e-01 -1.00391175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05591999999996 meters Centerline goodness [0,1] 0.9970243999206506 Centerline is valid? [True, True] Translation: X:324.75, Y:-32.17, Z:-1.00 [[ 9.64286864e-01 2.64240695e-01 1.81024365e-02 3.24749303e+02] [-2.64197787e-01 9.64456749e-01 -4.76546231e-03 -3.21681330e+01] [-1.87182461e-02 -1.87350941e-04 9.99824781e-01 -1.00326890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08592 meters Centerline goodness [0,1] 0.9974205069695917 Centerline is valid? [True, True] Translation: X:324.78, Y:-32.18, Z:-1.00 [[ 9.63541786e-01 2.67005480e-01 1.71842890e-02 3.24778970e+02] [-2.66967252e-01 9.63694984e-01 -4.52381352e-03 -3.21752645e+01] [-1.77682961e-02 -2.28759063e-04 9.99842105e-01 -1.00296924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11591999999996 meters Centerline goodness [0,1] 0.9974151215389969 Centerline is valid? [True, True] Translation: X:324.81, Y:-32.18, Z:-1.00 [[ 9.62637919e-01 2.70153555e-01 1.85820818e-02 3.24808730e+02] [-2.70109440e-01 9.62817200e-01 -4.89178648e-03 -3.21827252e+01] [-1.92126815e-02 -3.10176554e-04 9.99815371e-01 -1.00403199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14592 meters Centerline goodness [0,1] 0.9971695302413348 Centerline is valid? [True, True] Translation: X:324.84, Y:-32.19, Z:-1.00 [[ 9.62208679e-01 2.71717074e-01 1.80080685e-02 3.24839216e+02] [-2.71675894e-01 9.62377121e-01 -4.74187771e-03 -3.21911841e+01] [-1.86190023e-02 -3.29682235e-04 9.99826597e-01 -1.00374950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17591999999996 meters Centerline goodness [0,1] 0.997216561459317 Centerline is valid? [True, True] Translation: X:324.87, Y:-32.20, Z:-1.00 [[ 9.61730282e-01 2.73376118e-01 1.84489434e-02 3.24868399e+02] [-2.73333201e-01 9.61907148e-01 -4.85802640e-03 -3.21992234e+01] [-1.90742389e-02 -3.70597667e-04 9.99818001e-01 -1.00412372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20592 meters Centerline goodness [0,1] 0.9974189705663374 Centerline is valid? [True, True] Translation: X:324.90, Y:-32.21, Z:-1.00 [[ 9.61390926e-01 2.74675472e-01 1.67592321e-02 3.24898390e+02] [-2.74640234e-01 9.61536924e-01 -4.41420444e-03 -3.22077561e+01] [-1.73270942e-02 -3.58983343e-04 9.99849810e-01 -1.00373655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23591999999996 meters Centerline goodness [0,1] 0.9971707946592545 Centerline is valid? [True, True] Translation: X:324.93, Y:-32.22, Z:-1.00 [[ 9.61392865e-01 2.74747548e-01 1.54124506e-02 3.24928176e+02] [-2.74717755e-01 9.61516342e-01 -4.05952833e-03 -3.22151587e+01] [-1.59346685e-02 -3.31272245e-04 9.99872980e-01 -1.00381553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26592 meters Centerline goodness [0,1] 0.9972687093410141 Centerline is valid? [True, True] Translation: X:324.96, Y:-32.22, Z:-1.00 [[ 9.61548710e-01 2.74287635e-01 1.37975301e-02 3.24956655e+02] [-2.74263724e-01 9.61647653e-01 -3.63326162e-03 -3.22222842e+01] [-1.42649212e-02 -2.90603977e-04 9.99898209e-01 -1.00300373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29591999999997 meters Centerline goodness [0,1] 0.9970184853905785 Centerline is valid? [True, True] Translation: X:324.99, Y:-32.23, Z:-1.00 [[ 9.62206653e-01 2.71996614e-01 1.32739686e-02 3.24985293e+02] [-2.71974351e-01 9.62298175e-01 -3.48915051e-03 -3.22281976e+01] [-1.37225529e-02 -2.52895168e-04 9.99905809e-01 -1.00318389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32592 meters Centerline goodness [0,1] 0.9970747186275968 Centerline is valid? [True, True] Translation: X:325.01, Y:-32.23, Z:-1.00 [[ 9.62244928e-01 2.71764731e-01 1.51204756e-02 3.25013010e+02] [-2.71735933e-01 9.62363677e-01 -3.96698142e-03 -3.22346065e+01] [-1.56294821e-02 -2.91568793e-04 9.99877810e-01 -1.00274121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35591999999997 meters Centerline goodness [0,1] 0.9970223325062034 Centerline is valid? [True, True] Translation: X:325.04, Y:-32.24, Z:-1.00 [[ 9.61706120e-01 2.73678139e-01 1.48867491e-02 3.25040717e+02] [-2.73650565e-01 9.61821278e-01 -3.89837582e-03 -3.22421928e+01] [-1.53852922e-02 -3.24675411e-04 9.99881587e-01 -1.00224129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38592 meters Centerline goodness [0,1] 0.9968715860562122 Centerline is valid? [True, True] Translation: X:325.07, Y:-32.25, Z:-1.00 [[ 9.61490743e-01 2.74413499e-01 1.52572176e-02 3.25068407e+02] [-2.74384747e-01 9.61611724e-01 -3.98786852e-03 -3.22497011e+01] [-1.57658443e-02 -3.52049122e-04 9.99875649e-01 -1.00222545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41591999999997 meters Centerline goodness [0,1] 0.9964655515730785 Centerline is valid? [True, True] Translation: X:325.10, Y:-32.26, Z:-1.00 [[ 9.61116336e-01 2.75791369e-01 1.39466562e-02 3.25096428e+02] [-2.75767588e-01 9.61217457e-01 -3.63847285e-03 -3.22562944e+01] [-1.44092288e-02 -3.49040036e-04 9.99896121e-01 -1.00140809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44591999999994 meters Centerline goodness [0,1] 0.9968186111249192 Centerline is valid? [True, True] Translation: X:325.12, Y:-32.26, Z:-1.00 [[ 9.60406874e-01 2.78214218e-01 1.46794197e-02 3.25124704e+02] [-2.78188220e-01 9.60518964e-01 -3.82534352e-03 -3.22598799e+01] [-1.51641260e-02 -4.09755440e-04 9.99884934e-01 -1.00197009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47592 meters Centerline goodness [0,1] 0.9970192259923494 Centerline is valid? [True, True] Translation: X:325.15, Y:-32.26, Z:-1.00 [[ 9.60554615e-01 2.77727890e-01 1.42144316e-02 3.25152418e+02] [-2.77703574e-01 9.60659701e-01 -3.69642905e-03 -3.22644889e+01] [-1.46818330e-02 -3.96776460e-04 9.99892137e-01 -1.00224222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50591999999995 meters Centerline goodness [0,1] 0.9974174323317606 Centerline is valid? [True, True] Translation: X:325.18, Y:-32.27, Z:-1.00 [[ 9.61736647e-01 2.73581814e-01 1.46837629e-02 3.25181311e+02] [-2.73555493e-01 9.61848672e-01 -3.81115580e-03 -3.22678217e+01] [-1.51662208e-02 -3.51495809e-04 9.99884924e-01 -1.00263496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53592 meters Centerline goodness [0,1] 0.9978667460435581 Centerline is valid? [True, True] Translation: X:325.21, Y:-32.27, Z:-1.00 [[ 9.62680458e-01 2.70124519e-01 1.67057138e-02 3.25210011e+02] [-2.70090011e-01 9.62825336e-01 -4.33119767e-03 -3.22739137e+01] [-1.72546472e-02 -3.42487059e-04 9.99851069e-01 -1.00324771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56591999999995 meters Centerline goodness [0,1] 0.9979638458482321 Centerline is valid? [True, True] Translation: X:325.24, Y:-32.28, Z:-1.00 [[ 9.63809221e-01 2.66069777e-01 1.66931076e-02 3.25238455e+02] [-2.66034852e-01 9.63953732e-01 -4.31981449e-03 -3.22804390e+01] [-1.72407554e-02 -2.77471352e-04 9.99851329e-01 -1.00212241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59592 meters Centerline goodness [0,1] 0.9985113878826973 Centerline is valid? [True, True] Translation: X:325.27, Y:-32.29, Z:-1.00 [[ 9.65362427e-01 2.60291709e-01 1.79892024e-02 3.25266773e+02] [-2.60250310e-01 9.65530004e-01 -4.64634465e-03 -3.22861055e+01] [-1.85785197e-02 -1.96288960e-04 9.99827385e-01 -1.00290350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62591999999995 meters Centerline goodness [0,1] 0.9994039340353665 Centerline is valid? [True, True] Translation: X:325.30, Y:-32.29, Z:-1.00 [[ 9.66301266e-01 2.56763918e-01 1.82798905e-02 3.25295253e+02] [-2.56720707e-01 9.66474144e-01 -4.71251412e-03 -3.22927533e+01] [-1.88770451e-02 -1.39118053e-04 9.99821803e-01 -1.00269173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65592 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:325.32, Y:-32.30, Z:-1.00 [[ 9.67244310e-01 2.53008136e-01 2.06234790e-02 3.25323832e+02] [-2.52952493e-01 9.67464147e-01 -5.30662728e-03 -3.22988454e+01] [-2.12950964e-02 -8.39553799e-05 9.99773230e-01 -1.00316745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68591999999995 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:325.35, Y:-32.31, Z:-1.00 [[ 9.67571087e-01 2.51764223e-01 2.05175046e-02 3.25352809e+02] [-2.51708907e-01 9.67788599e-01 -5.27761043e-03 -3.23058573e+01] [-2.11853205e-02 -5.79754091e-05 9.99775564e-01 -1.00359042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.38, Y:-32.31, Z:-1.00 [[ 9.67651186e-01 2.51555177e-01 1.92659187e-02 3.25381474e+02] [-2.51506390e-01 9.67842957e-01 -4.95434773e-03 -3.23137683e+01] [-1.98926756e-02 -5.14212147e-05 9.99802120e-01 -1.00359761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.41, Y:-32.32, Z:-1.00 [[ 9.67574437e-01 2.51934445e-01 1.81312882e-02 3.25409765e+02] [-2.51891326e-01 9.67744301e-01 -4.66131005e-03 -3.23223679e+01] [-1.87207954e-02 -5.69497881e-05 9.99824749e-01 -1.00400836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.44, Y:-32.33, Z:-1.00 [[ 9.67594763e-01 2.51828583e-01 1.85132043e-02 3.25437312e+02] [-2.51783773e-01 9.67771854e-01 -4.75089553e-03 -3.23305248e+01] [-1.91129694e-02 -6.43827991e-05 9.99817328e-01 -1.00339597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80591999999996 meters Centerline goodness [0,1] 0.9999503031507803 Centerline is valid? [True, True] Translation: X:325.46, Y:-32.34, Z:-1.00 [[ 9.67265050e-01 2.53108388e-01 1.82884410e-02 3.25464492e+02] [-2.53065056e-01 9.67437923e-01 -4.68433663e-03 -3.23402789e+01] [-1.88785762e-02 -9.71702297e-05 9.99821779e-01 -1.00221143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83592 meters Centerline goodness [0,1] 0.9999504165013884 Centerline is valid? [True, True] Translation: X:325.49, Y:-32.35, Z:-1.00 [[ 9.67458686e-01 2.52401644e-01 1.78073169e-02 3.25492530e+02] [-2.52360471e-01 9.67622552e-01 -4.55954686e-03 -3.23496338e+01] [-1.83815985e-02 -8.26896550e-05 9.99831041e-01 -1.00324172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86591999999996 meters Centerline goodness [0,1] 0.9999502140794583 Centerline is valid? [True, True] Translation: X:325.52, Y:-32.36, Z:-1.00 [[ 9.67664070e-01 2.51605643e-01 1.79122237e-02 3.25520058e+02] [-2.51563990e-01 9.67829838e-01 -4.57869722e-03 -3.23593346e+01] [-1.84880106e-02 -7.54296628e-05 9.99829079e-01 -1.00313926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89592 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:325.55, Y:-32.37, Z:-1.00 [[ 9.68118056e-01 2.49675078e-01 2.02431232e-02 3.25547881e+02] [-2.49621492e-01 9.68329672e-01 -5.17275227e-03 -3.23684977e+01] [-2.08935242e-02 -4.52837414e-05 9.99781705e-01 -1.00392511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.58, Y:-32.38, Z:-1.00 [[ 9.68275042e-01 2.49053162e-01 2.03952128e-02 3.25577774e+02] [-2.48998603e-01 9.68489815e-01 -5.21290547e-03 -3.23769625e+01] [-2.10508464e-02 -3.08532198e-05 9.99778406e-01 -1.00313187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.61, Y:-32.39, Z:-1.00 [[ 9.68373569e-01 2.48593276e-01 2.13075901e-02 3.25607745e+02] [-2.48533581e-01 9.68607961e-01 -5.44758886e-03 -3.23881799e+01] [-2.19929354e-02 -2.03506090e-05 9.99758126e-01 -1.00405130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.64, Y:-32.40, Z:-1.00 [[ 9.68356178e-01 2.48772282e-01 1.99665909e-02 3.25637712e+02] [-2.48719876e-01 9.68562002e-01 -5.10611747e-03 -3.23971390e+01] [-2.06091418e-02 -2.15476178e-05 9.99787609e-01 -1.00420627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.67, Y:-32.41, Z:-1.00 [[ 9.68413766e-01 2.48694781e-01 1.80466984e-02 3.25668013e+02] [-2.48651932e-01 9.68581905e-01 -4.61638191e-03 -3.24058447e+01] [-1.86277756e-02 -1.67786213e-05 9.99826488e-01 -1.00408914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.70, Y:-32.42, Z:-1.01 [[ 9.68598470e-01 2.47929767e-01 1.86502964e-02 3.25697577e+02] [-2.47883861e-01 9.68778009e-01 -4.77084129e-03 -3.24152993e+01] [-1.92508306e-02 -2.07790259e-06 9.99814686e-01 -1.00544495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.73, Y:-32.42, Z:-1.01 [[ 9.68735942e-01 2.47444857e-01 1.79364837e-02 3.25727876e+02] [-2.47402293e-01 9.68901978e-01 -4.58942591e-03 -3.24241079e+01] [-1.85143244e-02 8.41463461e-06 9.99828595e-01 -1.00543496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.76, Y:-32.43, Z:-1.00 [[ 9.69273089e-01 2.45253535e-01 1.89837434e-02 3.25757527e+02] [-2.45205409e-01 9.69458973e-01 -4.85870495e-03 -3.24339802e+01] [-1.95955749e-02 5.44953996e-05 9.99807987e-01 -1.00436912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.79, Y:-32.44, Z:-1.01 [[ 9.69597513e-01 2.43896229e-01 1.98819660e-02 3.25788713e+02] [-2.43843100e-01 9.69801331e-01 -5.09129598e-03 -3.24428065e+01] [-2.05233050e-02 8.84276942e-05 9.99789371e-01 -1.00525212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.82, Y:-32.45, Z:-1.00 [[ 9.69879814e-01 2.42844032e-01 1.89716280e-02 3.25819983e+02] [-2.42795405e-01 9.70065340e-01 -4.86078357e-03 -3.24515904e+01] [-1.95841310e-02 1.08151772e-04 9.99808207e-01 -1.00496808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.85, Y:-32.46, Z:-1.00 [[ 9.69834290e-01 2.42970946e-01 1.96613722e-02 3.25851565e+02] [-2.42918689e-01 9.70033560e-01 -5.04021193e-03 -3.24599585e+01] [-2.02968159e-02 1.12055603e-04 9.99793992e-01 -1.00421714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.88, Y:-32.47, Z:-1.00 [[ 9.69209637e-01 2.45359751e-01 2.07671016e-02 3.25881949e+02] [-2.45301937e-01 9.69432096e-01 -5.32651903e-03 -3.24696041e+01] [-2.14392082e-02 6.83033344e-05 9.99770151e-01 -1.00369648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.91, Y:-32.48, Z:-1.00 [[ 9.68555435e-01 2.47779435e-01 2.24882258e-02 3.25912588e+02] [-2.47712219e-01 9.68816469e-01 -5.77108770e-03 -3.24788034e+01] [-2.32169204e-02 1.90100331e-05 9.99730451e-01 -1.00407762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.94, Y:-32.49, Z:-1.00 [[ 9.68067762e-01 2.49685923e-01 2.23997523e-02 3.25944131e+02] [-2.49619673e-01 9.68326876e-01 -5.75149027e-03 -3.24869292e+01] [-2.31263483e-02 -2.35865251e-05 9.99732550e-01 -1.00276649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.98, Y:-32.49, Z:-1.00 [[ 9.67500963e-01 2.51815494e-01 2.30400625e-02 3.25975037e+02] [-2.51745928e-01 9.67775259e-01 -5.91913128e-03 -3.24949022e+01] [-2.37881314e-02 -7.34767058e-05 9.99717020e-01 -1.00336116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.01, Y:-32.50, Z:-1.00 [[ 9.66977321e-01 2.53839798e-01 2.28082808e-02 3.26006647e+02] [-2.53772113e-01 9.67246268e-01 -5.86274730e-03 -3.25022641e+01] [-2.35494231e-02 -1.18961937e-04 9.99722667e-01 -1.00420171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.04, Y:-32.51, Z:-1.00 [[ 9.67207452e-01 2.53133949e-01 2.08074233e-02 3.26037987e+02] [-2.53077394e-01 9.67431236e-01 -5.35132367e-03 -3.25100669e+01] [-2.14843529e-02 -9.00483310e-05 9.99769181e-01 -1.00368898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.07, Y:-32.52, Z:-1.00 [[ 9.67820494e-01 2.50912539e-01 1.91412772e-02 3.26068854e+02] [-2.50864192e-01 9.68009761e-01 -4.92549602e-03 -3.25180104e+01] [-1.97648119e-02 -3.48650592e-05 9.99804656e-01 -1.00409454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.10, Y:-32.53, Z:-1.00 [[ 9.68203761e-01 2.49453462e-01 1.88267999e-02 3.26100382e+02] [-2.49406364e-01 9.68386788e-01 -4.84719823e-03 -3.25258216e+01] [-1.94407747e-02 -2.44816726e-06 9.99811010e-01 -1.00422834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.13, Y:-32.53, Z:-1.00 [[ 9.68457690e-01 2.48484131e-01 1.85832824e-02 3.26131886e+02] [-2.48438016e-01 9.68635967e-01 -4.78708627e-03 -3.25339550e+01] [-1.91899507e-02 1.92967132e-05 9.99815856e-01 -1.00434320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.16, Y:-32.54, Z:-1.00 [[ 9.68847740e-01 2.46820809e-01 2.03358114e-02 3.26162716e+02] [-2.46765157e-01 9.69061136e-01 -5.24141512e-03 -3.25420734e+01] [-2.10003348e-02 5.99634902e-05 9.99779467e-01 -1.00455913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.19, Y:-32.55, Z:-1.00 [[ 9.68758760e-01 2.47175448e-01 2.02672987e-02 3.26193361e+02] [-2.47120189e-01 9.68970740e-01 -5.22656410e-03 -3.25504897e+01] [-2.09302977e-02 5.48210601e-05 9.99780936e-01 -1.00483098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.22, Y:-32.56, Z:-1.01 [[ 9.68515287e-01 2.48095354e-01 2.06599835e-02 3.26224226e+02] [-2.48038082e-01 9.68735616e-01 -5.33068893e-03 -3.25598221e+01] [-2.13365810e-02 3.83910443e-05 9.99772349e-01 -1.00511296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.25, Y:-32.57, Z:-1.00 [[ 9.68144752e-01 2.49555345e-01 2.04418579e-02 3.26254855e+02] [-2.49499541e-01 9.68360537e-01 -5.27727368e-03 -3.25709419e+01] [-2.11120603e-02 8.93065599e-06 9.99777116e-01 -1.00495476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.29, Y:-32.58, Z:-1.01 [[ 9.67793941e-01 2.50827155e-01 2.14621965e-02 3.26285400e+02] [-2.50765887e-01 9.68031889e-01 -5.54367579e-03 -3.25797621e+01] [-2.21665951e-02 -1.68508946e-05 9.99754291e-01 -1.00560204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.32, Y:-32.59, Z:-1.00 [[ 9.67263930e-01 2.52909816e-01 2.09072680e-02 3.26316628e+02] [-2.52852098e-01 9.67489856e-01 -5.40324975e-03 -3.25888863e+01] [-2.15941046e-02 -6.00779846e-05 9.99766818e-01 -1.00456611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.35, Y:-32.60, Z:-1.00 [[ 9.67045404e-01 2.53786875e-01 2.03815673e-02 3.26347980e+02] [-2.53732158e-01 9.67260160e-01 -5.27024998e-03 -3.25970895e+01] [-2.10517983e-02 -7.48880377e-05 9.99778384e-01 -1.00352744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.38, Y:-32.60, Z:-1.00 [[ 9.67012183e-01 2.53913484e-01 2.03808770e-02 3.26378669e+02] [-2.53858739e-01 9.67226931e-01 -5.27291852e-03 -3.26049848e+01] [-2.10517983e-02 -7.48872978e-05 9.99778384e-01 -1.00355384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.41, Y:-32.61, Z:-1.00 [[ 9.66742320e-01 2.54870325e-01 2.12227453e-02 3.26410078e+02] [-2.54811129e-01 9.66975236e-01 -5.49369227e-03 -3.26127276e+01] [-2.19220483e-02 -9.68068725e-05 9.99759678e-01 -1.00385681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:326.44, Y:-32.62, Z:-1.00 [[ 9.65985294e-01 2.57894780e-01 1.90445374e-02 3.26441232e+02] [-2.57847647e-01 9.66172998e-01 -4.93249947e-03 -3.26200916e+01] [-1.96723836e-02 -1.45867191e-04 9.99806469e-01 -1.00311280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.47, Y:-32.63, Z:-1.00 [[ 9.65715156e-01 2.58891212e-01 1.92244188e-02 3.26472526e+02] [-2.58843329e-01 9.65906472e-01 -4.98179910e-03 -3.26275486e+01] [-1.98587346e-02 -1.65113664e-04 9.99802782e-01 -1.00374879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.50, Y:-32.63, Z:-1.00 [[ 9.65109762e-01 2.61176812e-01 1.87035078e-02 3.26504519e+02] [-2.61131866e-01 9.65290957e-01 -4.84940757e-03 -3.26339412e+01] [-1.93208798e-02 -2.03871334e-04 9.99813314e-01 -1.00319108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.54, Y:-32.64, Z:-1.00 [[ 9.64766693e-01 2.62499348e-01 1.78695228e-02 3.26535893e+02] [-2.62458503e-01 9.64932145e-01 -4.63566488e-03 -3.26414848e+01] [-1.84597360e-02 -2.17673119e-04 9.99829581e-01 -1.00231551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.57, Y:-32.65, Z:-1.00 [[ 9.64698319e-01 2.62746214e-01 1.79326845e-02 3.26566981e+02] [-2.62705097e-01 9.64864953e-01 -4.65335527e-03 -3.26481195e+01] [-1.85252702e-02 -2.21923622e-04 9.99828368e-01 -1.00218781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.60, Y:-32.65, Z:-1.00 [[ 9.64994564e-01 2.61673657e-01 1.76745113e-02 3.26597815e+02] [-2.61633514e-01 9.65156391e-01 -4.58760243e-03 -3.26539694e+01] [-1.82591223e-02 -1.97233088e-04 9.99833269e-01 -1.00194664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.63, Y:-32.66, Z:-1.00 [[ 9.65350392e-01 2.60125726e-01 2.08141157e-02 3.26627854e+02] [-2.60069662e-01 9.65574735e-01 -5.40398568e-03 -3.26614317e+01] [-2.15033000e-02 -1.96380344e-04 9.99768758e-01 -1.00345585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.66, Y:-32.67, Z:-1.00 [[ 9.66775032e-01 2.54921714e-01 1.89988660e-02 3.26658279e+02] [-2.54873945e-01 9.66961693e-01 -4.93530409e-03 -3.26716158e+01] [-1.96292918e-02 -7.09871527e-05 9.99807324e-01 -1.00289220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.69, Y:-32.68, Z:-1.00 [[ 9.67319964e-01 2.52824236e-01 1.92871252e-02 3.26689273e+02] [-2.52774536e-01 9.67512225e-01 -5.01288490e-03 -3.26804458e+01] [-1.99279082e-02 -2.62304750e-05 9.99801419e-01 -1.00279938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.72, Y:-32.69, Z:-1.00 [[ 9.67884027e-01 2.50801685e-01 1.72923477e-02 3.26720490e+02] [-2.50761368e-01 9.68038488e-01 -4.49685199e-03 -3.26888729e+01] [-1.78674762e-02 1.61784540e-05 9.99840364e-01 -1.00161358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.75, Y:-32.70, Z:-1.00 [[ 9.67762352e-01 2.51004206e-01 2.08067117e-02 3.26750492e+02] [-2.50945849e-01 9.67985996e-01 -5.41229673e-03 -3.26982213e+01] [-2.14991148e-02 1.64590830e-05 9.99768867e-01 -1.00257782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09592 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:326.78, Y:-32.71, Z:-1.00 [[ 9.67591696e-01 2.51409154e-01 2.36589801e-02 3.26781355e+02] [-2.51333738e-01 9.67880900e-01 -6.15750312e-03 -3.27071261e+01] [-2.44471276e-02 1.16489750e-05 9.99701124e-01 -1.00308640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.81, Y:-32.72, Z:-1.00 [[ 9.67081851e-01 2.53205119e-01 2.52954607e-02 3.26811966e+02] [-2.53119430e-01 9.67412614e-01 -6.58693030e-03 -3.27166040e+01] [-2.61389923e-02 -3.26718495e-05 9.99658318e-01 -1.00282722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.84, Y:-32.73, Z:-1.00 [[ 9.66020257e-01 2.57304877e-01 2.44757715e-02 3.26842731e+02] [-2.57225881e-01 9.66330265e-01 -6.37687364e-03 -3.27275527e+01] [-2.52924794e-02 -1.35612753e-04 9.99680085e-01 -1.00221505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.87, Y:-32.74, Z:-1.00 [[ 9.65424892e-01 2.59519811e-01 2.45814118e-02 3.26873723e+02] [-2.59440762e-01 9.65737765e-01 -6.40779733e-03 -3.27367091e+01] [-2.54021480e-02 -1.91173167e-04 9.99677295e-01 -1.00199357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.90, Y:-32.75, Z:-1.00 [[ 9.65093698e-01 2.60877018e-01 2.31805203e-02 3.26903498e+02] [-2.60807037e-01 9.65372020e-01 -6.04582579e-03 -3.27494647e+01] [-2.39550428e-02 -2.10854466e-04 9.99713015e-01 -1.00214182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.94, Y:-32.76, Z:-1.00 [[ 9.65134725e-01 2.60697735e-01 2.34872906e-02 3.26935206e+02] [-2.60625718e-01 9.65420452e-01 -6.13075144e-03 -3.27604598e+01] [-2.42733837e-02 -2.04390850e-04 9.99705337e-01 -1.00151270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.97, Y:-32.77, Z:-1.00 [[ 9.65712933e-01 2.58521152e-01 2.37769626e-02 3.26965875e+02] [-2.58446603e-01 9.66005586e-01 -6.20978879e-03 -3.27698677e+01] [-2.45740405e-02 -1.48201866e-04 9.99698002e-01 -1.00243609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.00, Y:-32.78, Z:-1.00 [[ 9.66721980e-01 2.54742435e-01 2.35564030e-02 3.26996427e+02] [-2.54668059e-01 9.67008940e-01 -6.15550215e-03 -3.27789553e+01] [-2.43473199e-02 -4.84042131e-05 9.99703559e-01 -1.00253451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.03, Y:-32.79, Z:-1.00 [[ 9.67186708e-01 2.52901360e-01 2.43058551e-02 3.27027609e+02] [-2.52821509e-01 9.67492068e-01 -6.35475808e-03 -3.27881983e+01] [-2.51228489e-02 1.19460049e-06 9.99684371e-01 -1.00310960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.06, Y:-32.80, Z:-1.00 [[ 9.67503483e-01 2.51714055e-01 2.40217722e-02 3.27058204e+02] [-2.51635569e-01 9.67801650e-01 -6.28548386e-03 -3.28011139e+01] [-2.48304554e-02 3.64952219e-05 9.99691676e-01 -1.00354387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.09, Y:-32.81, Z:-1.00 [[ 9.67184076e-01 2.52881350e-01 2.46167887e-02 3.27089014e+02] [-2.52799216e-01 9.67497298e-01 -6.44468777e-03 -3.28113732e+01] [-2.54464179e-02 1.00945098e-05 9.99676187e-01 -1.00460384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42591999999996 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:327.12, Y:-32.82, Z:-1.01 [[ 9.65978756e-01 2.57380217e-01 2.53074548e-02 3.27119428e+02] [-2.57294858e-01 9.66310205e-01 -6.62902889e-03 -3.28211643e+01] [-2.61610327e-02 -1.07976899e-04 9.99657736e-01 -1.00554073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.15, Y:-32.83, Z:-1.00 [[ 9.65352398e-01 2.59720018e-01 2.53033549e-02 3.27150831e+02] [-2.59635397e-01 9.65683946e-01 -6.63149121e-03 -3.28290886e+01] [-2.61573747e-02 -1.67920660e-04 9.99657823e-01 -1.00428626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.18, Y:-32.84, Z:-1.00 [[ 9.64665114e-01 2.62117243e-01 2.67538497e-02 3.27181897e+02] [-2.62023456e-01 9.65036006e-01 -7.01542833e-03 -3.28368048e+01] [-2.76572930e-02 -2.42597197e-04 9.99617434e-01 -1.00413183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51592 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:327.21, Y:-32.84, Z:-1.00 [[ 9.64584621e-01 2.62531872e-01 2.55641179e-02 3.27213434e+02] [-2.62446293e-01 9.64923292e-01 -6.70706308e-03 -3.28427620e+01] [-2.64282306e-02 -2.39678079e-04 9.99650685e-01 -1.00430632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.25, Y:-32.85, Z:-1.00 [[ 9.64569158e-01 2.62559313e-01 2.58639979e-02 3.27246035e+02] [-2.62471578e-01 9.64915826e-01 -6.79117431e-03 -3.28499389e+01] [-2.67396669e-02 -2.38007072e-04 9.99642403e-01 -1.00449800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.28, Y:-32.85, Z:-1.00 [[ 9.65144368e-01 2.60017180e-01 2.97894948e-02 3.27278411e+02] [-2.59899444e-01 9.65603972e-01 -7.82615525e-03 -3.28545344e+01] [-3.07997893e-02 -1.88903468e-04 9.99525556e-01 -1.00477512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.31, Y:-32.86, Z:-1.01 [[ 9.65495331e-01 2.58583406e-01 3.08769796e-02 3.27309688e+02] [-2.58456043e-01 9.65988924e-01 -8.11617905e-03 -3.28610100e+01] [-3.19255295e-02 -1.44208989e-04 9.99490240e-01 -1.00538602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.34, Y:-32.87, Z:-1.01 [[ 9.65844344e-01 2.57500274e-01 2.89536046e-02 3.27341057e+02] [-2.57387680e-01 9.66278220e-01 -7.61464555e-03 -3.28683506e+01] [-2.99380108e-02 -9.77387863e-05 9.99551753e-01 -1.00589506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.37, Y:-32.88, Z:-1.01 [[ 9.66370820e-01 2.55587627e-01 2.83267180e-02 3.27372303e+02] [-2.55478918e-01 9.66785894e-01 -7.45374027e-03 -3.28752131e+01] [-2.92909552e-02 -3.38021862e-05 9.99570927e-01 -1.00678017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.40, Y:-32.88, Z:-1.01 [[ 9.66294080e-01 2.55942210e-01 2.77368935e-02 3.27403217e+02] [-2.55838018e-01 9.66692083e-01 -7.30240462e-03 -3.28825693e+01] [-2.86820290e-02 -3.98815099e-05 9.99588585e-01 -1.00651259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.43, Y:-32.89, Z:-1.01 [[ 9.65769609e-01 2.57787989e-01 2.88862566e-02 3.27433837e+02] [-2.57675715e-01 9.66201503e-01 -7.60805269e-03 -3.28908078e+01] [-2.98712091e-02 -9.56607294e-05 9.99553751e-01 -1.00561072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.47, Y:-32.90, Z:-1.01 [[ 9.65543173e-01 2.58571728e-01 2.94456035e-02 3.27465016e+02] [-2.58455272e-01 9.65992054e-01 -7.76045889e-03 -3.29002322e+01] [-3.04508543e-02 -1.17313369e-04 9.99536258e-01 -1.00557706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.50, Y:-32.91, Z:-1.00 [[ 9.65233370e-01 2.60012590e-01 2.67954235e-02 3.27496006e+02] [-2.59916605e-01 9.65605216e-01 -7.06581658e-03 -3.29104531e+01] [-2.77110020e-02 -1.44413585e-04 9.99615966e-01 -1.00473180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.53, Y:-32.92, Z:-1.01 [[ 9.64275009e-01 2.63477566e-01 2.74459488e-02 3.27526861e+02] [-2.63378156e-01 9.64665492e-01 -7.24122243e-03 -3.29213284e+01] [-2.83840593e-02 -2.46133538e-04 9.99597061e-01 -1.00686371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.56, Y:-32.93, Z:-1.01 [[ 9.63811725e-01 2.65211701e-01 2.70131727e-02 3.27558467e+02] [-2.65115925e-01 9.64190163e-01 -7.13267291e-03 -3.29300865e+01] [-2.79375037e-02 -2.87068501e-04 9.99609631e-01 -1.00676089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.59, Y:-32.94, Z:-1.01 [[ 9.63000039e-01 2.67982513e-01 2.85709256e-02 3.27590044e+02] [-2.67876468e-01 9.63423700e-01 -7.54803453e-03 -3.29376749e+01] [-2.95486481e-02 -3.84721097e-04 9.99563269e-01 -1.00665772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.62, Y:-32.95, Z:-1.01 [[ 9.62621179e-01 2.69565908e-01 2.63569207e-02 3.27621681e+02] [-2.69476156e-01 9.62981861e-01 -6.96682887e-03 -3.29456266e+01] [-2.72592561e-02 -3.96144652e-04 9.99628319e-01 -1.00578194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.65, Y:-32.95, Z:-1.01 [[ 9.62130802e-01 2.71033739e-01 2.90694293e-02 3.27652692e+02] [-2.70925107e-01 9.62569729e-01 -7.68789684e-03 -3.29530178e+01] [-3.00650321e-02 -4.78875885e-04 9.99547830e-01 -1.00704938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.68, Y:-32.96, Z:-1.01 [[ 9.62011171e-01 2.71627454e-01 2.74414365e-02 3.27683664e+02] [-2.71530783e-01 9.62402363e-01 -7.26117817e-03 -3.29605273e+01] [-2.83820387e-02 -4.65860216e-04 9.99597040e-01 -1.00587175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99591999999996 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:327.72, Y:-32.97, Z:-1.01 [[ 9.61542085e-01 2.73390300e-01 2.63545445e-02 3.27715685e+02] [-2.73301648e-01 9.61903063e-01 -6.97906655e-03 -3.29673110e+01] [-2.72585262e-02 -4.92074250e-04 9.99628296e-01 -1.00571135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.02592 meters Centerline goodness [0,1] 0.9999502685498309 Centerline is valid? [True, True] Translation: X:327.75, Y:-32.97, Z:-1.01 [[ 9.61445519e-01 2.73904680e-01 2.44691524e-02 3.27747040e+02] [-2.73828339e-01 9.61756730e-01 -6.48326028e-03 -3.29742008e+01] [-2.53091673e-02 -4.67045827e-04 9.99679563e-01 -1.00502928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.78, Y:-32.98, Z:-1.01 [[ 9.61341888e-01 2.73987703e-01 2.74319552e-02 3.27779461e+02] [-2.73891676e-01 9.61733053e-01 -7.27214372e-03 -3.29775142e+01] [-2.83746960e-02 -5.22367823e-04 9.99597221e-01 -1.00531965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.81, Y:-32.98, Z:-1.01 [[ 9.61142423e-01 2.74560290e-01 2.86686320e-02 3.27811573e+02] [-2.74455543e-01 9.61569724e-01 -7.60401327e-03 -3.29826492e+01] [-2.96546486e-02 -5.59725204e-04 9.99560047e-01 -1.00607007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11591999999996 meters Centerline goodness [0,1] 0.9999006606069637 Centerline is valid? [True, True] Translation: X:327.84, Y:-32.99, Z:-1.01 [[ 9.61245033e-01 2.74157494e-01 2.90801525e-02 3.27844079e+02] [-2.74049350e-01 9.61684650e-01 -7.71927238e-03 -3.29877435e+01] [-3.00822327e-02 -5.49284650e-04 9.99547276e-01 -1.00784232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.88, Y:-32.99, Z:-1.01 [[ 9.61455745e-01 2.73624669e-01 2.70627264e-02 3.27876879e+02] [-2.73530694e-01 9.61836420e-01 -7.18756746e-03 -3.29907680e+01] [-2.79966116e-02 -4.91958291e-04 9.99607897e-01 -1.00696976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17591999999996 meters Centerline goodness [0,1] 0.9998505752851522 Centerline is valid? [True, True] Translation: X:327.91, Y:-33.00, Z:-1.01 [[ 9.61542286e-01 2.73382759e-01 2.64253511e-02 3.27908732e+02] [-2.73292966e-01 9.61905217e-01 -7.02197638e-03 -3.29964649e+01] [-2.73383704e-02 -4.69935385e-04 9.99626126e-01 -1.00649704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.94, Y:-33.00, Z:-1.01 [[ 9.61767067e-01 2.72622627e-01 2.60961896e-02 3.27941313e+02] [-2.72534679e-01 9.62120944e-01 -6.93818198e-03 -3.30010087e+01] [-2.69991960e-02 -4.39201724e-04 9.99635359e-01 -1.00701061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23591999999996 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:327.97, Y:-33.00, Z:-1.01 [[ 9.62711717e-01 2.69288162e-01 2.58850537e-02 3.27974153e+02] [-2.69200329e-01 9.63059588e-01 -6.88568104e-03 -3.30011620e+01] [-2.67830816e-02 -3.39339153e-04 9.99641211e-01 -1.00587581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.01, Y:-33.01, Z:-1.01 [[ 9.63214245e-01 2.67371174e-01 2.70365264e-02 3.28006384e+02] [-2.67274489e-01 9.63593570e-01 -7.19577336e-03 -3.30070363e+01] [-2.79761654e-02 -2.95102367e-04 9.99608547e-01 -1.00704847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29591999999997 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:328.04, Y:-33.01, Z:-1.01 [[ 9.64965206e-01 2.61116976e-01 2.56919364e-02 3.28039200e+02] [-2.61027355e-01 9.65307160e-01 -6.84149221e-03 -3.30096085e+01] [-2.65870399e-02 -1.04496274e-04 9.99646497e-01 -1.00698967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.07, Y:-33.01, Z:-1.01 [[ 9.65515677e-01 2.59176303e-01 2.46398274e-02 3.28069925e+02] [-2.59093196e-01 9.65830027e-01 -6.56308168e-03 -3.30148661e+01] [-2.54988804e-02 -4.72533902e-05 9.99674850e-01 -1.00721397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35591999999997 meters Centerline goodness [0,1] 0.999950231423879 Centerline is valid? [True, True] Translation: X:328.10, Y:-33.02, Z:-1.01 [[ 9.65907115e-01 2.57779454e-01 2.39415663e-02 3.28100875e+02] [-2.57700521e-01 9.66203784e-01 -6.37876261e-03 -3.30210413e+01] [-2.47767459e-02 -8.46191406e-06 9.99693009e-01 -1.00697795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.13, Y:-33.03, Z:-1.01 [[ 9.66248726e-01 2.56296739e-01 2.59880983e-02 3.28131746e+02] [-2.56203146e-01 9.66598149e-01 -6.92585427e-03 -3.30278071e+01] [-2.68951216e-02 3.38653206e-05 9.99638260e-01 -1.00716504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.16, Y:-33.03, Z:-1.01 [[ 9.66359689e-01 2.55949808e-01 2.52714696e-02 3.28163081e+02] [-2.55861095e-01 9.66690071e-01 -6.73843344e-03 -3.30343807e+01] [-2.61543794e-02 4.57645618e-05 9.99657915e-01 -1.00638504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44591999999994 meters Centerline goodness [0,1] 0.9999503869815439 Centerline is valid? [True, True] Translation: X:328.19, Y:-33.04, Z:-1.01 [[ 9.66291908e-01 2.56266264e-01 2.46485548e-02 3.28194341e+02] [-2.56181929e-01 9.66606228e-01 -6.57408404e-03 -3.30391293e+01] [-2.55101626e-02 3.79698760e-05 9.99674562e-01 -1.00598963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47592 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:328.22, Y:-33.05, Z:-1.01 [[ 9.66205351e-01 2.56541033e-01 2.51777128e-02 3.28223641e+02] [-2.56453130e-01 9.66533340e-01 -6.71527354e-03 -3.30463692e+01] [-2.60578420e-02 3.14299903e-05 9.99660436e-01 -1.00724484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.25, Y:-33.05, Z:-1.01 [[ 9.65979086e-01 2.57490248e-01 2.41490662e-02 3.28253842e+02] [-2.57409638e-01 9.66280897e-01 -6.44252230e-03 -3.30546629e+01] [-2.49936680e-02 7.13942031e-06 9.99687609e-01 -1.00620565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.28, Y:-33.06, Z:-1.01 [[ 9.65989016e-01 2.57413231e-01 2.45692917e-02 3.28283579e+02] [-2.57329764e-01 9.66301417e-01 -6.55468695e-03 -3.30627329e+01] [-2.54286045e-02 9.34554556e-06 9.99676641e-01 -1.00574214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56591999999995 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:328.31, Y:-33.07, Z:-1.00 [[ 9.66363993e-01 2.55962986e-01 2.49716444e-02 3.28312864e+02] [-2.55876300e-01 9.66686582e-01 -6.66119641e-03 -3.30693144e+01] [-2.58447733e-02 4.74884020e-05 9.99665967e-01 -1.00482630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59592 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:328.34, Y:-33.08, Z:-1.00 [[ 9.66363993e-01 2.55962986e-01 2.49716513e-02 3.28341859e+02] [-2.55876300e-01 9.66686582e-01 -6.66117055e-03 -3.30770490e+01] [-2.58447733e-02 4.74616261e-05 9.99665967e-01 -1.00485132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.37, Y:-33.08, Z:-1.01 [[ 9.66537289e-01 2.55278894e-01 2.52656996e-02 3.28371473e+02] [-2.55189922e-01 9.66867458e-01 -6.73960774e-03 -3.30842858e+01] [-2.61490624e-02 6.65302858e-05 9.99658053e-01 -1.00613971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65592 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:328.40, Y:-33.09, Z:-1.01 [[ 9.66639781e-01 2.55015453e-01 2.39718993e-02 3.28400895e+02] [-2.54935279e-01 9.66936975e-01 -6.39448742e-03 -3.30918869e+01] [-2.48100089e-02 6.98830599e-05 9.99692182e-01 -1.00579526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.43, Y:-33.10, Z:-1.00 [[ 9.66740949e-01 2.54835300e-01 2.17004160e-02 3.28430721e+02] [-2.54769557e-01 9.66984470e-01 -5.78857082e-03 -3.30990947e+01] [-2.24590974e-02 6.74430846e-05 9.99747760e-01 -1.00491529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:328.46, Y:-33.11, Z:-1.00 [[ 9.66830475e-01 2.54552007e-01 2.10263626e-02 3.28458622e+02] [-2.54490430e-01 9.67059084e-01 -5.59902945e-03 -3.31053033e+01] [-2.17589791e-02 6.23042682e-05 9.99763243e-01 -1.00455702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74591999999996 meters Centerline goodness [0,1] 0.9999503820581522 Centerline is valid? [True, True] Translation: X:328.49, Y:-33.11, Z:-1.00 [[ 9.66855894e-01 2.54427720e-01 2.13592011e-02 3.28486486e+02] [-2.54364373e-01 9.67091791e-01 -5.67743018e-03 -3.31132831e+01] [-2.21008036e-02 5.62370374e-05 9.99755746e-01 -1.00424674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.77592 meters Centerline goodness [0,1] 0.9999502438053538 Centerline is valid? [True, True] Translation: X:328.51, Y:-33.12, Z:-1.00 [[ 9.66758237e-01 2.54612057e-01 2.34778809e-02 3.28514730e+02] [-2.54535846e-01 9.67043276e-01 -6.22934651e-03 -3.31206612e+01] [-2.42901936e-02 4.63097794e-05 9.99704949e-01 -1.00401134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80591999999996 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:328.54, Y:-33.13, Z:-1.00 [[ 9.66675588e-01 2.54934957e-01 2.33768223e-02 3.28543361e+02] [-2.54859542e-01 9.66958203e-01 -6.20060674e-03 -3.31277637e+01] [-2.41851615e-02 3.61689297e-05 9.99707496e-01 -1.00293449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.57, Y:-33.14, Z:-1.00 [[ 9.66489763e-01 2.55807701e-01 2.14466134e-02 3.28572427e+02] [-2.55744475e-01 9.66727686e-01 -5.68715572e-03 -3.31350034e+01] [-2.21878532e-02 1.17248954e-05 9.99753819e-01 -1.00142884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.60, Y:-33.14, Z:-1.00 [[ 9.66309567e-01 2.56372639e-01 2.27791663e-02 3.28600364e+02] [-2.56301718e-01 9.66578021e-01 -6.02985987e-03 -3.31405888e+01] [-2.35637325e-02 -1.16281708e-05 9.99722337e-01 -1.00315308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89592 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:328.63, Y:-33.15, Z:-1.00 [[ 9.66489246e-01 2.55710345e-01 2.25999323e-02 3.28628093e+02] [-2.55640608e-01 9.66753443e-01 -5.97161695e-03 -3.31471783e+01] [-2.33755666e-02 -5.95687162e-06 9.99726754e-01 -1.00335508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92591999999996 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:328.66, Y:-33.15, Z:-1.00 [[ 9.66625986e-01 2.55122840e-01 2.33782009e-02 3.28655631e+02] [-2.55048318e-01 9.66908649e-01 -6.16596059e-03 -3.31540738e+01] [-2.41776620e-02 -2.39308036e-06 9.99707678e-01 -1.00411159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.68, Y:-33.16, Z:-1.00 [[ 9.66685044e-01 2.54970145e-01 2.25887231e-02 3.28684209e+02] [-2.54900783e-01 9.66948926e-01 -5.94690815e-03 -3.31584696e+01] [-2.33584256e-02 -9.09604398e-06 9.99727155e-01 -1.00338649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.71, Y:-33.16, Z:-1.00 [[ 9.66509166e-01 2.55524966e-01 2.38122659e-02 3.28712482e+02] [-2.55448339e-01 9.66802457e-01 -6.25745150e-03 -3.31645297e+01] [-2.46206923e-02 -3.49195389e-05 9.99696864e-01 -1.00398757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.74, Y:-33.17, Z:-1.00 [[ 9.66831385e-01 2.54502820e-01 2.15728315e-02 3.28740627e+02] [-2.54439904e-01 9.67072032e-01 -5.65869205e-03 -3.31695376e+01] [-2.23026351e-02 -1.79881120e-05 9.99751265e-01 -1.00190150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04591999999997 meters Centerline goodness [0,1] 0.9998015183843596 Centerline is valid? [True, True] Translation: X:328.77, Y:-33.18, Z:-1.00 [[ 9.67193196e-01 2.53093441e-01 2.19324386e-02 3.28768058e+02] [-2.53028319e-01 9.67441838e-01 -5.74107639e-03 -3.31765164e+01] [-2.26713874e-02 3.20196694e-06 9.99742971e-01 -1.00228706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07592 meters Centerline goodness [0,1] 0.9996526744070656 Centerline is valid? [True, True] Translation: X:328.80, Y:-33.18, Z:-1.00 [[ 9.67396942e-01 2.52084358e-01 2.44260762e-02 3.28796899e+02] [-2.52003559e-01 9.67705263e-01 -6.38201961e-03 -3.31814921e+01] [-2.52460498e-02 1.84881244e-05 9.99681268e-01 -1.00305623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.82, Y:-33.19, Z:-1.00 [[ 9.67615750e-01 2.51210044e-01 2.47643857e-02 3.28824214e+02] [-2.51127048e-01 9.67932597e-01 -6.45699199e-03 -3.31872395e+01] [-2.55923174e-02 2.88800592e-05 9.99672463e-01 -1.00262694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13592 meters Centerline goodness [0,1] 0.9998016561709724 Centerline is valid? [True, True] Translation: X:328.85, Y:-33.19, Z:-1.00 [[ 9.67793482e-01 2.50447740e-01 2.55285416e-02 3.28851848e+02] [-2.50359598e-01 9.68130119e-01 -6.64409963e-03 -3.31935318e+01] [-2.63789497e-02 3.88009234e-05 9.99652014e-01 -1.00306550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16591999999997 meters Centerline goodness [0,1] 0.999950411583854 Centerline is valid? [True, True] Translation: X:328.88, Y:-33.20, Z:-1.00 [[ 9.67877075e-01 2.50160388e-01 2.51743480e-02 3.28879293e+02] [-2.50074800e-01 9.68204410e-01 -6.54334821e-03 -3.32006151e+01] [-2.60108012e-02 3.76866987e-05 9.99661661e-01 -1.00187841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19591999999994 meters Centerline goodness [0,1] 0.9999007247096198 Centerline is valid? [True, True] Translation: X:328.91, Y:-33.21, Z:-1.00 [[ 9.67846382e-01 2.50163109e-01 2.63020667e-02 3.28907144e+02] [-2.50070021e-01 9.68203707e-01 -6.82396106e-03 -3.32080339e+01] [-2.71728618e-02 2.71876386e-05 9.99630749e-01 -1.00247363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22592 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:328.94, Y:-33.21, Z:-1.00 [[ 9.67829466e-01 2.50213753e-01 2.64424387e-02 3.28935328e+02] [-2.50120032e-01 9.68190620e-01 -6.84778482e-03 -3.32149537e+01] [-2.73147310e-02 1.37043315e-05 9.99626883e-01 -1.00219612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25591999999995 meters Centerline goodness [0,1] 0.9996031549183987 Centerline is valid? [True, True] Translation: X:328.96, Y:-33.22, Z:-1.00 [[ 9.67638846e-01 2.50926631e-01 2.66624998e-02 3.28962655e+02] [-2.50831963e-01 9.68006108e-01 -6.89209835e-03 -3.32234465e+01] [-2.75388737e-02 -1.87450660e-05 9.99620733e-01 -1.00166503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:328.99, Y:-33.23, Z:-1.00 [[ 9.67550193e-01 2.51160230e-01 2.76615755e-02 3.28990874e+02] [-2.51058491e-01 9.67945524e-01 -7.14812564e-03 -3.32320652e+01] [-2.85702231e-02 -2.85030706e-05 9.99591787e-01 -1.00180009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31591999999995 meters Centerline goodness [0,1] 0.9999007049945388 Centerline is valid? [True, True] Translation: X:329.02, Y:-33.24, Z:-1.00 [[ 9.67229132e-01 2.52421937e-01 2.74038631e-02 3.29019707e+02] [-2.52322644e-01 9.67617260e-01 -7.07968542e-03 -3.32396588e+01] [-2.83035188e-02 -6.69372059e-05 9.99599373e-01 -1.00152704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34592 meters Centerline goodness [0,1] 0.9999007099240431 Centerline is valid? [True, True] Translation: X:329.05, Y:-33.25, Z:-1.00 [[ 9.67065048e-01 2.53063632e-01 2.72762105e-02 3.29048634e+02] [-2.52965569e-01 9.67449632e-01 -7.04485613e-03 -3.32460527e+01] [-2.81711567e-02 -8.71079959e-05 9.99603110e-01 -1.00204761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37591999999995 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:329.08, Y:-33.25, Z:-1.00 [[ 9.67195779e-01 2.52694417e-01 2.60356836e-02 3.29076468e+02] [-2.52605263e-01 9.67546136e-01 -6.71242086e-03 -3.32514880e+01] [-2.68869163e-02 -8.45255717e-05 9.99638478e-01 -1.00149350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40592 meters Centerline goodness [0,1] 0.9997023366572406 Centerline is valid? [True, True] Translation: X:329.10, Y:-33.26, Z:-1.00 [[ 9.67525297e-01 2.51443153e-01 2.59063730e-02 3.29104460e+02] [-2.51354766e-01 9.67872066e-01 -6.66667662e-03 -3.32581862e+01] [-2.67503450e-02 -6.15120675e-05 9.99642144e-01 -1.00084951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43591999999995 meters Centerline goodness [0,1] 0.9997520825069417 Centerline is valid? [True, True] Translation: X:329.13, Y:-33.26, Z:-1.00 [[ 9.67635193e-01 2.51045419e-01 2.56579532e-02 3.29131978e+02] [-2.50958951e-01 9.67975306e-01 -6.58869847e-03 -3.32648123e+01] [-2.64903276e-02 -6.36365022e-05 9.99649068e-01 -1.00092877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46592 meters Centerline goodness [0,1] 0.999652260307998 Centerline is valid? [True, True] Translation: X:329.16, Y:-33.27, Z:-1.00 [[ 9.68107798e-01 2.49152119e-01 2.62776337e-02 3.29160106e+02] [-2.49061068e-01 9.68464362e-01 -6.73523468e-03 -3.32710549e+01] [-2.71270497e-02 -2.43022925e-05 9.99631994e-01 -1.00126644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.19, Y:-33.28, Z:-1.00 [[ 9.69259216e-01 2.44762697e-01 2.50558217e-02 3.29187946e+02] [-2.44678759e-01 9.69583011e-01 -6.41012450e-03 -3.32790920e+01] [-2.58626584e-02 8.24448770e-05 9.99665502e-01 -1.00195044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.52592 meters Centerline goodness [0,1] 0.9994044073853484 Centerline is valid? [True, True] Translation: X:329.21, Y:-33.29, Z:-1.00 [[ 9.70179447e-01 2.41122922e-01 2.47300971e-02 3.29214781e+02] [-2.41040306e-01 9.70494570e-01 -6.31355588e-03 -3.32864240e+01] [-2.55227680e-02 1.64331955e-04 9.99674228e-01 -1.00257993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55591999999996 meters Centerline goodness [0,1] 0.9991057677977048 Centerline is valid? [True, True] Translation: X:329.24, Y:-33.29, Z:-1.00 [[ 9.71525674e-01 2.35665331e-01 2.44891093e-02 3.29243048e+02] [-2.35582874e-01 9.71834227e-01 -6.24053753e-03 -3.32937361e+01] [-2.52700330e-02 2.93627685e-04 9.99680619e-01 -1.00223943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58592 meters Centerline goodness [0,1] 0.9997016409746395 Centerline is valid? [True, True] Translation: X:329.27, Y:-33.30, Z:-1.00 [[ 9.72046246e-01 2.33630125e-01 2.33036518e-02 3.29270939e+02] [-2.33555132e-01 9.72325492e-01 -5.92767644e-03 -3.33018759e+01] [-2.40436185e-02 3.19288173e-04 9.99710859e-01 -1.00224960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61591999999996 meters Centerline goodness [0,1] 0.9996523466600447 Centerline is valid? [True, True] Translation: X:329.30, Y:-33.31, Z:-1.00 [[ 9.72540971e-01 2.31559114e-01 2.33331629e-02 3.29297909e+02] [-2.31483595e-01 9.72820768e-01 -5.92442966e-03 -3.33109696e+01] [-2.40708411e-02 3.60506163e-04 9.99710190e-01 -1.00183026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64592 meters Centerline goodness [0,1] 0.998804066175005 Centerline is valid? [True, True] Translation: X:329.33, Y:-33.32, Z:-1.00 [[ 9.73142715e-01 2.29187908e-01 2.15907142e-02 3.29325064e+02] [-2.29122886e-01 9.73382124e-01 -5.47208163e-03 -3.33210266e+01] [-2.22701502e-02 3.78189636e-04 9.99751918e-01 -1.00146108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67591999999996 meters Centerline goodness [0,1] 0.9989059625043513 Centerline is valid? [True, True] Translation: X:329.35, Y:-33.33, Z:-1.00 [[ 9.73441571e-01 2.27863192e-01 2.21330951e-02 3.29352512e+02] [-2.27794753e-01 9.73693072e-01 -5.59928382e-03 -3.33281373e+01] [-2.28267121e-02 4.08772708e-04 9.99739353e-01 -1.00109597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70592 meters Centerline goodness [0,1] 0.9994533618247776 Centerline is valid? [True, True] Translation: X:329.38, Y:-33.34, Z:-1.00 [[ 9.73488061e-01 2.27631354e-01 2.24713310e-02 3.29378768e+02] [-2.27561018e-01 9.73747297e-01 -5.67307449e-03 -3.33363138e+01] [-2.31727675e-02 4.09071315e-04 9.99731392e-01 -1.00112132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73591999999996 meters Centerline goodness [0,1] 0.999304658786133 Centerline is valid? [True, True] Translation: X:329.40, Y:-33.35, Z:-1.00 [[ 9.73510123e-01 2.27294673e-01 2.48026667e-02 3.29404618e+02] [-2.27208985e-01 9.73825921e-01 -6.25724948e-03 -3.33494574e+01] [-2.55757192e-02 4.56106981e-04 9.99672784e-01 -1.00094765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76592 meters Centerline goodness [0,1] 0.9996027016289233 Centerline is valid? [True, True] Translation: X:329.43, Y:-33.36, Z:-1.00 [[ 9.73570278e-01 2.26874947e-01 2.62425702e-02 3.29432868e+02] [-2.26778894e-01 9.73923773e-01 -6.61953621e-03 -3.33602323e+01] [-2.70600699e-02 4.93322679e-04 9.99633688e-01 -1.00177643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79591999999997 meters Centerline goodness [0,1] 0.9990557598648245 Centerline is valid? [True, True] Translation: X:329.46, Y:-33.37, Z:-1.00 [[ 9.73817560e-01 2.26126713e-01 2.33681207e-02 3.29461767e+02] [-2.26050303e-01 9.74097787e-01 -5.89592171e-03 -3.33722697e+01] [-2.40960600e-02 4.59181344e-04 9.99709542e-01 -1.00112427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82592 meters Centerline goodness [0,1] 0.9988060295507686 Centerline is valid? [True, True] Translation: X:329.49, Y:-33.38, Z:-1.00 [[ 9.73753427e-01 2.26290513e-01 2.44308619e-02 3.29490508e+02] [-2.26207043e-01 9.74059740e-01 -6.16411302e-03 -3.33817015e+01] [-2.51919993e-02 4.75893159e-04 9.99682518e-01 -1.00196544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85591999999997 meters Centerline goodness [0,1] 0.9991547755183214 Centerline is valid? [True, True] Translation: X:329.52, Y:-33.39, Z:-1.00 [[ 9.73634898e-01 2.26921195e-01 2.32778131e-02 3.29519801e+02] [-2.26845582e-01 9.73913024e-01 -5.87392325e-03 -3.33919249e+01] [-2.40034830e-02 4.38587608e-04 9.99711779e-01 -1.00067653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88592 meters Centerline goodness [0,1] 0.9992037424106699 Centerline is valid? [True, True] Translation: X:329.55, Y:-33.40, Z:-1.00 [[ 9.73075941e-01 2.29406601e-01 2.22671248e-02 3.29549065e+02] [-2.29338029e-01 9.73330612e-01 -5.62033741e-03 -3.34042984e+01] [-2.29626168e-02 3.62316591e-04 9.99736259e-01 -9.98629088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91591999999997 meters Centerline goodness [0,1] 0.9994036378093629 Centerline is valid? [True, True] Translation: X:329.58, Y:-33.42, Z:-1.00 [[ 9.72359905e-01 2.32399722e-01 2.25074224e-02 3.29578246e+02] [-2.32330428e-01 9.72620317e-01 -5.68248497e-03 -3.34151565e+01] [-2.32117843e-02 2.96261448e-04 9.99730526e-01 -9.98189397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94591999999994 meters Centerline goodness [0,1] 0.9997510703972916 Centerline is valid? [True, True] Translation: X:329.61, Y:-33.43, Z:-1.00 [[ 9.71561739e-01 2.36005169e-01 1.92184271e-02 3.29606768e+02] [-2.35955328e-01 9.71751783e-01 -4.85338811e-03 -3.34298590e+01] [-1.98209654e-02 1.80675924e-04 9.99803529e-01 -9.98051174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97592 meters Centerline goodness [0,1] 0.9997016261375503 Centerline is valid? [True, True] Translation: X:329.64, Y:-33.44, Z:-1.00 [[ 9.71438976e-01 2.36454792e-01 1.98858538e-02 3.29636003e+02] [-2.36401522e-01 9.71642475e-01 -5.02199498e-03 -3.34405225e+01] [-2.05094150e-02 1.77515557e-04 9.99789644e-01 -9.98809601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00591999999995 meters Centerline goodness [0,1] 0.9995023142387897 Centerline is valid? [True, True] Translation: X:329.67, Y:-33.45, Z:-1.00 [[ 9.71368365e-01 2.36802019e-01 1.91912106e-02 3.29665864e+02] [-2.36752449e-01 9.71557912e-01 -4.84780849e-03 -3.34507030e+01] [-1.97933433e-02 1.65441702e-04 9.99804079e-01 -9.98202398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03592 meters Centerline goodness [0,1] 0.9997513798418776 Centerline is valid? [True, True] Translation: X:329.70, Y:-33.46, Z:-1.00 [[ 9.71290477e-01 2.37113565e-01 1.92864188e-02 3.29695390e+02] [-2.37063563e-01 9.71481926e-01 -4.87191337e-03 -3.34596798e+01] [-1.98916040e-02 1.59935906e-04 9.99802130e-01 -9.98092900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06591999999995 meters Centerline goodness [0,1] 0.9999007049945388 Centerline is valid? [True, True] Translation: X:329.73, Y:-33.47, Z:-1.00 [[ 9.71012549e-01 2.38302805e-01 1.86118883e-02 3.29726026e+02] [-2.38256435e-01 9.71190896e-01 -4.70272954e-03 -3.34670277e+01] [-1.91963701e-02 1.32007240e-04 9.99815724e-01 -9.97006604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09592 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:329.76, Y:-33.48, Z:-1.00 [[ 9.69884574e-01 2.42887484e-01 1.81544353e-02 3.29756273e+02] [-2.42844144e-01 9.70054467e-01 -4.58837410e-03 -3.34757995e+01] [-1.87252497e-02 4.14949538e-05 9.99824666e-01 -9.96106515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.79, Y:-33.48, Z:-1.00 [[ 9.69285389e-01 2.45120926e-01 2.00391348e-02 3.29785395e+02] [-2.45068595e-01 9.69492512e-01 -5.06477586e-03 -3.34832276e+01] [-2.06692737e-02 -1.74937024e-06 9.99786368e-01 -9.96643568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.82, Y:-33.49, Z:-1.00 [[ 9.68774456e-01 2.47246183e-01 1.85843647e-02 3.29816040e+02] [-2.47201542e-01 9.68952694e-01 -4.69831437e-03 -3.34901894e+01] [-1.91690106e-02 -4.24766750e-05 9.99816257e-01 -9.95216474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.85, Y:-33.49, Z:-0.99 [[ 9.68120794e-01 2.49875576e-01 1.74449082e-02 3.29846295e+02] [-2.49836668e-01 9.68277950e-01 -4.41030049e-03 -3.34938242e+01] [-1.79935464e-02 -8.86741343e-05 9.99838099e-01 -9.94707504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21592 meters Centerline goodness [0,1] 0.9999503401698366 Centerline is valid? [True, True] Translation: X:329.88, Y:-33.50, Z:-0.99 [[ 9.68175037e-01 2.49827363e-01 1.49461323e-02 3.29875968e+02] [-2.49798813e-01 9.68290392e-01 -3.77759633e-03 -3.34978994e+01] [-1.54159432e-02 -7.61516286e-05 9.99881164e-01 -9.93441381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24591999999996 meters Centerline goodness [0,1] 0.9999502487562189 Centerline is valid? [True, True] Translation: X:329.90, Y:-33.50, Z:-0.99 [[ 9.68468772e-01 2.48538174e-01 1.72340861e-02 3.29904296e+02] [-2.48500152e-01 9.68622099e-01 -4.34779537e-03 -3.35036193e+01] [-1.77739098e-02 -7.19689940e-05 9.99842029e-01 -9.93892523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.93, Y:-33.51, Z:-0.99 [[ 9.68916484e-01 2.46640154e-01 1.92218902e-02 3.29932369e+02] [-2.46592668e-01 9.69107131e-01 -4.83985134e-03 -3.35098826e+01] [-1.98217725e-02 -5.05654389e-05 9.99803528e-01 -9.94334333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30591999999996 meters Centerline goodness [0,1] 0.9999502165579728 Centerline is valid? [True, True] Translation: X:329.96, Y:-33.52, Z:-0.99 [[ 9.69418580e-01 2.44704216e-01 1.86403746e-02 3.29960953e+02] [-2.44659233e-01 9.69597776e-01 -4.69180623e-03 -3.35163450e+01] [-1.92217705e-02 -1.22156280e-05 9.99815245e-01 -9.94314922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33592 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:329.99, Y:-33.52, Z:-0.99 [[ 9.70303035e-01 2.41210612e-01 1.81510399e-02 3.29989305e+02] [-2.41167506e-01 9.70472791e-01 -4.56018757e-03 -3.35225994e+01] [-1.87150559e-02 4.73228227e-05 9.99824857e-01 -9.93482892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36591999999996 meters Centerline goodness [0,1] 0.9997510084159156 Centerline is valid? [True, True] Translation: X:330.02, Y:-33.53, Z:-0.99 [[ 9.70986294e-01 2.38484375e-01 1.76300994e-02 3.30017224e+02] [-2.38443413e-01 9.71146331e-01 -4.42080880e-03 -3.35290090e+01] [-1.81757001e-02 8.87636897e-05 9.99834804e-01 -9.94426943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39592 meters Centerline goodness [0,1] 0.9997512932749701 Centerline is valid? [True, True] Translation: X:330.05, Y:-33.54, Z:-0.99 [[ 9.71596096e-01 2.36058507e-01 1.66555605e-02 3.30045184e+02] [-2.36021730e-01 9.71738837e-01 -4.16847053e-03 -3.35373333e+01] [-1.71688579e-02 1.18995499e-04 9.99852597e-01 -9.94353413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42591999999996 meters Centerline goodness [0,1] 0.9994031038599284 Centerline is valid? [True, True] Translation: X:330.07, Y:-33.55, Z:-0.99 [[ 9.71819143e-01 2.35198690e-01 1.57838293e-02 3.30072814e+02] [-2.35165672e-01 9.71947304e-01 -3.94272019e-03 -3.35456974e+01] [-1.62683730e-02 1.19796131e-04 9.99867654e-01 -9.93654800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45592 meters Centerline goodness [0,1] 0.9998507462686567 Centerline is valid? [True, True] Translation: X:330.10, Y:-33.55, Z:-0.99 [[ 9.72014464e-01 2.34467521e-01 1.45898628e-02 3.30100522e+02] [-2.34439331e-01 9.72123947e-01 -3.63755258e-03 -3.35539123e+01] [-1.50360429e-02 1.15316048e-04 9.99886946e-01 -9.92403682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48591999999996 meters Centerline goodness [0,1] 0.9996014348345954 Centerline is valid? [True, True] Translation: X:330.13, Y:-33.56, Z:-0.99 [[ 9.71748813e-01 2.35661300e-01 1.29612967e-02 3.30127906e+02] [-2.35639241e-01 9.71835246e-01 -3.22536046e-03 -3.35619669e+01] [-1.33563376e-02 8.00500870e-05 9.99910797e-01 -9.90909130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51592 meters Centerline goodness [0,1] 0.9996014348345954 Centerline is valid? [True, True] Translation: X:330.15, Y:-33.57, Z:-0.99 [[ 9.71869951e-01 2.35161137e-01 1.29629418e-02 3.30154449e+02] [-2.35139121e-01 9.71956395e-01 -3.21874159e-03 -3.35689039e+01] [-1.33563371e-02 8.01034775e-05 9.99910797e-01 -9.90932032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54591999999997 meters Centerline goodness [0,1] 0.9994530356521307 Centerline is valid? [True, True] Translation: X:330.18, Y:-33.58, Z:-0.99 [[ 9.71689884e-01 2.35817429e-01 1.44537067e-02 3.30182605e+02] [-2.35790236e-01 9.71797373e-01 -3.58188732e-03 -3.35759922e+01] [-1.48907457e-02 7.24407628e-05 9.99889124e-01 -9.90650136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57592 meters Centerline goodness [0,1] 0.9998509835088416 Centerline is valid? [True, True] Translation: X:330.21, Y:-33.59, Z:-0.99 [[ 9.71624176e-01 2.36173592e-01 1.29805578e-02 3.30210071e+02] [-2.36151774e-01 9.71710879e-01 -3.21062323e-03 -3.35853127e+01] [-1.33716137e-02 5.41373968e-05 9.99910595e-01 -9.90362535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60591999999997 meters Centerline goodness [0,1] 0.9994041708043694 Centerline is valid? [True, True] Translation: X:330.24, Y:-33.59, Z:-0.99 [[ 9.71922865e-01 2.34988720e-01 1.20932446e-02 3.30236379e+02] [-2.34969773e-01 9.71998096e-01 -2.98456279e-03 -3.35943518e+01] [-1.24559493e-02 5.92178874e-05 9.99922420e-01 -9.89710117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63592 meters Centerline goodness [0,1] 0.9997018929795797 Centerline is valid? [True, True] Translation: X:330.26, Y:-33.60, Z:-0.99 [[ 9.72200917e-01 2.33842453e-01 1.19617441e-02 3.30262719e+02] [-2.33823911e-01 9.72274500e-01 -2.94550898e-03 -3.36033581e+01] [-1.23188838e-02 6.66847550e-05 9.99924117e-01 -9.89968276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66591999999997 meters Centerline goodness [0,1] 0.9989564180291209 Centerline is valid? [True, True] Translation: X:330.29, Y:-33.61, Z:-0.99 [[ 9.72759266e-01 2.31449890e-01 1.30521843e-02 3.30290297e+02] [-2.31427683e-01 9.72846822e-01 -3.20765949e-03 -3.36132447e+01] [-1.34401884e-02 9.96437237e-05 9.99909672e-01 -9.88440729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69591999999994 meters Centerline goodness [0,1] 0.9991059010530499 Centerline is valid? [True, True] Translation: X:330.32, Y:-33.62, Z:-0.99 [[ 9.72870765e-01 2.30901492e-01 1.43866287e-02 3.30317840e+02] [-2.30874554e-01 9.72977126e-01 -3.52870435e-03 -3.36216148e+01] [-1.48126437e-02 1.11466818e-04 9.99890281e-01 -9.89505558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72592 meters Centerline goodness [0,1] 0.9991050564311639 Centerline is valid? [True, True] Translation: X:330.35, Y:-33.63, Z:-0.99 [[ 9.72724020e-01 2.31553270e-01 1.38225972e-02 3.30345884e+02] [-2.31528486e-01 9.72822221e-01 -3.38911059e-03 -3.36311740e+01] [-1.42316894e-02 9.63442620e-05 9.99898720e-01 -9.88143065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75591999999995 meters Centerline goodness [0,1] 0.9991062118277968 Centerline is valid? [True, True] Translation: X:330.37, Y:-33.64, Z:-0.99 [[ 9.72436971e-01 2.32738265e-01 1.41151484e-02 3.30373300e+02] [-2.32712639e-01 9.72539405e-01 -3.45440331e-03 -3.36396122e+01] [-1.45315099e-02 7.44160534e-05 9.99894409e-01 -9.88681373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78592 meters Centerline goodness [0,1] 0.9993542297948438 Centerline is valid? [True, True] Translation: X:330.40, Y:-33.65, Z:-0.99 [[ 9.72016878e-01 2.34447118e-01 1.47559545e-02 3.30402375e+02] [-2.34419330e-01 9.72128873e-01 -3.60986531e-03 -3.36476084e+01] [-1.51910120e-02 4.97690376e-05 9.99884609e-01 -9.89168327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81591999999995 meters Centerline goodness [0,1] 0.9989565217391304 Centerline is valid? [True, True] Translation: X:330.43, Y:-33.65, Z:-0.99 [[ 9.70989904e-01 2.38550718e-01 1.64973293e-02 3.30430833e+02] [-2.38516595e-01 9.71130040e-01 -4.03473599e-03 -3.36546383e+01] [-1.69835412e-02 -1.71988966e-05 9.99855769e-01 -9.89925115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84592 meters Centerline goodness [0,1] 0.998360248447205 Centerline is valid? [True, True] Translation: X:330.46, Y:-33.66, Z:-0.99 [[ 9.70360751e-01 2.41065423e-01 1.69551014e-02 3.30460812e+02] [-2.41029765e-01 9.70508865e-01 -4.14663596e-03 -3.36618251e+01] [-1.74546868e-02 -6.29513230e-05 9.99847653e-01 -9.89333778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87591999999995 meters Centerline goodness [0,1] 0.9975652173913043 Centerline is valid? [True, True] Translation: X:330.49, Y:-33.67, Z:-0.99 [[ 9.69718056e-01 2.43680452e-01 1.63318606e-02 3.30490706e+02] [-2.43647738e-01 9.69855570e-01 -3.99421263e-03 -3.36686802e+01] [-1.68128575e-02 -1.05960778e-04 9.99858648e-01 -9.88061831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90592 meters Centerline goodness [0,1] 0.9971692491060786 Centerline is valid? [True, True] Translation: X:330.52, Y:-33.67, Z:-0.99 [[ 9.68779326e-01 2.47350166e-01 1.68675420e-02 3.30521538e+02] [-2.47315826e-01 9.68926140e-01 -4.12522193e-03 -3.36724671e+01] [-1.73637767e-02 -1.75180360e-04 9.99849223e-01 -9.88164558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93591999999995 meters Centerline goodness [0,1] 0.9973169035079003 Centerline is valid? [True, True] Translation: X:330.55, Y:-33.68, Z:-0.99 [[ 9.68502827e-01 2.48402725e-01 1.72731196e-02 3.30550411e+02] [-2.48366902e-01 9.68656826e-01 -4.22327435e-03 -3.36774135e+01] [-1.77807980e-02 -1.99818040e-04 9.99841889e-01 -9.88545131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96592 meters Centerline goodness [0,1] 0.9969128118309017 Centerline is valid? [True, True] Translation: X:330.58, Y:-33.68, Z:-0.99 [[ 9.69059921e-01 2.46247215e-01 1.68872059e-02 3.30579526e+02] [-2.46212783e-01 9.69207038e-01 -4.12108568e-03 -3.36799281e+01] [-1.73820047e-02 -1.64266994e-04 9.99848908e-01 -9.89095042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99591999999996 meters Centerline goodness [0,1] 0.9961286480047647 Centerline is valid? [True, True] Translation: X:330.61, Y:-33.68, Z:-0.99 [[ 9.69527901e-01 2.44252098e-01 1.88828464e-02 3.30607852e+02] [-2.44208846e-01 9.69711756e-01 -4.59889241e-03 -3.36841116e+01] [-1.94342072e-02 -1.52603630e-04 9.99811126e-01 -9.89699056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.02592 meters Centerline goodness [0,1] 0.9959703497338441 Centerline is valid? [True, True] Translation: X:330.64, Y:-33.69, Z:-0.99 [[ 9.70239587e-01 2.41416183e-01 1.87981522e-02 3.30637345e+02] [-2.41372818e-01 9.70421670e-01 -4.57663720e-03 -3.36882738e+01] [-1.93470085e-02 -9.69283854e-05 9.99812824e-01 -9.88493269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05591999999996 meters Centerline goodness [0,1] 0.9956290667064024 Centerline is valid? [True, True] Translation: X:330.67, Y:-33.69, Z:-0.99 [[ 9.71082629e-01 2.37865837e-01 2.04541345e-02 3.30665883e+02] [-2.37813908e-01 9.71298019e-01 -4.97018274e-03 -3.36920211e+01] [-2.10492970e-02 -3.78195419e-05 9.99778438e-01 -9.90107009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08592 meters Centerline goodness [0,1] 0.9953287283208269 Centerline is valid? [True, True] Translation: X:330.70, Y:-33.70, Z:-0.99 [[ 9.71328662e-01 2.36817275e-01 2.09334370e-02 3.30696102e+02] [-2.36762650e-01 9.71554207e-01 -5.08624589e-03 -3.36988638e+01] [-2.15424797e-02 -1.58396014e-05 9.99767934e-01 -9.91074562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11591999999996 meters Centerline goodness [0,1] 0.9952787993241229 Centerline is valid? [True, True] Translation: X:330.73, Y:-33.71, Z:-0.99 [[ 9.71345911e-01 2.36699618e-01 2.14572163e-02 3.30725179e+02] [-2.36642195e-01 9.71582879e-01 -5.21350976e-03 -3.37063136e+01] [-2.20814998e-02 -1.35613872e-05 9.99756174e-01 -9.91404423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14592 meters Centerline goodness [0,1] 0.9956800238343513 Centerline is valid? [True, True] Translation: X:330.75, Y:-33.71, Z:-0.99 [[ 9.71357760e-01 2.36706595e-01 2.08348431e-02 3.30754823e+02] [-2.36652458e-01 9.71581179e-01 -5.06229030e-03 -3.37132629e+01] [-2.14410189e-02 -1.33218660e-05 9.99770115e-01 -9.92428749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17591999999996 meters Centerline goodness [0,1] 0.99616877301224 Centerline is valid? [True, True] Translation: X:330.78, Y:-33.72, Z:-0.99 [[ 9.71047267e-01 2.37973135e-01 2.08804167e-02 3.30784807e+02] [-2.37919053e-01 9.71271736e-01 -5.07336343e-03 -3.37209390e+01] [-2.14878828e-02 -4.13732891e-05 9.99769108e-01 -9.92439180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20592 meters Centerline goodness [0,1] 0.9956329710684333 Centerline is valid? [True, True] Translation: X:330.81, Y:-33.73, Z:-0.99 [[ 9.70309148e-01 2.41083808e-01 1.94616197e-02 3.30814073e+02] [-2.41037452e-01 9.70504295e-01 -4.72863501e-03 -3.37297690e+01] [-2.00275829e-02 -1.02741411e-04 9.99799423e-01 -9.92572264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23591999999996 meters Centerline goodness [0,1] 0.9958706467661691 Centerline is valid? [True, True] Translation: X:330.84, Y:-33.74, Z:-0.99 [[ 9.70033537e-01 2.42193374e-01 1.94243849e-02 3.30843664e+02] [-2.42147417e-01 9.70227991e-01 -4.71958799e-03 -3.37381339e+01] [-1.99891349e-02 -1.25406008e-04 9.99800189e-01 -9.92395333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26592 meters Centerline goodness [0,1] 0.9956133791934599 Centerline is valid? [True, True] Translation: X:330.87, Y:-33.75, Z:-0.99 [[ 9.69842811e-01 2.42807914e-01 2.11952625e-02 3.30872143e+02] [-2.42753421e-01 9.70074375e-01 -5.14621300e-03 -3.37470563e+01] [-2.18105223e-02 -1.54204806e-04 9.99762110e-01 -9.92445284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29591999999997 meters Centerline goodness [0,1] 0.9959765547387244 Centerline is valid? [True, True] Translation: X:330.90, Y:-33.75, Z:-0.99 [[ 9.69715733e-01 2.43398511e-01 2.02129094e-02 3.30901807e+02] [-2.43349084e-01 9.69926358e-01 -4.90755928e-03 -3.37546631e+01] [-2.07995262e-02 -1.59855525e-04 9.99783654e-01 -9.91857767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32592 meters Centerline goodness [0,1] 0.9962243529236425 Centerline is valid? [True, True] Translation: X:330.93, Y:-33.76, Z:-0.99 [[ 9.69734091e-01 2.43216676e-01 2.14811798e-02 3.30931889e+02] [-2.43160806e-01 9.69971969e-01 -5.21548687e-03 -3.37608087e+01] [-2.21046357e-02 -1.65745580e-04 9.99755649e-01 -9.92563193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35591999999997 meters Centerline goodness [0,1] 0.9960737537895731 Centerline is valid? [True, True] Translation: X:330.96, Y:-33.77, Z:-0.99 [[ 9.70115385e-01 2.41674575e-01 2.16688689e-02 3.30962295e+02] [-2.41617340e-01 9.70357348e-01 -5.26105651e-03 -3.37664971e+01] [-2.22980097e-02 -1.31742583e-04 9.99751360e-01 -9.92842402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38592 meters Centerline goodness [0,1] 0.9957745078544442 Centerline is valid? [True, True] Translation: X:330.99, Y:-33.77, Z:-0.99 [[ 9.70301638e-01 2.41021700e-01 2.05735717e-02 3.30992619e+02] [-2.40969944e-01 9.70519721e-01 -4.99580191e-03 -3.37730628e+01] [-2.11711537e-02 -1.10177650e-04 9.99775860e-01 -9.92515750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41591999999997 meters Centerline goodness [0,1] 0.9954721862871928 Centerline is valid? [True, True] Translation: X:331.02, Y:-33.78, Z:-0.99 [[ 9.70532639e-01 2.40082659e-01 2.06570581e-02 3.31022616e+02] [-2.40030269e-01 9.70752445e-01 -5.01610242e-03 -3.37791274e+01] [-2.12571689e-02 -9.00281068e-05 9.99774037e-01 -9.91590991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44591999999994 meters Centerline goodness [0,1] 0.9954265261483396 Centerline is valid? [True, True] Translation: X:331.05, Y:-33.79, Z:-0.99 [[ 9.70725176e-01 2.39242264e-01 2.13488240e-02 3.31052372e+02] [-2.39186103e-01 9.70959903e-01 -5.18408221e-03 -3.37855446e+01] [-2.19691036e-02 -7.40228948e-05 9.99758647e-01 -9.91435763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47592 meters Centerline goodness [0,1] 0.9952328930380375 Centerline is valid? [True, True] Translation: X:331.08, Y:-33.79, Z:-0.99 [[ 9.71329348e-01 2.36858002e-01 2.04349030e-02 3.31082271e+02] [-2.36806019e-01 9.71544279e-01 -4.96215705e-03 -3.37910118e+01] [-2.10287398e-02 -1.92192724e-05 9.99778871e-01 -9.92249157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50591999999995 meters Centerline goodness [0,1] 0.9946858703749689 Centerline is valid? [True, True] Translation: X:331.11, Y:-33.80, Z:-0.99 [[ 9.71791280e-01 2.34981505e-01 2.01345817e-02 3.31110689e+02] [-2.34930662e-01 9.71999842e-01 -4.88791254e-03 -3.37976430e+01] [-2.07193792e-02 1.98001781e-05 9.99785330e-01 -9.91926282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53592 meters Centerline goodness [0,1] 0.9950814785373608 Centerline is valid? [True, True] Translation: X:331.14, Y:-33.80, Z:-0.99 [[ 9.72328052e-01 2.32686543e-01 2.08598288e-02 3.31139769e+02] [-2.32631475e-01 9.72551781e-01 -5.06253660e-03 -3.38048732e+01] [-2.14652478e-02 6.97935974e-05 9.99769593e-01 -9.93122050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56591999999995 meters Centerline goodness [0,1] 0.9944874851013111 Centerline is valid? [True, True] Translation: X:331.17, Y:-33.81, Z:-0.99 [[ 9.73350228e-01 2.28176364e-01 2.29102951e-02 3.31169036e+02] [-2.28108686e-01 9.73619799e-01 -5.56010935e-03 -3.38127901e+01] [-2.35746024e-02 1.85896391e-04 9.99722063e-01 -9.93234933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59592 meters Centerline goodness [0,1] 0.9947295147175815 Centerline is valid? [True, True] Translation: X:331.20, Y:-33.82, Z:-0.99 [[ 9.73667807e-01 2.26600756e-01 2.49619622e-02 3.31199114e+02] [-2.26519853e-01 9.73987699e-01 -6.05964246e-03 -3.38210221e+01] [-2.56857637e-02 2.45698772e-04 9.99670036e-01 -9.93394136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62591999999995 meters Centerline goodness [0,1] 0.994288552272163 Centerline is valid? [True, True] Translation: X:331.23, Y:-33.83, Z:-0.99 [[ 9.73796737e-01 2.26258997e-01 2.29517128e-02 3.31229079e+02] [-2.26190470e-01 9.74067149e-01 -5.57318006e-03 -3.38291786e+01] [-2.36174916e-02 2.35685835e-04 9.99721040e-01 -9.92285822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65592 meters Centerline goodness [0,1] 0.9945216395238806 Centerline is valid? [True, True] Translation: X:331.26, Y:-33.84, Z:-0.99 [[ 9.74087681e-01 2.25225902e-01 2.06514465e-02 3.31258621e+02] [-2.25170163e-01 9.74306542e-01 -5.01601072e-03 -3.38388987e+01] [-2.12505750e-02 2.35944684e-04 9.99774153e-01 -9.91761902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68591999999995 meters Centerline goodness [0,1] 0.9944372702890633 Centerline is valid? [True, True] Translation: X:331.29, Y:-33.85, Z:-0.99 [[ 9.74010627e-01 2.25683124e-01 1.92464415e-02 3.31287643e+02] [-2.25634800e-01 9.74200741e-01 -4.67480121e-03 -3.38481684e+01] [-1.98049213e-02 2.10639073e-04 9.99803841e-01 -9.92722351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71592 meters Centerline goodness [0,1] 0.9940796019900497 Centerline is valid? [True, True] Translation: X:331.32, Y:-33.86, Z:-0.99 [[ 9.73769577e-01 2.26736968e-01 1.90567232e-02 3.31316091e+02] [-2.26689794e-01 9.73956011e-01 -4.62872021e-03 -3.38596598e+01] [-1.96099121e-02 1.87342245e-04 9.99807690e-01 -9.92707473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74591999999996 meters Centerline goodness [0,1] 0.9942888359157728 Centerline is valid? [True, True] Translation: X:331.35, Y:-33.87, Z:-0.99 [[ 9.73492389e-01 2.27882273e-01 1.95509318e-02 3.31345974e+02] [-2.27832826e-01 9.73688677e-01 -4.75001915e-03 -3.38697090e+01] [-2.01189661e-02 1.69763448e-04 9.99797579e-01 -9.92902798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.77592 meters Centerline goodness [0,1] 0.9942857142857143 Centerline is valid? [True, True] Translation: X:331.38, Y:-33.88, Z:-0.99 [[ 9.73431970e-01 2.28169154e-01 1.92103375e-02 3.31375613e+02] [-2.28121445e-01 9.73621493e-01 -4.66856031e-03 -3.38792739e+01] [-1.97688189e-02 1.62235909e-04 9.99804565e-01 -9.92318934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80591999999996 meters Centerline goodness [0,1] 0.9940848990953375 Centerline is valid? [True, True] Translation: X:331.41, Y:-33.89, Z:-0.99 [[ 9.73029798e-01 2.29997790e-01 1.77208354e-02 3.31405019e+02] [-2.29957474e-01 9.73191144e-01 -4.30777214e-03 -3.38912112e+01] [-1.82365382e-02 1.16552099e-04 9.99833694e-01 -9.92328896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83592 meters Centerline goodness [0,1] 0.9944261968746889 Centerline is valid? [True, True] Translation: X:331.44, Y:-33.90, Z:-0.99 [[ 9.72743251e-01 2.31396128e-01 1.50465720e-02 3.31435387e+02] [-2.31367214e-01 9.72859613e-01 -3.65870200e-03 -3.39006706e+01] [-1.54848117e-02 7.76942232e-05 9.99880100e-01 -9.90643945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86591999999996 meters Centerline goodness [0,1] 0.9941354803439193 Centerline is valid? [True, True] Translation: X:331.46, Y:-33.91, Z:-0.99 [[ 9.72180166e-01 2.33692592e-01 1.59216001e-02 3.31464092e+02] [-2.33660525e-01 9.72310532e-01 -3.87153102e-03 -3.39102026e+01] [-1.63854876e-02 4.35762424e-05 9.99865748e-01 -9.89119846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89592 meters Centerline goodness [0,1] 0.9942371702518754 Centerline is valid? [True, True] Translation: X:331.49, Y:-33.92, Z:-0.99 [[ 9.71948270e-01 2.34676366e-01 1.56065381e-02 3.31492973e+02] [-2.34645682e-01 9.72073558e-01 -3.79491987e-03 -3.39192756e+01] [-1.60612811e-02 2.64590148e-05 9.99871009e-01 -9.88624430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92591999999996 meters Centerline goodness [0,1] 0.994340746624305 Centerline is valid? [True, True] Translation: X:331.52, Y:-33.93, Z:-0.99 [[ 9.71975582e-01 2.34525521e-01 1.61631759e-02 3.31522029e+02] [-2.34492588e-01 9.72109963e-01 -3.93027312e-03 -3.39281071e+01] [-1.66341336e-02 2.99845672e-05 9.99861643e-01 -9.88281143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95592 meters Centerline goodness [0,1] 0.9941874906850813 Centerline is valid? [True, True] Translation: X:331.55, Y:-33.94, Z:-0.99 [[ 9.72241375e-01 2.33508841e-01 1.48435086e-02 3.31552213e+02] [-2.33480933e-01 9.72354678e-01 -3.61034946e-03 -3.39385869e+01] [-1.52762036e-02 4.44548750e-05 9.99883311e-01 -9.88303362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98591999999996 meters Centerline goodness [0,1] 0.9943345591889474 Centerline is valid? [True, True] Translation: X:331.58, Y:-33.95, Z:-0.99 [[ 9.72215030e-01 2.33649618e-01 1.43454099e-02 3.31582433e+02] [-2.33623553e-01 9.72320860e-01 -3.49018877e-03 -3.39476208e+01] [-1.47638226e-02 4.17883546e-05 9.99891008e-01 -9.88320745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01592 meters Centerline goodness [0,1] 0.9948666832793421 Centerline is valid? [True, True] Translation: X:331.61, Y:-33.96, Z:-0.99 [[ 9.72146546e-01 2.33974008e-01 1.36841973e-02 3.31610809e+02] [-2.33950322e-01 9.72242852e-01 -3.32937148e-03 -3.39587163e+01] [-1.40833494e-02 3.52146105e-05 9.99900824e-01 -9.86888721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04591999999997 meters Centerline goodness [0,1] 0.9953217538446225 Centerline is valid? [True, True] Translation: X:331.64, Y:-33.97, Z:-0.99 [[ 9.71781857e-01 2.35441641e-01 1.43963721e-02 3.31639650e+02] [-2.35415585e-01 9.71888488e-01 -3.50264393e-03 -3.39679159e+01] [-1.48163366e-02 1.46754515e-05 9.99890232e-01 -9.87233727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07592 meters Centerline goodness [0,1] 0.9959731543624161 Centerline is valid? [True, True] Translation: X:331.67, Y:-33.98, Z:-0.99 [[ 9.71522021e-01 2.36548238e-01 1.37802144e-02 3.31670046e+02] [-2.36524464e-01 9.71619746e-01 -3.35363446e-03 -3.39767065e+01] [-1.41824248e-02 -1.22809784e-06 9.99899424e-01 -9.87558278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10591999999997 meters Centerline goodness [0,1] 0.9969695464255551 Centerline is valid? [True, True] Translation: X:331.70, Y:-33.99, Z:-0.99 [[ 9.70887933e-01 2.39159729e-01 1.33882512e-02 3.31699554e+02] [-2.39137523e-01 9.70980238e-01 -3.25916840e-03 -3.39864164e+01] [-1.37791892e-02 -3.73459623e-05 9.99905062e-01 -9.86747621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13592 meters Centerline goodness [0,1] 0.9979127323327701 Centerline is valid? [True, True] Translation: X:331.73, Y:-34.00, Z:-0.99 [[ 9.70671530e-01 2.40104665e-01 1.21049625e-02 3.31729980e+02] [-2.40086576e-01 9.70747005e-01 -2.94761058e-03 -3.39951977e+01] [-1.24585912e-02 -4.50773379e-05 9.99922388e-01 -9.86363256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16591999999997 meters Centerline goodness [0,1] 0.9988079864905136 Centerline is valid? [True, True] Translation: X:331.76, Y:-34.01, Z:-0.99 [[ 9.70415869e-01 2.41112399e-01 1.25638951e-02 3.31759394e+02] [-2.41092985e-01 9.70497196e-01 -3.06024023e-03 -3.40054759e+01] [-1.29310868e-02 -5.93612862e-05 9.99916388e-01 -9.86240657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19591999999994 meters Centerline goodness [0,1] 0.9993537482600915 Centerline is valid? [True, True] Translation: X:331.79, Y:-34.01, Z:-0.99 [[ 9.70303756e-01 2.41531527e-01 1.31583528e-02 3.31788969e+02] [-2.41510259e-01 9.70392970e-01 -3.20595771e-03 -3.40146644e+01] [-1.35431129e-02 -6.71243884e-05 9.99908286e-01 -9.87407673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22592 meters Centerline goodness [0,1] 0.9994540130044175 Centerline is valid? [True, True] Translation: X:331.82, Y:-34.02, Z:-0.99 [[ 9.69927164e-01 2.43022049e-01 1.34751576e-02 3.31819783e+02] [-2.42999862e-01 9.70020761e-01 -3.28497475e-03 -3.40237247e+01] [-1.38695039e-02 -8.82751954e-05 9.99903810e-01 -9.87326108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25591999999995 meters Centerline goodness [0,1] 0.9992547694753577 Centerline is valid? [True, True] Translation: X:331.85, Y:-34.03, Z:-0.99 [[ 9.69421508e-01 2.45034988e-01 1.34087745e-02 3.31850574e+02] [-2.45013186e-01 9.69514230e-01 -3.27068331e-03 -3.40321959e+01] [-1.38014296e-02 -1.14655812e-04 9.99904749e-01 -9.86595408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28592 meters Centerline goodness [0,1] 0.9995527505839089 Centerline is valid? [True, True] Translation: X:331.88, Y:-34.04, Z:-0.99 [[ 9.69086420e-01 2.46379655e-01 1.29836811e-02 3.31882258e+02] [-2.46359309e-01 9.69173385e-01 -3.16881357e-03 -3.40400594e+01] [-1.33641694e-02 -1.27796519e-04 9.99910687e-01 -9.85701373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31591999999995 meters Centerline goodness [0,1] 0.9997515157539012 Centerline is valid? [True, True] Translation: X:331.91, Y:-34.05, Z:-0.99 [[ 9.67909930e-01 2.50921617e-01 1.37371346e-02 3.31912795e+02] [-2.50899271e-01 9.68007388e-01 -3.35463694e-03 -3.40490893e+01] [-1.41393987e-02 -1.99650652e-04 9.99900014e-01 -9.86741856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34592 meters Centerline goodness [0,1] 0.9996021879661859 Centerline is valid? [True, True] Translation: X:331.94, Y:-34.06, Z:-0.99 [[ 9.67190692e-01 2.53742765e-01 1.25209333e-02 3.31944398e+02] [-2.53724414e-01 9.67271711e-01 -3.05938120e-03 -3.40565266e+01] [-1.28874404e-02 -2.17861444e-04 9.99916930e-01 -9.86444948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37591999999995 meters Centerline goodness [0,1] 0.9997017299661961 Centerline is valid? [True, True] Translation: X:331.98, Y:-34.06, Z:-0.99 [[ 9.66180909e-01 2.57628268e-01 1.10511003e-02 3.31975695e+02] [-2.57614209e-01 9.66244079e-01 -2.70177817e-03 -3.40630739e+01] [-1.13741147e-02 -2.36513977e-04 9.99935285e-01 -9.85626357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40592 meters Centerline goodness [0,1] 0.9997017299661961 Centerline is valid? [True, True] Translation: X:332.01, Y:-34.07, Z:-0.99 [[ 9.66163762e-01 2.57692573e-01 1.10509074e-02 3.32005664e+02] [-2.57678509e-01 9.66226931e-01 -2.70256701e-03 -3.40703848e+01] [-1.13741158e-02 -2.36459045e-04 9.99935285e-01 -9.85652059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43591999999995 meters Centerline goodness [0,1] 0.9997019374068554 Centerline is valid? [True, True] Translation: X:332.04, Y:-34.08, Z:-0.99 [[ 9.65508668e-01 2.60141189e-01 1.09349561e-02 3.32036543e+02] [-2.60127567e-01 9.65570553e-01 -2.67497873e-03 -3.40767977e+01] [-1.12543438e-02 -2.61768384e-04 9.99936634e-01 -9.86322526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:332.07, Y:-34.08, Z:-0.99 [[ 9.64266151e-01 2.64656142e-01 1.21620971e-02 3.32066267e+02] [-2.64639648e-01 9.64342784e-01 -2.97523307e-03 -3.40827124e+01] [-1.25158443e-02 -3.49656557e-04 9.99921613e-01 -9.86466664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.10, Y:-34.09, Z:-0.99 [[ 9.63811664e-01 2.66311120e-01 1.20608539e-02 3.32097166e+02] [-2.66295020e-01 9.63887054e-01 -2.95124494e-03 -3.40895342e+01] [-1.24112503e-02 -3.67301034e-04 9.99922910e-01 -9.85654984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.52592 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:332.13, Y:-34.09, Z:-0.99 [[ 9.63379509e-01 2.67873018e-01 1.19986748e-02 3.32128048e+02] [-2.67857194e-01 9.63454150e-01 -2.93685986e-03 -3.40940454e+01] [-1.23468786e-02 -3.84620766e-04 9.99923700e-01 -9.85282938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.16, Y:-34.10, Z:-0.99 [[ 9.63255815e-01 2.68357641e-01 1.10639802e-02 3.32158379e+02] [-2.68344218e-01 9.63319286e-01 -2.70813065e-03 -3.40994069e+01] [-1.13848931e-02 -3.60332528e-04 9.99935125e-01 -9.85080356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.19, Y:-34.10, Z:-0.98 [[ 9.63457799e-01 2.67580234e-01 1.22429030e-02 3.32188239e+02] [-2.67563745e-01 9.63535504e-01 -2.99591068e-03 -3.41022807e+01] [-1.25981182e-02 -3.89323479e-04 9.99920565e-01 -9.84777316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61591999999996 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:332.22, Y:-34.11, Z:-0.98 [[ 9.63474764e-01 2.67516733e-01 1.22954181e-02 3.32218138e+02] [-2.67500098e-01 9.63553136e-01 -3.00870561e-03 -3.41086082e+01] [-1.26521677e-02 -3.90213601e-04 9.99919882e-01 -9.83942928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.25, Y:-34.12, Z:-0.98 [[ 9.63364947e-01 2.67895687e-01 1.26443709e-02 3.32247631e+02] [-2.67878127e-01 9.63447838e-01 -3.09409484e-03 -3.41154033e+01] [-1.30110864e-02 -4.06407870e-04 9.99915270e-01 -9.84281696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67591999999996 meters Centerline goodness [0,1] 0.9999502784407319 Centerline is valid? [True, True] Translation: X:332.28, Y:-34.12, Z:-0.99 [[ 9.63771558e-01 2.66371258e-01 1.38107376e-02 3.32277462e+02] [-2.66350165e-01 9.63870414e-01 -3.37860787e-03 -3.41187977e+01] [-1.42117254e-02 -4.22286065e-04 9.99898919e-01 -9.85337620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.31, Y:-34.12, Z:-0.98 [[ 9.63981676e-01 2.65625507e-01 1.35062419e-02 3.32307482e+02] [-2.65605261e-01 9.64076205e-01 -3.30406246e-03 -3.41248660e+01] [-1.38986897e-02 -4.02273247e-04 9.99903328e-01 -9.84999340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.34, Y:-34.13, Z:-0.99 [[ 9.64608057e-01 2.63329506e-01 1.37429299e-02 3.32337002e+02] [-2.63308325e-01 9.64705877e-01 -3.36107155e-03 -3.41306137e+01] [-1.41429545e-02 -3.76511149e-04 9.99899913e-01 -9.86298914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.37, Y:-34.14, Z:-0.99 [[ 9.65034478e-01 2.61772168e-01 1.35568713e-02 3.32366193e+02] [-2.61751416e-01 9.65129634e-01 -3.31462042e-03 -3.41363972e+01] [-1.39518136e-02 -3.49807276e-04 9.99902608e-01 -9.85349081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.40, Y:-34.14, Z:-0.99 [[ 9.65249117e-01 2.60886808e-01 1.52386429e-02 3.32395810e+02] [-2.60860493e-01 9.65369323e-01 -3.72473848e-03 -3.41408601e+01] [-1.56826535e-02 -3.79859388e-04 9.99876947e-01 -9.85287368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.43, Y:-34.14, Z:-0.98 [[ 9.65413081e-01 2.60360241e-01 1.37886654e-02 3.32425742e+02] [-2.60338656e-01 9.65511487e-01 -3.36936895e-03 -3.41433646e+01] [-1.41903645e-02 -3.36889760e-04 9.99899255e-01 -9.84317285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85591999999997 meters Centerline goodness [0,1] 0.9999503303034818 Centerline is valid? [True, True] Translation: X:332.45, Y:-34.15, Z:-0.99 [[ 9.65603082e-01 2.59674686e-01 1.34069339e-02 3.32454225e+02] [-2.59654301e-01 9.65696097e-01 -3.26981172e-03 -3.41492620e+01] [-1.37961111e-02 -3.23827781e-04 9.99904777e-01 -9.85048522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88592 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:332.48, Y:-34.15, Z:-0.99 [[ 9.65329845e-01 2.60641576e-01 1.42919076e-02 3.32482893e+02] [-2.60618620e-01 9.65435567e-01 -3.47861001e-03 -3.41533567e+01] [-1.47045863e-02 -3.66731159e-04 9.99891814e-01 -9.86147705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91591999999997 meters Centerline goodness [0,1] 0.9999006902030886 Centerline is valid? [True, True] Translation: X:332.51, Y:-34.16, Z:-0.99 [[ 9.65297885e-01 2.60734811e-01 1.47428576e-02 3.32511728e+02] [-2.60710503e-01 9.65410384e-01 -3.58115551e-03 -3.41575067e+01] [-1.51666397e-02 -3.86735987e-04 9.99884905e-01 -9.86292264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94591999999994 meters Centerline goodness [0,1] 0.9999004380724811 Centerline is valid? [True, True] Translation: X:332.54, Y:-34.16, Z:-0.99 [[ 9.65178303e-01 2.61142553e-01 1.53430979e-02 3.32540701e+02] [-2.61116396e-01 9.65300157e-01 -3.71938140e-03 -3.41617300e+01] [-1.57819836e-02 -4.16468206e-04 9.99875370e-01 -9.86255683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97592 meters Centerline goodness [0,1] 0.9998510279074386 Centerline is valid? [True, True] Translation: X:332.57, Y:-34.16, Z:-0.99 [[ 9.65196447e-01 2.61207143e-01 1.29091617e-02 3.32568521e+02] [-2.61188727e-01 9.65282705e-01 -3.12227207e-03 -3.41639350e+01] [-1.32765503e-02 -3.58121605e-04 9.99911799e-01 -9.85313924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00591999999995 meters Centerline goodness [0,1] 0.9998014099890775 Centerline is valid? [True, True] Translation: X:332.60, Y:-34.17, Z:-0.99 [[ 9.65659786e-01 2.59473772e-01 1.32113226e-02 3.32597116e+02] [-2.59454410e-01 9.65750092e-01 -3.18882374e-03 -3.41688034e+01] [-1.35862521e-02 -3.48417068e-04 9.99907642e-01 -9.86371637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03592 meters Centerline goodness [0,1] 0.9995526171894418 Centerline is valid? [True, True] Translation: X:332.63, Y:-34.17, Z:-0.99 [[ 9.67158899e-01 2.53706293e-01 1.53876815e-02 3.32626994e+02] [-2.53679416e-01 9.67281249e-01 -3.70657575e-03 -3.41692488e+01] [-1.58245974e-02 -3.18690329e-04 9.99874732e-01 -9.87622073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06591999999995 meters Centerline goodness [0,1] 0.999005568814638 Centerline is valid? [True, True] Translation: X:332.65, Y:-34.17, Z:-0.99 [[ 9.67965541e-01 2.50468195e-01 1.75611612e-02 3.32654269e+02] [-2.50432833e-01 9.68124778e-01 -4.22032312e-03 -3.41738257e+01] [-1.80584520e-02 -3.12763996e-04 9.99836884e-01 -9.88711933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09592 meters Centerline goodness [0,1] 0.9994534704625627 Centerline is valid? [True, True] Translation: X:332.68, Y:-34.18, Z:-0.99 [[ 9.68755935e-01 2.47279695e-01 1.90968894e-02 3.32681726e+02] [-2.47237465e-01 9.68944101e-01 -4.57875189e-03 -3.41793284e+01] [-1.96360507e-02 -2.85773450e-04 9.99807153e-01 -9.89498937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12591999999995 meters Centerline goodness [0,1] 0.9993546785802929 Centerline is valid? [True, True] Translation: X:332.71, Y:-34.19, Z:-0.99 [[ 9.69580946e-01 2.43985639e-01 1.95907597e-02 3.32709778e+02] [-2.43940716e-01 9.69778817e-01 -4.68762577e-03 -3.41850130e+01] [-2.01424172e-02 -2.33951329e-04 9.99797094e-01 -9.89949541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15592 meters Centerline goodness [0,1] 0.9986598501017521 Centerline is valid? [True, True] Translation: X:332.74, Y:-34.19, Z:-0.99 [[ 9.69766311e-01 2.43269219e-01 1.93232936e-02 3.32737296e+02] [-2.43225583e-01 9.69958781e-01 -4.61302812e-03 -3.41892255e+01] [-1.98650060e-02 -2.26360086e-04 9.99802646e-01 -9.91362081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18591999999995 meters Centerline goodness [0,1] 0.9985076854200865 Centerline is valid? [True, True] Translation: X:332.76, Y:-34.20, Z:-0.99 [[ 9.69875020e-01 2.42818968e-01 1.95293434e-02 3.32764588e+02] [-2.42774520e-01 9.70071593e-01 -4.65148907e-03 -3.41955300e+01] [-2.00743311e-02 -2.29863930e-04 9.99798464e-01 -9.92606736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21592 meters Centerline goodness [0,1] 0.9979638458482321 Centerline is valid? [True, True] Translation: X:332.79, Y:-34.20, Z:-0.99 [[ 9.69960388e-01 2.42410196e-01 2.03505063e-02 3.32792397e+02] [-2.42362047e-01 9.70173819e-01 -4.83724577e-03 -3.42028007e+01] [-2.09161261e-02 -2.40253581e-04 9.99781205e-01 -9.92768060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24591999999996 meters Centerline goodness [0,1] 0.9981136758500869 Centerline is valid? [True, True] Translation: X:332.82, Y:-34.21, Z:-0.99 [[ 9.70129582e-01 2.41600316e-01 2.18605192e-02 3.32820318e+02] [-2.41544622e-01 9.70375818e-01 -5.19298113e-03 -3.42114012e+01] [-2.24675451e-02 -2.42426223e-04 9.99747543e-01 -9.92023792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.27592 meters Centerline goodness [0,1] 0.9983125713434909 Centerline is valid? [True, True] Translation: X:332.85, Y:-34.22, Z:-0.99 [[ 9.70031835e-01 2.42015832e-01 2.16003663e-02 3.32848613e+02] [-2.41961593e-01 9.70272268e-01 -5.12966061e-03 -3.42191838e+01] [-2.21996955e-02 -2.50524945e-04 9.99753525e-01 -9.92089321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30591999999996 meters Centerline goodness [0,1] 0.9977156478124845 Centerline is valid? [True, True] Translation: X:332.88, Y:-34.23, Z:-0.99 [[ 9.70583998e-01 2.39776862e-01 2.17660001e-02 3.32877577e+02] [-2.39721257e-01 9.70828005e-01 -5.16749850e-03 -3.42273624e+01] [-2.23700890e-02 -2.02281545e-04 9.99749738e-01 -9.92687712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33592 meters Centerline goodness [0,1] 0.9974657125819917 Centerline is valid? [True, True] Translation: X:332.91, Y:-34.24, Z:-0.99 [[ 9.70985336e-01 2.38205938e-01 2.11046786e-02 3.32907306e+02] [-2.38153292e-01 9.71214655e-01 -5.01043914e-03 -3.42360391e+01] [-2.16906895e-02 -1.61085760e-04 9.99764716e-01 -9.93126421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36591999999996 meters Centerline goodness [0,1] 0.9967716300784742 Centerline is valid? [True, True] Translation: X:332.94, Y:-34.24, Z:-0.99 [[ 9.71355361e-01 2.36620000e-01 2.19029233e-02 3.32935744e+02] [-2.36562925e-01 9.71602263e-01 -5.19849533e-03 -3.42449132e+01] [-2.25109978e-02 -1.31833293e-04 9.99746587e-01 -9.93962595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39592 meters Centerline goodness [0,1] 0.9961699164345403 Centerline is valid? [True, True] Translation: X:332.96, Y:-34.25, Z:-0.99 [[ 9.72072355e-01 2.33777056e-01 2.05821311e-02 3.32964747e+02] [-2.33726021e-01 9.72290226e-01 -4.88496264e-03 -3.42547126e+01] [-2.11537971e-02 -6.20424643e-05 9.99776231e-01 -9.92376985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42591999999996 meters Centerline goodness [0,1] 0.9965229485396384 Centerline is valid? [True, True] Translation: X:332.99, Y:-34.26, Z:-0.99 [[ 9.72138163e-01 2.33528460e-01 2.02940834e-02 3.32993910e+02] [-2.33478790e-01 9.72349965e-01 -4.81659740e-03 -3.42638687e+01] [-2.08577639e-02 -5.58398804e-05 9.99782452e-01 -9.91828860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45592 meters Centerline goodness [0,1] 0.9955217196596506 Centerline is valid? [True, True] Translation: X:333.02, Y:-34.28, Z:-0.99 [[ 9.72245486e-01 2.33154646e-01 1.94326254e-02 3.33021995e+02] [-2.33109015e-01 9.72439669e-01 -4.61277721e-03 -3.42761442e+01] [-1.99725462e-02 -4.51683515e-05 9.99800528e-01 -9.91167431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48591999999996 meters Centerline goodness [0,1] 0.9955820302804667 Centerline is valid? [True, True] Translation: X:333.05, Y:-34.29, Z:-0.99 [[ 9.72183581e-01 2.33352320e-01 2.01439719e-02 3.33050566e+02] [-2.33303329e-01 9.72392252e-01 -4.78166036e-03 -3.42858877e+01] [-2.07036538e-02 -5.10040294e-05 9.99785655e-01 -9.92530567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51592 meters Centerline goodness [0,1] 0.9961546144626449 Centerline is valid? [True, True] Translation: X:333.08, Y:-34.29, Z:-0.99 [[ 9.72169589e-01 2.33404444e-01 2.02152169e-02 3.33080105e+02] [-2.33355133e-01 9.72379742e-01 -4.79782405e-03 -3.42947736e+01] [-2.07767009e-02 -5.30260092e-05 9.99784140e-01 -9.91628422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54591999999997 meters Centerline goodness [0,1] 0.9964702957991549 Centerline is valid? [True, True] Translation: X:333.11, Y:-34.30, Z:-0.99 [[ 9.71488229e-01 2.36285741e-01 1.94851016e-02 3.33110437e+02] [-2.36240482e-01 9.71683609e-01 -4.62580002e-03 -3.43032492e+01] [-2.00263645e-02 -1.09259533e-04 9.99799446e-01 -9.90114797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57592 meters Centerline goodness [0,1] 0.9959823421457269 Centerline is valid? [True, True] Translation: X:333.14, Y:-34.31, Z:-0.99 [[ 9.71042856e-01 2.38048397e-01 2.02171289e-02 3.33140725e+02] [-2.38000026e-01 9.71253282e-01 -4.80098096e-03 -3.43112772e+01] [-2.07788186e-02 -1.49718941e-04 9.99784086e-01 -9.90034286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60591999999997 meters Centerline goodness [0,1] 0.997170092344355 Centerline is valid? [True, True] Translation: X:333.17, Y:-34.32, Z:-0.99 [[ 9.70760349e-01 2.39149479e-01 2.07815160e-02 3.33170975e+02] [-2.39098591e-01 9.70982747e-01 -4.93644349e-03 -3.43185345e+01] [-2.13590414e-02 -1.76727580e-04 9.99771854e-01 -9.90524775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63592 meters Centerline goodness [0,1] 0.9961685823754789 Centerline is valid? [True, True] Translation: X:333.20, Y:-34.32, Z:-0.99 [[ 9.70033563e-01 2.42078277e-01 2.08085040e-02 3.33201882e+02] [-2.42027899e-01 9.70256693e-01 -4.94427910e-03 -3.43247579e+01] [-2.13864928e-02 -2.40121823e-04 9.99771254e-01 -9.91041575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66591999999997 meters Centerline goodness [0,1] 0.9953308166103716 Centerline is valid? [True, True] Translation: X:333.23, Y:-34.33, Z:-0.99 [[ 9.69853506e-01 2.42877028e-01 1.98727557e-02 3.33232697e+02] [-2.42831219e-01 9.70057055e-01 -4.72329932e-03 -3.43303906e+01] [-2.04248878e-02 -2.44817091e-04 9.99791360e-01 -9.90935407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69591999999994 meters Centerline goodness [0,1] 0.9957742977877206 Centerline is valid? [True, True] Translation: X:333.26, Y:-34.33, Z:-0.99 [[ 9.70032701e-01 2.42239533e-01 1.88829908e-02 3.33263427e+02] [-2.42198052e-01 9.70216450e-01 -4.48810776e-03 -3.43344354e+01] [-1.94077855e-02 -2.19812302e-04 9.99811627e-01 -9.92205699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72592 meters Centerline goodness [0,1] 0.9956740092486699 Centerline is valid? [True, True] Translation: X:333.29, Y:-34.34, Z:-0.99 [[ 9.70379821e-01 2.40876012e-01 1.84864511e-02 3.33293726e+02] [-2.40836008e-01 9.70555877e-01 -4.39385822e-03 -3.43399329e+01] [-1.90005088e-02 -1.88491723e-04 9.99819456e-01 -9.92375968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75591999999995 meters Centerline goodness [0,1] 0.9951343031627029 Centerline is valid? [True, True] Translation: X:333.32, Y:-34.34, Z:-0.99 [[ 9.70801903e-01 2.39178242e-01 1.83693559e-02 3.33322944e+02] [-2.39138462e-01 9.70975666e-01 -4.36481445e-03 -3.43446134e+01] [-1.88801663e-02 -1.55449352e-04 9.99821742e-01 -9.91776574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78592 meters Centerline goodness [0,1] 0.9937937540340599 Centerline is valid? [True, True] Translation: X:333.35, Y:-34.35, Z:-0.99 [[ 9.71148022e-01 2.37741241e-01 1.87249088e-02 3.33352756e+02] [-2.37699663e-01 9.71328516e-01 -4.44800242e-03 -3.43490224e+01] [-1.92455115e-02 -1.31235765e-04 9.99814779e-01 -9.91758938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81591999999995 meters Centerline goodness [0,1] 0.9942368839427663 Centerline is valid? [True, True] Translation: X:333.38, Y:-34.35, Z:-0.99 [[ 9.71196696e-01 2.37531229e-01 1.88651410e-02 3.33381671e+02] [-2.37489156e-01 9.71379893e-01 -4.47260076e-03 -3.43517664e+01] [-1.93876010e-02 -1.36491342e-04 9.99812033e-01 -9.90620641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84592 meters Centerline goodness [0,1] 0.9951798847147685 Centerline is valid? [True, True] Translation: X:333.41, Y:-34.35, Z:-0.99 [[ 9.70807329e-01 2.39106741e-01 1.90025306e-02 3.33410387e+02] [-2.39064533e-01 9.70993272e-01 -4.49603973e-03 -3.43538346e+01] [-1.95263627e-02 -1.78042761e-04 9.99809327e-01 -9.90324563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87591999999995 meters Centerline goodness [0,1] 0.9943873242934486 Centerline is valid? [True, True] Translation: X:333.44, Y:-34.36, Z:-0.99 [[ 9.70759873e-01 2.39259105e-01 1.95025721e-02 3.33439058e+02] [-2.39214865e-01 9.70955737e-01 -4.60498515e-03 -3.43589031e+01] [-2.00379189e-02 -1.94970365e-04 9.99799202e-01 -9.90578959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90592 meters Centerline goodness [0,1] 0.9960788206680895 Centerline is valid? [True, True] Translation: X:333.47, Y:-34.36, Z:-0.99 [[ 9.70696513e-01 2.39378589e-01 2.11227817e-02 3.33467454e+02] [-2.39326942e-01 9.70926280e-01 -4.97732944e-03 -3.43647755e+01] [-2.17001300e-02 -2.23774407e-04 9.99764499e-01 -9.91784453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93591999999995 meters Centerline goodness [0,1] 0.9947885646217987 Centerline is valid? [True, True] Translation: X:333.50, Y:-34.37, Z:-0.99 [[ 9.71048293e-01 2.37947577e-01 2.11225716e-02 3.33495380e+02] [-2.37895811e-01 9.71277978e-01 -4.96717431e-03 -3.43706608e+01] [-2.16978157e-02 -2.01605173e-04 9.99764554e-01 -9.92039588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96592 meters Centerline goodness [0,1] 0.994240889683249 Centerline is valid? [True, True] Translation: X:333.52, Y:-34.37, Z:-0.99 [[ 9.71562633e-01 2.35856446e-01 2.09233694e-02 3.33523688e+02] [-2.35805383e-01 9.71787894e-01 -4.91028499e-03 -3.43749633e+01] [-2.14911994e-02 -1.63193708e-04 9.99769024e-01 -9.90926680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99591999999996 meters Centerline goodness [0,1] 0.9944926817166956 Centerline is valid? [True, True] Translation: X:333.55, Y:-34.38, Z:-0.99 [[ 9.71831767e-01 2.34799230e-01 2.03060924e-02 3.33552126e+02] [-2.34751108e-01 9.72043878e-01 -4.75573632e-03 -3.43804133e+01] [-2.08550560e-02 -1.45102056e-04 9.99782499e-01 -9.91110276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.02592 meters Centerline goodness [0,1] 0.9935032731600872 Centerline is valid? [True, True] Translation: X:333.58, Y:-34.38, Z:-0.99 [[ 9.72750680e-01 2.31081832e-01 1.89024259e-02 3.33580706e+02] [-2.31039606e-01 9.72934316e-01 -4.41793293e-03 -3.43841761e+01] [-1.94117228e-02 -6.96617647e-05 9.99811572e-01 -9.91773200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05591999999996 meters Centerline goodness [0,1] 0.994081074359612 Centerline is valid? [True, True] Translation: X:333.61, Y:-34.39, Z:-0.99 [[ 9.73229300e-01 2.29175152e-01 1.74206461e-02 3.33608785e+02] [-2.29139131e-01 9.73385200e-01 -4.06330046e-03 -3.43900415e+01] [-1.78882066e-02 -3.72286582e-05 9.99839993e-01 -9.91962582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08592 meters Centerline goodness [0,1] 0.9935016617887792 Centerline is valid? [True, True] Translation: X:333.64, Y:-34.39, Z:-0.99 [[ 9.73834920e-01 2.26449897e-01 1.91309547e-02 3.33637141e+02] [-2.26406112e-01 9.74022815e-01 -4.45289076e-03 -3.43943123e+01] [-1.96423430e-02 5.01543905e-06 9.99807071e-01 -9.91845834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11591999999996 meters Centerline goodness [0,1] 0.9943449575871819 Centerline is valid? [True, True] Translation: X:333.66, Y:-34.40, Z:-0.99 [[ 9.73967962e-01 2.25828298e-01 1.96974057e-02 3.33664236e+02] [-2.25781971e-01 9.74167121e-01 -4.57403581e-03 -3.43996138e+01] [-2.02215117e-02 7.64525871e-06 9.99795524e-01 -9.92068903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14592 meters Centerline goodness [0,1] 0.9935865566272248 Centerline is valid? [True, True] Translation: X:333.69, Y:-34.41, Z:-0.99 [[ 9.74184574e-01 2.24945357e-01 1.90788516e-02 3.33691146e+02] [-2.24901927e-01 9.74371380e-01 -4.42008753e-03 -3.44059422e+01] [-1.95841651e-02 1.51106150e-05 9.99808212e-01 -9.91720276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17591999999996 meters Centerline goodness [0,1] 0.9936372222498384 Centerline is valid? [True, True] Translation: X:333.72, Y:-34.41, Z:-0.99 [[ 9.74497527e-01 2.23615203e-01 1.87299405e-02 3.33717948e+02] [-2.23573297e-01 9.74677506e-01 -4.32908383e-03 -3.44126253e+01] [-1.92237007e-02 3.11669296e-05 9.99815207e-01 -9.92401225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20592 meters Centerline goodness [0,1] 0.9944383752110438 Centerline is valid? [True, True] Translation: X:333.75, Y:-34.42, Z:-0.99 [[ 9.74697081e-01 2.22571067e-01 2.06814203e-02 3.33746049e+02] [-2.22519948e-01 9.74916467e-01 -4.77020037e-03 -3.44189775e+01] [-2.12243658e-02 4.74718083e-05 9.99774737e-01 -9.92342487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23591999999996 meters Centerline goodness [0,1] 0.994693513191827 Centerline is valid? [True, True] Translation: X:333.77, Y:-34.42, Z:-0.99 [[ 9.74847396e-01 2.21910986e-01 2.06898257e-02 3.33773225e+02] [-2.21859915e-01 9.75066927e-01 -4.76089555e-03 -3.44236494e+01] [-2.12304598e-02 5.09036537e-05 9.99774607e-01 -9.91447978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26592 meters Centerline goodness [0,1] 0.9953386888822771 Centerline is valid? [True, True] Translation: X:333.80, Y:-34.43, Z:-0.99 [[ 9.74684385e-01 2.22723216e-01 1.96142529e-02 3.33801034e+02] [-2.22677669e-01 9.74881720e-01 -4.50416635e-03 -3.44302668e+01] [-2.01247591e-02 2.24844939e-05 9.99797476e-01 -9.91086872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29591999999997 meters Centerline goodness [0,1] 0.9957315862616637 Centerline is valid? [True, True] Translation: X:333.83, Y:-34.44, Z:-0.99 [[ 9.74605254e-01 2.23064410e-01 1.96689738e-02 3.33828508e+02] [-2.23018891e-01 9.74803708e-01 -4.50614061e-03 -3.44360509e+01] [-2.01785481e-02 5.15560645e-06 9.99796392e-01 -9.91043808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32592 meters Centerline goodness [0,1] 0.9957315862616637 Centerline is valid? [True, True] Translation: X:333.86, Y:-34.44, Z:-0.99 [[ 9.74720127e-01 2.22561711e-01 1.96712944e-02 3.33855161e+02] [-2.22516294e-01 9.74918604e-01 -4.49599847e-03 -3.44424930e+01] [-2.01785480e-02 5.15666192e-06 9.99796392e-01 -9.91066718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35591999999997 meters Centerline goodness [0,1] 0.9963330029732408 Centerline is valid? [True, True] Translation: X:333.88, Y:-34.45, Z:-0.99 [[ 9.74183391e-01 2.24969292e-01 1.88557276e-02 3.33882490e+02] [-2.24928212e-01 9.74365853e-01 -4.29939275e-03 -3.44488015e+01] [-1.93396085e-02 -5.27880805e-05 9.99812971e-01 -9.91084579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38592 meters Centerline goodness [0,1] 0.9967273268210443 Centerline is valid? [True, True] Translation: X:333.91, Y:-34.45, Z:-0.99 [[ 9.73161805e-01 2.29465521e-01 1.73688070e-02 3.33910384e+02] [-2.29431547e-01 9.73316780e-01 -3.95099650e-03 -3.44527667e+01] [-1.78119687e-02 -1.39993361e-04 9.99841345e-01 -9.90843635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41591999999997 meters Centerline goodness [0,1] 0.9971235865899624 Centerline is valid? [True, True] Translation: X:333.94, Y:-34.46, Z:-0.99 [[ 9.72659831e-01 2.31651799e-01 1.64407173e-02 3.33937770e+02] [-2.31621822e-01 9.72798752e-01 -3.73093769e-03 -3.44580188e+01] [-1.68577877e-02 -1.79095659e-04 9.99857881e-01 -9.90678894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44591999999994 meters Centerline goodness [0,1] 0.9979182156133829 Centerline is valid? [True, True] Translation: X:333.97, Y:-34.46, Z:-0.99 [[ 9.72161482e-01 2.33689732e-01 1.70634533e-02 3.33966555e+02] [-2.33657887e-01 9.72311193e-01 -3.86461483e-03 -3.44619174e+01] [-1.74941074e-02 -2.29980766e-04 9.99846940e-01 -9.89867132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47592 meters Centerline goodness [0,1] 0.9980159714299885 Centerline is valid? [True, True] Translation: X:333.99, Y:-34.47, Z:-0.99 [[ 9.72595552e-01 2.31743142e-01 1.87885298e-02 3.33994564e+02] [-2.31704369e-01 9.72776987e-01 -4.24495867e-03 -3.44666279e+01] [-1.92607894e-02 -2.24756510e-04 9.99814469e-01 -9.90632561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50591999999995 meters Centerline goodness [0,1] 0.9987119147882091 Centerline is valid? [True, True] Translation: X:334.02, Y:-34.47, Z:-0.99 [[ 9.72741052e-01 2.31047468e-01 1.97968010e-02 3.34023090e+02] [-2.31004471e-01 9.72942452e-01 -4.46324536e-03 -3.44714795e+01] [-2.02923696e-02 -2.31567544e-04 9.99794062e-01 -9.90778942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53592 meters Centerline goodness [0,1] 0.9996033516783183 Centerline is valid? [True, True] Translation: X:334.05, Y:-34.47, Z:-0.99 [[ 9.73076330e-01 2.29528500e-01 2.09552847e-02 3.34050760e+02] [-2.29480214e-01 9.73301915e-01 -4.71307887e-03 -3.44746164e+01] [-2.14776046e-02 -2.22637721e-04 9.99769305e-01 -9.90376887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56591999999995 meters Centerline goodness [0,1] 0.9999504533518307 Centerline is valid? [True, True] Translation: X:334.08, Y:-34.48, Z:-0.99 [[ 9.73163239e-01 2.29248568e-01 1.99600551e-02 3.34078120e+02] [-2.29204925e-01 9.73367889e-01 -4.47834531e-03 -3.44799033e+01] [-2.04551310e-02 -2.16781905e-04 9.99790748e-01 -9.90292188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.11, Y:-34.48, Z:-0.99 [[ 9.72966793e-01 2.30171037e-01 1.88921619e-02 3.34106196e+02] [-2.30132309e-01 9.73150163e-01 -4.22860708e-03 -3.44827753e+01] [-1.93582133e-02 -2.33402554e-04 9.99812585e-01 -9.89658673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.13, Y:-34.49, Z:-0.99 [[ 9.73020278e-01 2.29859503e-01 1.99034575e-02 3.34134562e+02] [-2.29816647e-01 9.73223791e-01 -4.44542389e-03 -3.44876962e+01] [-2.03923412e-02 -2.48658263e-04 9.99792024e-01 -9.91459805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.16, Y:-34.49, Z:-0.99 [[ 9.73353415e-01 2.28203229e-01 2.25037012e-02 3.34162802e+02] [-2.28148244e-01 9.73613487e-01 -5.01557332e-03 -3.44920138e+01] [-2.30544771e-02 -2.52254503e-04 9.99734178e-01 -9.91081778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.19, Y:-34.50, Z:-0.99 [[ 9.73977273e-01 2.25606393e-01 2.16801012e-02 3.34191300e+02] [-2.25554944e-01 9.74218516e-01 -4.82175160e-03 -3.44978546e+01] [-2.22089740e-02 -1.93777537e-04 9.99753332e-01 -9.91657711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.22, Y:-34.50, Z:-0.99 [[ 9.74598924e-01 2.22977764e-01 2.09249559e-02 3.34219149e+02] [-2.22929442e-01 9.74823521e-01 -4.64397343e-03 -3.45032295e+01] [-2.14336420e-02 -1.38777215e-04 9.99770263e-01 -9.91808848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.25, Y:-34.51, Z:-0.99 [[ 9.75180777e-01 2.20377852e-01 2.13554318e-02 3.34246114e+02] [-2.20327151e-01 9.75414575e-01 -4.72792985e-03 -3.45096593e+01] [-2.18723305e-02 -9.45951387e-05 9.99760767e-01 -9.93407290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.77592 meters Centerline goodness [0,1] 0.9999504361617764 Centerline is valid? [True, True] Translation: X:334.27, Y:-34.52, Z:-0.99 [[ 9.76397325e-01 2.14893533e-01 2.16571810e-02 3.34273128e+02] [-2.14840295e-01 9.76637481e-01 -4.78313886e-03 -3.45164958e+01] [-2.21790803e-02 1.74088431e-05 9.99754014e-01 -9.94850663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.30, Y:-34.52, Z:-0.99 [[ 9.77100379e-01 2.11718864e-01 2.12125511e-02 3.34300732e+02] [-2.11667286e-01 9.77330608e-01 -4.67368594e-03 -3.45228716e+01] [-2.17211829e-02 7.66571935e-05 9.99764064e-01 -9.94953980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83592 meters Centerline goodness [0,1] 0.9999504287909582 Centerline is valid? [True, True] Translation: X:334.33, Y:-34.53, Z:-1.00 [[ 9.77981367e-01 2.07435088e-01 2.28720423e-02 3.34329185e+02] [-2.07374201e-01 9.78248769e-01 -5.02860639e-03 -3.45293666e+01] [-2.34176566e-02 1.74811863e-04 9.99725754e-01 -9.96088510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.36, Y:-34.54, Z:-0.99 [[ 9.78323096e-01 2.05979039e-01 2.13671467e-02 3.34357586e+02] [-2.05925592e-01 9.78556385e-01 -4.69604690e-03 -3.45366863e+01] [-2.18762451e-02 1.94208806e-04 9.99760667e-01 -9.94757909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.39, Y:-34.54, Z:-1.00 [[ 9.78782729e-01 2.03800815e-01 2.12036905e-02 3.34385386e+02] [-2.03747878e-01 9.79012346e-01 -4.65059557e-03 -3.45448615e+01] [-2.17064700e-02 2.31715671e-04 9.99764360e-01 -9.95546752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92591999999996 meters Centerline goodness [0,1] 0.9999503722084367 Centerline is valid? [True, True] Translation: X:334.41, Y:-34.56, Z:-1.00 [[ 9.79268764e-01 2.01297004e-01 2.26319140e-02 3.34412469e+02] [-2.01236266e-01 9.79530208e-01 -4.95346043e-03 -3.45556272e+01] [-2.31657602e-02 2.96407192e-04 9.99731594e-01 -9.96720412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.44, Y:-34.56, Z:-1.00 [[ 9.79637787e-01 1.99545284e-01 2.21694804e-02 3.34438927e+02] [-1.99486815e-01 9.79888554e-01 -4.84080284e-03 -3.45636159e+01] [-2.26895794e-02 3.19714357e-04 9.99742507e-01 -9.96025813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.47, Y:-34.57, Z:-1.00 [[ 9.79818872e-01 1.98629096e-01 2.23932845e-02 3.34465985e+02] [-1.98569470e-01 9.80074676e-01 -4.87792264e-03 -3.45714117e+01] [-2.29159884e-02 3.32858020e-04 9.99737339e-01 -9.97391414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.49, Y:-34.58, Z:-1.00 [[ 9.80098785e-01 1.97237383e-01 2.24451940e-02 3.34493634e+02] [-1.97177350e-01 9.80355695e-01 -4.87903083e-03 -3.45787370e+01] [-2.29666010e-02 3.56248333e-04 9.99736169e-01 -9.96939151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.52, Y:-34.59, Z:-1.00 [[ 9.80296903e-01 1.96183752e-01 2.30199248e-02 3.34521330e+02] [-1.96120560e-01 9.80567076e-01 -4.99350574e-03 -3.45873567e+01] [-2.35522251e-02 3.80437673e-04 9.99722535e-01 -9.97751327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07592 meters Centerline goodness [0,1] 0.9999503845199702 Centerline is valid? [True, True] Translation: X:334.55, Y:-34.60, Z:-1.00 [[ 9.80349818e-01 1.95983502e-01 2.24655571e-02 3.34549649e+02] [-1.95923306e-01 9.80607122e-01 -4.87150151e-03 -3.45952296e+01] [-2.29846192e-02 3.74249403e-04 9.99735749e-01 -9.96535395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.58, Y:-34.61, Z:-1.00 [[ 9.80372592e-01 1.95936351e-01 2.18752630e-02 3.34578052e+02] [-1.95879296e-01 9.80616548e-01 -4.74208847e-03 -3.46054412e+01] [-2.23803924e-02 3.64102445e-04 9.99749461e-01 -9.97371020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13592 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:334.61, Y:-34.61, Z:-1.00 [[ 9.80292550e-01 1.96385842e-01 2.14270356e-02 3.34606640e+02] [-1.96331240e-01 9.80526635e-01 -4.64353649e-03 -3.46134081e+01] [-2.19217039e-02 3.45227760e-04 9.99759631e-01 -9.96702859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.63, Y:-34.62, Z:-1.00 [[ 9.80333377e-01 1.96295888e-01 2.03566766e-02 3.34634062e+02] [-1.96246771e-01 9.80544656e-01 -4.40265248e-03 -3.46204582e+01] [-2.08248531e-02 3.21135113e-04 9.99783088e-01 -9.95509841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.66, Y:-34.63, Z:-1.00 [[ 9.80416800e-01 1.95864822e-01 2.04907021e-02 3.34661445e+02] [-1.95815187e-01 9.80630852e-01 -4.42094734e-03 -3.46281366e+01] [-2.09597227e-02 3.21980392e-04 9.99780269e-01 -9.95550247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22592 meters Centerline goodness [0,1] 0.9999503475670308 Centerline is valid? [True, True] Translation: X:334.69, Y:-34.64, Z:-1.00 [[ 9.80363099e-01 1.96226543e-01 1.95790237e-02 3.34688788e+02] [-1.96181481e-01 9.80558544e-01 -4.21516457e-03 -3.46357694e+01] [-2.00255062e-02 2.91349942e-04 9.99799427e-01 -9.96302401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.72, Y:-34.64, Z:-1.00 [[ 9.80489619e-01 1.95434013e-01 2.11104978e-02 3.34716357e+02] [-1.95381649e-01 9.80716801e-01 -4.53522746e-03 -3.46443242e+01] [-2.15897575e-02 3.22139581e-04 9.99766862e-01 -9.97030571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28592 meters Centerline goodness [0,1] 0.9999503179650239 Centerline is valid? [True, True] Translation: X:334.75, Y:-34.65, Z:-1.00 [[ 9.80483048e-01 1.95551020e-01 2.03172495e-02 3.34745093e+02] [-1.95502577e-01 9.80693482e-01 -4.36319556e-03 -3.46515502e+01] [-2.07782215e-02 3.05964645e-04 9.99784063e-01 -9.97200982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31591999999995 meters Centerline goodness [0,1] 0.9999503919039587 Centerline is valid? [True, True] Translation: X:334.77, Y:-34.66, Z:-1.00 [[ 9.80698267e-01 1.94449634e-01 2.04999597e-02 3.34772696e+02] [-1.94400265e-01 9.80912450e-01 -4.39335037e-03 -3.46582822e+01] [-2.09629511e-02 3.23353497e-04 9.99780201e-01 -9.97073347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34592 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:334.80, Y:-34.67, Z:-1.00 [[ 9.80635193e-01 1.94716035e-01 2.09829543e-02 3.34801565e+02] [-1.94664410e-01 9.80859603e-01 -4.49517336e-03 -3.46653151e+01] [-2.14566146e-02 3.23490786e-04 9.99769728e-01 -9.97570427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37591999999995 meters Centerline goodness [0,1] 0.9999006309931933 Centerline is valid? [True, True] Translation: X:334.83, Y:-34.67, Z:-1.00 [[ 9.80740766e-01 1.94175802e-01 2.10548794e-02 3.34830145e+02] [-1.94123727e-01 9.80966689e-01 -4.50921939e-03 -3.46731118e+01] [-2.15297167e-02 3.35123608e-04 9.99768153e-01 -9.97701649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40592 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:334.86, Y:-34.68, Z:-1.00 [[ 9.80729775e-01 1.94218728e-01 2.11705738e-02 3.34859348e+02] [-1.94166119e-01 9.80958192e-01 -4.53262897e-03 -3.46805285e+01] [-2.16477692e-02 3.34676050e-04 9.99765604e-01 -9.97917092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43591999999995 meters Centerline goodness [0,1] 0.9997518856689163 Centerline is valid? [True, True] Translation: X:334.89, Y:-34.69, Z:-1.00 [[ 9.80900691e-01 1.93483718e-01 1.99470522e-02 3.34888639e+02] [-1.93436876e-01 9.81103431e-01 -4.27000369e-03 -3.46877749e+01] [-2.03962975e-02 3.29954098e-04 9.99791919e-01 -9.97364893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46592 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:334.92, Y:-34.70, Z:-1.00 [[ 9.81077957e-01 1.92465841e-01 2.10461982e-02 3.34917563e+02] [-1.92413488e-01 9.81303604e-01 -4.50395152e-03 -3.46962052e+01] [-2.15195670e-02 3.69155134e-04 9.99768359e-01 -9.97151954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.95, Y:-34.70, Z:-1.00 [[ 9.80969079e-01 1.93064838e-01 2.06308990e-02 3.34946788e+02] [-1.93014665e-01 9.81185939e-01 -4.41502427e-03 -3.47039803e+01] [-2.10951339e-02 3.48936245e-04 9.99777412e-01 -9.96355848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.98, Y:-34.71, Z:-1.00 [[ 9.80969355e-01 1.92879456e-01 2.22854406e-02 3.34975920e+02] [-1.92820864e-01 9.81222386e-01 -4.76909713e-03 -3.47120407e+01] [-2.27868340e-02 3.81240224e-04 9.99740274e-01 -9.96996719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55591999999996 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:335.01, Y:-34.72, Z:-1.00 [[ 9.80794289e-01 1.93969157e-01 2.04579890e-02 3.35005578e+02] [-1.93919992e-01 9.81007573e-01 -4.37929452e-03 -3.47211004e+01] [-2.09188902e-02 3.27973989e-04 9.99781122e-01 -9.95197866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:335.04, Y:-34.73, Z:-1.00 [[ 9.80790258e-01 1.93850257e-01 2.17381754e-02 3.35035533e+02] [-1.93794714e-01 9.81031067e-01 -4.65339094e-03 -3.47276616e+01] [-2.22278865e-02 3.51256992e-04 9.99752868e-01 -9.96850389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61591999999996 meters Centerline goodness [0,1] 0.9999007838079175 Centerline is valid? [True, True] Translation: X:335.07, Y:-34.73, Z:-1.00 [[ 9.80750579e-01 1.94145192e-01 2.08793065e-02 3.35066001e+02] [-1.94093992e-01 9.80972749e-01 -4.47083842e-03 -3.47343986e+01] [-2.13500224e-02 3.32229436e-04 9.99772007e-01 -9.96183669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64592 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:335.10, Y:-34.74, Z:-1.00 [[ 9.81092643e-01 1.92359425e-01 2.13325260e-02 3.35095697e+02] [-1.92305554e-01 9.81324466e-01 -4.56793929e-03 -3.47407653e+01] [-2.18128158e-02 3.79208402e-04 9.99762000e-01 -9.96180086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67591999999996 meters Centerline goodness [0,1] 0.9997514663485436 Centerline is valid? [True, True] Translation: X:335.13, Y:-34.75, Z:-1.00 [[ 9.81313266e-01 1.91278465e-01 2.09003188e-02 3.35126412e+02] [-1.91226483e-01 9.81535731e-01 -4.47669058e-03 -3.47482610e+01] [-2.13707042e-02 3.96341402e-04 9.99771542e-01 -9.95809893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70592 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:335.16, Y:-34.76, Z:-1.00 [[ 9.81592756e-01 1.89621438e-01 2.27897223e-02 3.35157060e+02] [-1.89559149e-01 9.81857162e-01 -4.88287097e-03 -3.47552105e+01] [-2.33021491e-02 4.72990401e-04 9.99728356e-01 -9.97040027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73591999999996 meters Centerline goodness [0,1] 0.9994536876086416 Centerline is valid? [True, True] Translation: X:335.19, Y:-34.76, Z:-1.00 [[ 9.82038133e-01 1.87254006e-01 2.31741831e-02 3.35187908e+02] [-1.87188869e-01 9.82311379e-01 -4.96818220e-03 -3.47634429e+01] [-2.36945758e-02 5.40995240e-04 9.99719098e-01 -9.96602278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76592 meters Centerline goodness [0,1] 0.9997516638521903 Centerline is valid? [True, True] Translation: X:335.22, Y:-34.77, Z:-0.99 [[ 9.82440098e-01 1.85327663e-01 2.15664326e-02 3.35219570e+02] [-1.85270707e-01 9.82676628e-01 -4.62714450e-03 -3.47704880e+01] [-2.20503671e-02 5.50264076e-04 9.99756710e-01 -9.94923012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79591999999997 meters Centerline goodness [0,1] 0.9996516373046681 Centerline is valid? [True, True] Translation: X:335.25, Y:-34.78, Z:-1.00 [[ 9.82869408e-01 1.82833141e-01 2.32329484e-02 3.35250128e+02] [-1.82766307e-01 9.83143740e-01 -4.98628584e-03 -3.47774519e+01] [-2.37529861e-02 6.54667631e-04 9.99717644e-01 -9.95712193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82592 meters Centerline goodness [0,1] 0.9993547106125286 Centerline is valid? [True, True] Translation: X:335.28, Y:-34.79, Z:-1.00 [[ 9.82974967e-01 1.82314348e-01 2.28405989e-02 3.35281391e+02] [-1.82249547e-01 9.83240075e-01 -4.90491923e-03 -3.47863423e+01] [-2.33520294e-02 6.58724013e-04 9.99727087e-01 -9.96598121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85591999999997 meters Centerline goodness [0,1] 0.9993045206159961 Centerline is valid? [True, True] Translation: X:335.31, Y:-34.80, Z:-1.00 [[ 9.82937154e-01 1.82337396e-01 2.42409675e-02 3.35311917e+02] [-1.82264334e-01 9.83235771e-01 -5.20871995e-03 -3.47962377e+01] [-2.47843308e-02 7.01580574e-04 9.99692575e-01 -9.97913285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88592 meters Centerline goodness [0,1] 0.9989067236495552 Centerline is valid? [True, True] Translation: X:335.34, Y:-34.81, Z:-1.00 [[ 9.82811818e-01 1.83161018e-01 2.30861983e-02 3.35342334e+02] [-1.83094911e-01 9.83082711e-01 -4.96351257e-03 -3.48076329e+01] [-2.36047645e-02 6.51233389e-04 9.99721157e-01 -9.98069275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91591999999997 meters Centerline goodness [0,1] 0.9983611442193087 Centerline is valid? [True, True] Translation: X:335.37, Y:-34.82, Z:-1.00 [[ 9.82627094e-01 1.84315500e-01 2.17207430e-02 3.35373564e+02] [-1.84257202e-01 9.82866954e-01 -4.67269518e-03 -3.48151627e+01] [-2.22098507e-02 5.89313549e-04 9.99753157e-01 -9.96404586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94591999999994 meters Centerline goodness [0,1] 0.999104433056371 Centerline is valid? [True, True] Translation: X:335.40, Y:-34.82, Z:-1.00 [[ 9.82516590e-01 1.85004386e-01 2.08453098e-02 3.35404869e+02] [-1.84950792e-01 9.82737539e-01 -4.48702226e-03 -3.48228606e+01] [-2.13155872e-02 5.53217254e-04 9.99772644e-01 -9.96524285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97592 meters Centerline goodness [0,1] 0.9991054567140444 Centerline is valid? [True, True] Translation: X:335.44, Y:-34.83, Z:-0.99 [[ 9.82135279e-01 1.87235699e-01 1.87905900e-02 3.35435071e+02] [-1.87192535e-01 9.82314911e-01 -4.04598539e-03 -3.48316774e+01] [-1.92158297e-02 4.56246822e-04 9.99815255e-01 -9.94062947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00591999999995 meters Centerline goodness [0,1] 0.9992545843065149 Centerline is valid? [True, True] Translation: X:335.47, Y:-34.84, Z:-1.00 [[ 9.81982140e-01 1.88001065e-01 1.91487814e-02 3.35465945e+02] [-1.87956361e-01 9.82168721e-01 -4.12435157e-03 -3.48388110e+01] [-1.95827167e-02 4.50904311e-04 9.99808139e-01 -9.95079543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03592 meters Centerline goodness [0,1] 0.9994536876086416 Centerline is valid? [True, True] Translation: X:335.50, Y:-34.85, Z:-1.00 [[ 9.81541403e-01 1.90083917e-01 2.10850238e-02 3.35496866e+02] [-1.90030136e-01 9.81767742e-01 -4.54407862e-03 -3.48472820e+01] [-2.15643525e-02 4.53411353e-04 9.99767360e-01 -9.95540202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06591999999995 meters Centerline goodness [0,1] 0.9995529283195073 Centerline is valid? [True, True] Translation: X:335.53, Y:-34.85, Z:-1.00 [[ 9.81158620e-01 1.91967077e-01 2.18266903e-02 3.35527943e+02] [-1.91909847e-01 9.81401272e-01 -4.70676598e-03 -3.48544860e+01] [-2.23242857e-02 4.29327222e-04 9.99750690e-01 -9.95852933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09592 meters Centerline goodness [0,1] 0.9990056182568489 Centerline is valid? [True, True] Translation: X:335.56, Y:-34.86, Z:-1.00 [[ 9.81022733e-01 1.92865660e-01 1.99307510e-02 3.35559333e+02] [-1.92818074e-01 9.81225100e-01 -4.30051152e-03 -3.48609318e+01] [-2.03859741e-02 3.75890538e-04 9.99792114e-01 -9.95335728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12591999999995 meters Centerline goodness [0,1] 0.999106167444632 Centerline is valid? [True, True] Translation: X:335.59, Y:-34.87, Z:-1.00 [[ 9.80799976e-01 1.94037453e-01 1.95160095e-02 3.35590115e+02] [-1.93992033e-01 9.80994061e-01 -4.21234932e-03 -3.48669302e+01] [-1.99624429e-02 3.45521757e-04 9.99800671e-01 -9.96182033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15592 meters Centerline goodness [0,1] 0.9991563275434243 Centerline is valid? [True, True] Translation: X:335.62, Y:-34.87, Z:-0.99 [[ 9.80522367e-01 1.95596108e-01 1.78339527e-02 3.35620632e+02] [-1.95558417e-01 9.80684496e-01 -3.85045346e-03 -3.48730695e+01] [-1.82426147e-02 2.87876184e-04 9.99833548e-01 -9.94484264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18591999999995 meters Centerline goodness [0,1] 0.999453904582237 Centerline is valid? [True, True] Translation: X:335.65, Y:-34.88, Z:-0.99 [[ 9.80286321e-01 1.96677667e-01 1.88844798e-02 3.35651611e+02] [-1.96635580e-01 9.80468161e-01 -4.07851647e-03 -3.48803160e+01] [-1.93177843e-02 2.84753255e-04 9.99813354e-01 -9.94912109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21592 meters Centerline goodness [0,1] 0.999453904582237 Centerline is valid? [True, True] Translation: X:335.68, Y:-34.89, Z:-0.99 [[ 9.80274064e-01 1.96738772e-01 1.88842255e-02 3.35681770e+02] [-1.96696674e-01 9.80455901e-01 -4.07969396e-03 -3.48868100e+01] [-1.93177843e-02 2.84753832e-04 9.99813354e-01 -9.94937814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24591999999996 meters Centerline goodness [0,1] 0.9995037959608991 Centerline is valid? [True, True] Translation: X:335.71, Y:-34.89, Z:-1.00 [[ 9.80240422e-01 1.96717388e-01 2.07601571e-02 3.35712041e+02] [-1.96666476e-01 9.80460183e-01 -4.48632749e-03 -3.48940623e+01] [-2.12370461e-02 3.14852608e-04 9.99774419e-01 -9.95174194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.27592 meters Centerline goodness [0,1] 0.9995524169484782 Centerline is valid? [True, True] Translation: X:335.74, Y:-34.90, Z:-1.00 [[ 9.80231416e-01 1.96496773e-01 2.31384561e-02 3.35742959e+02] [-1.96433411e-01 9.80504406e-01 -5.00256423e-03 -3.49008028e+01] [-2.36703458e-02 3.58504778e-04 9.99719754e-01 -9.95093746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30591999999996 meters Centerline goodness [0,1] 0.9992061129304356 Centerline is valid? [True, True] Translation: X:335.77, Y:-34.91, Z:-1.00 [[ 9.80285972e-01 1.96155217e-01 2.37180260e-02 3.35774071e+02] [-1.96088464e-01 9.80572785e-01 -5.13097583e-03 -3.49070675e+01] [-2.42637185e-02 3.78992348e-04 9.99705521e-01 -9.95856491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33592 meters Centerline goodness [0,1] 0.999553460679732 Centerline is valid? [True, True] Translation: X:335.81, Y:-34.91, Z:-1.00 [[ 9.80507150e-01 1.95074714e-01 2.34858339e-02 3.35805816e+02] [-1.95008878e-01 9.80788301e-01 -5.08383879e-03 -3.49139160e+01] [-2.40263596e-02 4.04794156e-04 9.99711243e-01 -9.95382601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36591999999996 meters Centerline goodness [0,1] 0.9996517412935323 Centerline is valid? [True, True] Translation: X:335.84, Y:-34.92, Z:-1.00 [[ 9.80387113e-01 1.95605206e-01 2.40772104e-02 3.35837061e+02] [-1.95536094e-01 9.80682640e-01 -5.21501901e-03 -3.49215352e+01] [-2.46321872e-02 4.04773754e-04 9.99696500e-01 -9.96190938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39592 meters Centerline goodness [0,1] 0.9994541484716157 Centerline is valid? [True, True] Translation: X:335.87, Y:-34.93, Z:-0.99 [[ 9.80250106e-01 1.96349602e-01 2.35915926e-02 3.35868316e+02] [-1.96283391e-01 9.80533879e-01 -5.11292604e-03 -3.49301867e+01] [-2.41362768e-02 3.81308495e-04 9.99708605e-01 -9.94979038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42591999999996 meters Centerline goodness [0,1] 0.9991559086395233 Centerline is valid? [True, True] Translation: X:335.90, Y:-34.94, Z:-0.99 [[ 9.79914250e-01 1.98207874e-01 2.19476847e-02 3.35899434e+02] [-1.98150971e-01 9.80159956e-01 -4.75953013e-03 -3.49396916e+01] [-2.24556180e-02 3.14976376e-04 9.99747791e-01 -9.94366594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45592 meters Centerline goodness [0,1] 0.9991554054054054 Centerline is valid? [True, True] Translation: X:335.93, Y:-34.95, Z:-0.99 [[ 9.79810520e-01 1.98793112e-01 2.12754001e-02 3.35931081e+02] [-1.98739718e-01 9.80041434e-01 -4.61657311e-03 -3.49473778e+01] [-2.17685166e-02 2.95099875e-04 9.99762994e-01 -9.93469256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48591999999996 meters Centerline goodness [0,1] 0.9987544218026008 Centerline is valid? [True, True] Translation: X:335.96, Y:-34.96, Z:-0.99 [[ 9.79471371e-01 2.00495147e-01 2.09171999e-02 3.35962506e+02] [-2.00443865e-01 9.79694662e-01 -4.54162479e-03 -3.49559089e+01] [-2.14030428e-02 2.55667073e-04 9.99770896e-01 -9.93602729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51592 meters Centerline goodness [0,1] 0.9992551395371934 Centerline is valid? [True, True] Translation: X:335.99, Y:-34.97, Z:-0.99 [[ 9.79245135e-01 2.01596562e-01 2.09234559e-02 3.35993051e+02] [-2.01545441e-01 9.79468617e-01 -4.54576549e-03 -3.49656361e+01] [-2.14102791e-02 2.34391596e-04 9.99770746e-01 -9.92731818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54591999999997 meters Centerline goodness [0,1] 0.9994045846978268 Centerline is valid? [True, True] Translation: X:336.02, Y:-34.97, Z:-0.99 [[ 9.79284107e-01 2.01378079e-01 2.12015981e-02 3.36024093e+02] [-2.01325478e-01 9.79513557e-01 -4.60900371e-03 -3.49739374e+01] [-2.16954051e-02 2.45102198e-04 9.99764597e-01 -9.92090490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57592 meters Centerline goodness [0,1] 0.9995022894684451 Centerline is valid? [True, True] Translation: X:336.05, Y:-34.98, Z:-0.99 [[ 9.79790337e-01 1.98678619e-01 2.31883894e-02 3.36054779e+02] [-1.98614836e-01 9.80064637e-01 -5.04527153e-03 -3.49822053e+01] [-2.37285080e-02 3.37750147e-04 9.99718382e-01 -9.92756402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60591999999997 meters Centerline goodness [0,1] 0.9994037859591594 Centerline is valid? [True, True] Translation: X:336.09, Y:-34.99, Z:-0.99 [[ 9.79879261e-01 1.98303114e-01 2.26386580e-02 3.36086411e+02] [-1.98242115e-01 9.80140682e-01 -4.93016426e-03 -3.49907049e+01] [-2.31667366e-02 3.43030278e-04 9.99731556e-01 -9.93750813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63592 meters Centerline goodness [0,1] 0.9989078633836378 Centerline is valid? [True, True] Translation: X:336.12, Y:-35.00, Z:-0.99 [[ 9.80107931e-01 1.97264072e-01 2.18020425e-02 3.36118363e+02] [-1.97207145e-01 9.80350324e-01 -4.75231828e-03 -3.49995338e+01] [-2.23111011e-02 3.58266288e-04 9.99751012e-01 -9.93842941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66591999999997 meters Centerline goodness [0,1] 0.9992553244303232 Centerline is valid? [True, True] Translation: X:336.15, Y:-35.01, Z:-0.99 [[ 9.80033711e-01 1.97716191e-01 2.10293595e-02 3.36149201e+02] [-1.97663270e-01 9.80259248e-01 -4.58674669e-03 -3.50094867e+01] [-2.15210983e-02 3.38434402e-04 9.99768337e-01 -9.94289962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69591999999994 meters Centerline goodness [0,1] 0.9994043186895011 Centerline is valid? [True, True] Translation: X:336.18, Y:-35.02, Z:-0.99 [[ 9.79829689e-01 1.98815811e-01 2.01507845e-02 3.36180928e+02] [-1.98767384e-01 9.80036826e-01 -4.39843414e-03 -3.50172395e+01] [-2.06229892e-02 3.04397629e-04 9.99787277e-01 -9.93168504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72592 meters Centerline goodness [0,1] 0.9987585658953223 Centerline is valid? [True, True] Translation: X:336.21, Y:-35.02, Z:-0.99 [[ 9.79780869e-01 1.99054942e-01 2.01638116e-02 3.36212105e+02] [-1.99006448e-01 9.79988285e-01 -4.40397916e-03 -3.50249844e+01] [-2.06369330e-02 3.02206003e-04 9.99786990e-01 -9.92560836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75591999999995 meters Centerline goodness [0,1] 0.9990075426756649 Centerline is valid? [True, True] Translation: X:336.24, Y:-35.03, Z:-0.99 [[ 9.79692725e-01 1.99460453e-01 2.04375155e-02 3.36243390e+02] [-1.99410664e-01 9.79905831e-01 -4.46648803e-03 -3.50332212e+01] [-2.09177283e-02 3.00327296e-04 9.99781155e-01 -9.93196330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78592 meters Centerline goodness [0,1] 0.9990555721244656 Centerline is valid? [True, True] Translation: X:336.27, Y:-35.05, Z:-0.99 [[ 9.79426419e-01 2.00816835e-01 1.99120092e-02 3.36273361e+02] [-2.00769801e-01 9.79628770e-01 -4.35428290e-03 -3.50466323e+01] [-2.03807904e-02 2.66969586e-04 9.99792254e-01 -9.93722038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81591999999995 meters Centerline goodness [0,1] 0.9991546494281452 Centerline is valid? [True, True] Translation: X:336.30, Y:-35.06, Z:-0.99 [[ 9.79408933e-01 2.00788211e-01 2.10294355e-02 3.36304197e+02] [-2.00735681e-01 9.79634632e-01 -4.60145011e-03 -3.50559412e+01] [-2.15250803e-02 2.85343283e-04 9.99768268e-01 -9.94196395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84592 meters Centerline goodness [0,1] 0.999106167444632 Centerline is valid? [True, True] Translation: X:336.34, Y:-35.06, Z:-0.99 [[ 9.79529450e-01 2.00090023e-01 2.20462858e-02 3.36335128e+02] [-2.00032047e-01 9.79777465e-01 -4.82687755e-03 -3.50646072e+01] [-2.25662640e-02 3.18105041e-04 9.99745299e-01 -9.94393333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87591999999995 meters Centerline goodness [0,1] 0.9995021903624054 Centerline is valid? [True, True] Translation: X:336.37, Y:-35.07, Z:-0.99 [[ 9.79417034e-01 2.00452212e-01 2.36893381e-02 3.36365758e+02] [-2.00385300e-01 9.79703424e-01 -5.18976799e-03 -3.50733342e+01] [-2.42488261e-02 3.35952053e-04 9.99705898e-01 -9.94230649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90592 meters Centerline goodness [0,1] 0.9992058765137979 Centerline is valid? [True, True] Translation: X:336.40, Y:-35.08, Z:-0.99 [[ 9.79158762e-01 2.01720237e-01 2.36022271e-02 3.36396765e+02] [-2.01654108e-01 9.79443134e-01 -5.17385211e-03 -3.50813746e+01] [-2.41607100e-02 3.06536558e-04 9.99708040e-01 -9.93995425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93591999999995 meters Centerline goodness [0,1] 0.9991557409614621 Centerline is valid? [True, True] Translation: X:336.43, Y:-35.09, Z:-0.99 [[ 9.78223902e-01 2.06166678e-01 2.39436481e-02 3.36426820e+02] [-2.06099873e-01 9.78516867e-01 -5.25190473e-03 -3.50925454e+01] [-2.45120313e-02 2.02755910e-04 9.99699514e-01 -9.93533613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96592 meters Centerline goodness [0,1] 0.999352396134303 Centerline is valid? [True, True] Translation: X:336.46, Y:-35.10, Z:-0.99 [[ 9.77932730e-01 2.07785585e-01 2.17422650e-02 3.36458539e+02] [-2.07730820e-01 9.78174385e-01 -4.77269092e-03 -3.51005183e+01] [-2.22594231e-02 1.50832109e-04 9.99752217e-01 -9.92107359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99591999999996 meters Centerline goodness [0,1] 0.9995039436479984 Centerline is valid? [True, True] Translation: X:336.49, Y:-35.11, Z:-0.99 [[ 9.77433829e-01 2.10093903e-01 2.19923264e-02 3.36491215e+02] [-2.10038353e-01 9.77681206e-01 -4.83209722e-03 -3.51072039e+01] [-2.25166784e-02 1.03823278e-04 9.99746462e-01 -9.91738094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.02592 meters Centerline goodness [0,1] 0.9996021088232369 Centerline is valid? [True, True] Translation: X:336.52, Y:-35.12, Z:-0.99 [[ 9.77203132e-01 2.11260172e-01 2.10517912e-02 3.36522316e+02] [-2.11209479e-01 9.77429861e-01 -4.62838114e-03 -3.51163510e+01] [-2.15544420e-02 7.65306843e-05 9.99767673e-01 -9.92264540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05591999999996 meters Centerline goodness [0,1] 0.9999005766553987 Centerline is valid? [True, True] Translation: X:336.55, Y:-35.13, Z:-0.99 [[ 9.77233807e-01 2.11094863e-01 2.12848476e-02 3.36553742e+02] [-2.11042907e-01 9.77465576e-01 -4.68398402e-03 -3.51256512e+01] [-2.17939707e-02 8.53314309e-05 9.99762480e-01 -9.93199071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08592 meters Centerline goodness [0,1] 0.9996525709747865 Centerline is valid? [True, True] Translation: X:336.58, Y:-35.13, Z:-0.99 [[ 9.77248672e-01 2.11183932e-01 1.96565460e-02 3.36584545e+02] [-2.11139584e-01 9.77446337e-01 -4.32841646e-03 -3.51338975e+01] [-2.01273109e-02 7.96642910e-05 9.99797422e-01 -9.93141943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11591999999996 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:336.62, Y:-35.14, Z:-0.99 [[ 9.77042131e-01 2.12098287e-01 2.00746391e-02 3.36616777e+02] [-2.12052142e-01 9.77248337e-01 -4.42457264e-03 -3.51429399e+01] [-2.05563520e-02 6.61236658e-05 9.99788694e-01 -9.92732288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.65, Y:-35.15, Z:-0.99 [[ 9.76953925e-01 2.12482918e-01 2.02987228e-02 3.36649172e+02] [-2.12435732e-01 9.77164779e-01 -4.47820998e-03 -3.51507338e+01] [-2.07867401e-02 6.28307809e-05 9.99783930e-01 -9.93040817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17591999999996 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:336.68, Y:-35.16, Z:-0.99 [[ 9.76603757e-01 2.13840405e-01 2.27460496e-02 3.36680660e+02] [-2.13781446e-01 9.76868609e-01 -5.02133694e-03 -3.51592297e+01] [-2.32936666e-02 4.11731493e-05 9.99728665e-01 -9.93927814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.71, Y:-35.17, Z:-1.00 [[ 9.75838341e-01 2.17078307e-01 2.48302406e-02 3.36711451e+02] [-2.17009006e-01 9.76154192e-01 -5.48486300e-03 -3.51686261e+01] [-2.54287882e-02 -3.60462161e-05 9.99676635e-01 -9.95096053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.74, Y:-35.18, Z:-1.00 [[ 9.75514264e-01 2.18680885e-01 2.34646978e-02 3.36742691e+02] [-2.18619384e-01 9.75796426e-01 -5.18645156e-03 -3.51770842e+01] [-2.40309460e-02 -7.03803049e-05 9.99711213e-01 -9.95183926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.77, Y:-35.19, Z:-1.00 [[ 9.74733665e-01 2.22023631e-01 2.44905881e-02 3.36773961e+02] [-2.21957603e-01 9.75041272e-01 -5.41659365e-03 -3.51852895e+01] [-2.50819460e-02 -1.56136058e-04 9.99685386e-01 -9.97274648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.80, Y:-35.19, Z:-1.00 [[ 9.74223889e-01 2.24190549e-01 2.50282166e-02 3.36804957e+02] [-2.24122023e-01 9.74545307e-01 -5.54649252e-03 -3.51919989e+01] [-2.56346022e-02 -2.05849012e-04 9.99671358e-01 -9.96779224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.84, Y:-35.20, Z:-1.00 [[ 9.73862690e-01 2.25817301e-01 2.44541841e-02 3.36837137e+02] [-2.25752262e-01 9.74169641e-01 -5.42458381e-03 -3.51985434e+01] [-2.50474886e-02 -2.37787581e-04 9.99686234e-01 -9.96191701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.87, Y:-35.20, Z:-1.00 [[ 9.73434175e-01 2.27672110e-01 2.43170281e-02 3.36869130e+02] [-2.27608291e-01 9.73737815e-01 -5.39760608e-03 -3.52047458e+01] [-2.49072941e-02 -2.80542993e-04 9.99689726e-01 -9.95747031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.90, Y:-35.21, Z:-1.00 [[ 9.72735528e-01 2.30681187e-01 2.39119611e-02 3.36901186e+02] [-2.30620089e-01 9.73029329e-01 -5.31975594e-03 -3.52105980e+01] [-2.44942071e-02 -3.39863016e-04 9.99699914e-01 -9.96248305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.93, Y:-35.22, Z:-1.00 [[ 9.72117780e-01 2.33269006e-01 2.39288947e-02 3.36932982e+02] [-2.33208516e-01 9.72412160e-01 -5.32714705e-03 -3.52169624e+01] [-2.45114064e-02 -4.01807646e-04 9.99699470e-01 -9.96648152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.97, Y:-35.22, Z:-1.00 [[ 9.71589651e-01 2.35318380e-01 2.52746704e-02 3.36965388e+02] [-2.35251496e-01 9.71918224e-01 -5.63026015e-03 -3.52206308e+01] [-2.58898165e-02 -4.75601547e-04 9.99664689e-01 -9.97786183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.00, Y:-35.23, Z:-1.00 [[ 9.71301482e-01 2.36493363e-01 2.53834486e-02 3.36997283e+02] [-2.36426212e-01 9.71632973e-01 -5.65799798e-03 -3.52252928e+01] [-2.60014746e-02 -5.05690784e-04 9.99661777e-01 -9.97269133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.03, Y:-35.23, Z:-1.00 [[ 9.71169443e-01 2.37020047e-01 2.55227484e-02 3.37028972e+02] [-2.36952246e-01 9.71504620e-01 -5.69259986e-03 -3.52295989e+01] [-2.61447283e-02 -5.19193513e-04 9.99658033e-01 -9.96733158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.06, Y:-35.23, Z:-1.00 [[ 9.70946102e-01 2.37770393e-01 2.69982993e-02 3.37061375e+02] [-2.37694709e-01 9.71321223e-01 -6.02546131e-03 -3.52303001e+01] [-2.76566974e-02 -5.66954729e-04 9.99617320e-01 -9.97415625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.09, Y:-35.23, Z:-1.00 [[ 9.71078618e-01 2.37070710e-01 2.83513120e-02 3.37093487e+02] [-2.36986837e-01 9.71492230e-01 -6.33136680e-03 -3.52339312e+01] [-2.90440609e-02 -5.70632848e-04 9.99577969e-01 -9.97411152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.13, Y:-35.24, Z:-1.00 [[ 9.71200314e-01 2.36634328e-01 2.78234477e-02 3.37126016e+02] [-2.36553262e-01 9.71598631e-01 -6.21730575e-03 -3.52377811e+01] [-2.85044517e-02 -5.43478021e-04 9.99593518e-01 -9.97342135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.16, Y:-35.24, Z:-1.00 [[ 9.71699659e-01 2.34682960e-01 2.69013310e-02 3.37158678e+02] [-2.34606329e-01 9.72071855e-01 -6.01495403e-03 -3.52385413e+01] [-2.75616339e-02 -4.66493735e-04 9.99619997e-01 -9.96968097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.19, Y:-35.24, Z:-1.00 [[ 9.71736531e-01 2.34477998e-01 2.73529262e-02 3.37191286e+02] [-2.34398534e-01 9.72121317e-01 -6.12152418e-03 -3.52433036e+01] [-2.80257253e-02 -4.62977129e-04 9.99607095e-01 -9.96956262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.22, Y:-35.25, Z:-1.00 [[ 9.71729684e-01 2.34437716e-01 2.79352585e-02 3.37223375e+02] [-2.34354704e-01 9.72131029e-01 -6.25575582e-03 -3.52489040e+01] [-2.86233168e-02 -4.67855610e-04 9.99590159e-01 -9.98089961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.26, Y:-35.25, Z:-1.00 [[ 9.71515446e-01 2.35290081e-01 2.82190659e-02 3.37255899e+02] [-2.35205621e-01 9.71925066e-01 -6.32316987e-03 -3.52514898e+01] [-2.89145967e-02 -4.94225724e-04 9.99581763e-01 -9.98056200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.29, Y:-35.26, Z:-1.00 [[ 9.71406105e-01 2.35748621e-01 2.81561127e-02 3.37288382e+02] [-2.35664563e-01 9.71813941e-01 -6.31484282e-03 -3.52565840e+01] [-2.88512183e-02 -5.01121134e-04 9.99583591e-01 -9.97805693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.32, Y:-35.26, Z:-1.00 [[ 9.71768328e-01 2.34439573e-01 2.65405850e-02 3.37320758e+02] [-2.34364226e-01 9.72130599e-01 -5.95881594e-03 -3.52612904e+01] [-2.71978971e-02 -4.29575052e-04 9.99629976e-01 -9.97478245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.35, Y:-35.27, Z:-1.00 [[ 9.71987026e-01 2.33544962e-01 2.64191666e-02 3.37352443e+02] [-2.33469872e-01 9.72345922e-01 -5.93527908e-03 -3.52670225e+01] [-2.70747234e-02 -3.99065183e-04 9.99633333e-01 -9.98042385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.38, Y:-35.27, Z:-1.00 [[ 9.72512984e-01 2.31496749e-01 2.50549764e-02 3.37384547e+02] [-2.31428447e-01 9.72835624e-01 -5.63222409e-03 -3.52727027e+01] [-2.56782152e-02 -3.21023229e-04 9.99670209e-01 -9.97732278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.42, Y:-35.28, Z:-1.00 [[ 9.73038727e-01 2.29158508e-01 2.61154081e-02 3.37416682e+02] [-2.29083315e-01 9.73389083e-01 -5.87596619e-03 -3.52782958e+01] [-2.67669808e-02 -2.65061609e-04 9.99641665e-01 -9.97893200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.45, Y:-35.29, Z:-1.00 [[ 9.74353063e-01 2.23570648e-01 2.55396687e-02 3.37447851e+02] [-2.23496717e-01 9.74687721e-01 -5.75004013e-03 -3.52871883e+01] [-2.61787417e-02 -1.05462893e-04 9.99657272e-01 -9.99287468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.48, Y:-35.30, Z:-1.00 [[ 9.75050784e-01 2.20652918e-01 2.42540519e-02 3.37478615e+02] [-2.20585257e-01 9.75352392e-01 -5.46395369e-03 -3.52953308e+01] [-2.48618849e-02 -2.24539658e-05 9.99690895e-01 -9.99763249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.51, Y:-35.30, Z:-1.00 [[ 9.75336242e-01 2.19297973e-01 2.50522199e-02 3.37509594e+02] [-2.19225250e-01 9.75657931e-01 -5.64720528e-03 -3.53031320e+01] [-2.56808177e-02 1.58448187e-05 9.99670193e-01 -9.99957712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.54, Y:-35.31, Z:-1.00 [[ 9.75792298e-01 2.17452368e-01 2.33207757e-02 3.37540475e+02] [-2.17388748e-01 9.76070932e-01 -5.26007683e-03 -3.53107250e+01] [-2.39065475e-02 6.30682124e-05 9.99714196e-01 -9.99569457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.57, Y:-35.32, Z:-1.00 [[ 9.75888053e-01 2.17221156e-01 2.13887310e-02 3.37570875e+02] [-2.17167523e-01 9.76122413e-01 -4.82722061e-03 -3.53207391e+01] [-2.19265942e-02 6.58891770e-05 9.99759581e-01 -1.00005336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.60, Y:-35.33, Z:-1.00 [[ 9.75770152e-01 2.17796272e-01 2.09139621e-02 3.37601800e+02] [-2.17745064e-01 9.75994253e-01 -4.72292164e-03 -3.53296404e+01] [-2.14405415e-02 5.45739473e-05 9.99770124e-01 -1.00026107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07592 meters Centerline goodness [0,1] 0.9999503327704381 Centerline is valid? [True, True] Translation: X:337.63, Y:-35.34, Z:-1.00 [[ 9.75356354e-01 2.19482840e-01 2.25225697e-02 3.37632870e+02] [-2.19423829e-01 9.75616360e-01 -5.08929427e-03 -3.53391920e+01] [-2.30904002e-02 2.18870296e-05 9.99733381e-01 -1.00057802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10591999999997 meters Centerline goodness [0,1] 0.9999003934458888 Centerline is valid? [True, True] Translation: X:337.66, Y:-35.35, Z:-1.00 [[ 9.75160169e-01 2.20351870e-01 2.25321417e-02 3.37664841e+02] [-2.20292935e-01 9.75420449e-01 -5.09604592e-03 -3.53485884e+01] [-2.31012350e-02 5.78938013e-06 9.99733131e-01 -9.99495047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13592 meters Centerline goodness [0,1] 0.9999003934458888 Centerline is valid? [True, True] Translation: X:337.70, Y:-35.36, Z:-1.00 [[ 9.75116549e-01 2.20544926e-01 2.25311330e-02 3.37696583e+02] [-2.20485939e-01 9.75376817e-01 -5.10050401e-03 -3.53557062e+01] [-2.31012350e-02 5.78785744e-06 9.99733131e-01 -9.99522146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.73, Y:-35.37, Z:-1.00 [[ 9.74727321e-01 2.22310902e-01 2.20116455e-02 3.37727185e+02] [-2.22254984e-01 9.74975826e-01 -4.98599205e-03 -3.53658816e+01] [-2.25692627e-02 -3.22152499e-05 9.99745281e-01 -9.99495679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19591999999994 meters Centerline goodness [0,1] 0.9999503623548099 Centerline is valid? [True, True] Translation: X:337.76, Y:-35.38, Z:-1.00 [[ 9.73776937e-01 2.26497275e-01 2.13883484e-02 3.37759016e+02] [-2.26445392e-01 9.74011791e-01 -4.84916257e-03 -3.53763000e+01] [-2.19308257e-02 -1.21290276e-04 9.99759483e-01 -9.99006158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.79, Y:-35.38, Z:-1.00 [[ 9.73185442e-01 2.29168965e-01 1.97909254e-02 3.37790481e+02] [-2.29125027e-01 9.73386644e-01 -4.49041844e-03 -3.53839943e+01] [-2.02932870e-02 -1.64586462e-04 9.99794057e-01 -9.97787164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25591999999995 meters Centerline goodness [0,1] 0.9999503426358128 Centerline is valid? [True, True] Translation: X:337.82, Y:-35.39, Z:-1.00 [[ 9.72372610e-01 2.32579843e-01 1.99530546e-02 3.37821691e+02] [-2.32535842e-01 9.72577278e-01 -4.53001387e-03 -3.53910976e+01] [-2.04594775e-02 -2.34938939e-04 9.99790655e-01 -9.97870131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.85, Y:-35.40, Z:-1.00 [[ 9.71069749e-01 2.37874950e-01 2.09535232e-02 3.37853082e+02] [-2.37827593e-01 9.71295721e-01 -4.76006613e-03 -3.53989459e+01] [-2.14843679e-02 -3.60969760e-04 9.99769119e-01 -9.96480058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31591999999995 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:337.88, Y:-35.41, Z:-1.00 [[ 9.70479778e-01 2.40313252e-01 2.04582928e-02 3.37884709e+02] [-2.40268589e-01 9.70695307e-01 -4.65038983e-03 -3.54067606e+01] [-2.09763191e-02 -4.02375870e-04 9.99779892e-01 -9.95722798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.92, Y:-35.41, Z:-1.00 [[ 9.69786777e-01 2.43135211e-01 1.99718875e-02 3.37916252e+02] [-2.43093188e-01 9.69992302e-01 -4.54257909e-03 -3.54142214e+01] [-2.04770381e-02 -4.49696683e-04 9.99790222e-01 -9.95827786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.95, Y:-35.42, Z:-0.99 [[ 9.68951279e-01 2.46622237e-01 1.76321059e-02 3.37948094e+02] [-2.46590017e-01 9.69111583e-01 -4.01282970e-03 -3.54195559e+01] [-1.80771311e-02 -4.59664818e-04 9.99836490e-01 -9.94624150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40592 meters Centerline goodness [0,1] 0.9999007641163045 Centerline is valid? [True, True] Translation: X:337.98, Y:-35.43, Z:-0.99 [[ 9.68542981e-01 2.48146797e-01 1.86456730e-02 3.37979982e+02] [-2.48110998e-01 9.68722305e-01 -4.24610122e-03 -3.54253345e+01] [-1.91161358e-02 -5.13665005e-04 9.99817138e-01 -9.94724355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.01, Y:-35.43, Z:-0.99 [[ 9.67477672e-01 2.52130290e-01 2.04272090e-02 3.38011464e+02] [-2.52088164e-01 9.67693081e-01 -4.65395440e-03 -3.54293119e+01] [-2.09406717e-02 -6.46860639e-04 9.99780511e-01 -9.94419799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.04, Y:-35.43, Z:-0.99 [[ 9.67402747e-01 2.52393804e-01 2.07193746e-02 3.38044002e+02] [-2.52350464e-01 9.67624376e-01 -4.72334511e-03 -3.54332613e+01] [-2.12407150e-02 -6.59166771e-04 9.99774173e-01 -9.93505750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.08, Y:-35.44, Z:-0.99 [[ 9.67211856e-01 2.53140216e-01 2.05245270e-02 3.38076127e+02] [-2.53097796e-01 9.67429370e-01 -4.68174934e-03 -3.54375046e+01] [-2.10411693e-02 -6.66469077e-04 9.99778388e-01 -9.93737146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.52592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.11, Y:-35.44, Z:-0.99 [[ 9.67038229e-01 2.53821919e-01 2.02853653e-02 3.38109651e+02] [-2.53780575e-01 9.67250735e-01 -4.62996149e-03 -3.54367641e+01] [-2.07962202e-02 -6.70681907e-04 9.99783510e-01 -9.94329118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55591999999996 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:338.14, Y:-35.44, Z:-0.99 [[ 9.66836893e-01 2.54645053e-01 1.95530091e-02 3.38141585e+02] [-2.54606754e-01 9.67034364e-01 -4.46549124e-03 -3.54408279e+01] [-2.00455469e-02 -6.60926491e-04 9.99798849e-01 -9.94779388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.17, Y:-35.44, Z:-1.00 [[ 9.66871338e-01 2.54492628e-01 1.98322217e-02 3.38172863e+02] [-2.54453167e-01 9.67074485e-01 -4.53065979e-03 -3.54445399e+01] [-2.03322551e-02 -6.65806542e-04 9.99793057e-01 -9.95746127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.20, Y:-35.45, Z:-1.00 [[ 9.66894368e-01 2.54397182e-01 1.99337385e-02 3.38203693e+02] [-2.54357294e-01 9.67099596e-01 -4.55390656e-03 -3.54466805e+01] [-2.04364114e-02 -6.67145173e-04 9.99790932e-01 -9.95699591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64592 meters Centerline goodness [0,1] 0.9999007591921798 Centerline is valid? [True, True] Translation: X:338.24, Y:-35.44, Z:-0.99 [[ 9.66986464e-01 2.54030754e-01 2.01383711e-02 3.38235124e+02] [-2.53989991e-01 9.67195911e-01 -4.59933802e-03 -3.54430354e+01] [-2.06461235e-02 -6.67447110e-04 9.99786623e-01 -9.94688046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.26, Y:-35.45, Z:-1.00 [[ 9.67736763e-01 2.51262303e-01 1.87833009e-02 3.38264386e+02] [-2.51226488e-01 9.67918862e-01 -4.28113498e-03 -3.54454510e+01] [-1.92563991e-02 -5.75851006e-04 9.99814413e-01 -9.95100007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70592 meters Centerline goodness [0,1] 0.9999502907988269 Centerline is valid? [True, True] Translation: X:338.30, Y:-35.44, Z:-1.00 [[ 9.69687062e-01 2.43488482e-01 2.05027262e-02 3.38295228e+02] [-2.43444264e-01 9.69903675e-01 -4.66376236e-03 -3.54417195e+01] [-2.10212419e-02 -4.68881091e-04 9.99778919e-01 -9.95662635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.32, Y:-35.44, Z:-1.00 [[ 9.70807933e-01 2.38903927e-01 2.13745135e-02 3.38324815e+02] [-2.38854983e-01 9.71043128e-01 -4.85177038e-03 -3.54425908e+01] [-2.19146814e-02 -3.95271887e-04 9.99759766e-01 -9.95071030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76592 meters Centerline goodness [0,1] 0.9999503771337832 Centerline is valid? [True, True] Translation: X:338.35, Y:-35.44, Z:-1.00 [[ 9.71893102e-01 2.34432391e-01 2.15697212e-02 3.38353836e+02] [-2.34381675e-01 9.72132378e-01 -4.88572520e-03 -3.54443913e+01] [-2.21139966e-02 -3.07144784e-04 9.99755409e-01 -9.95835730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.38, Y:-35.45, Z:-1.00 [[ 9.73405246e-01 2.28074490e-01 2.15465662e-02 3.38383314e+02] [-2.28022551e-01 9.73643671e-01 -4.87018139e-03 -3.54451611e+01] [-2.20894419e-02 -1.72442887e-04 9.99755984e-01 -9.96878332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82592 meters Centerline goodness [0,1] 0.9999504189597898 Centerline is valid? [True, True] Translation: X:338.41, Y:-35.45, Z:-1.00 [[ 9.74247918e-01 2.24349403e-01 2.25463869e-02 3.38410844e+02] [-2.24291817e-01 9.74508766e-01 -5.08390973e-03 -3.54495316e+01] [-2.31122238e-02 -1.03981637e-04 9.99732871e-01 -9.97178054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85591999999997 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:338.44, Y:-35.45, Z:-1.00 [[ 9.74984973e-01 2.21157013e-01 2.22233590e-02 3.38438119e+02] [-2.21100509e-01 9.75238214e-01 -4.99910091e-03 -3.54542338e+01] [-2.27786551e-02 -3.95477085e-05 9.99740532e-01 -9.96506646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88592 meters Centerline goodness [0,1] 0.9999503204332059 Centerline is valid? [True, True] Translation: X:338.47, Y:-35.46, Z:-1.00 [[ 9.76272034e-01 2.15459298e-01 2.16842613e-02 3.38465585e+02] [-2.15404357e-01 9.76512818e-01 -4.86607105e-03 -3.54605095e+01] [-2.22233993e-02 7.97247324e-05 9.99753027e-01 -9.95108804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91591999999997 meters Centerline goodness [0,1] 0.9999007985714994 Centerline is valid? [True, True] Translation: X:338.49, Y:-35.47, Z:-1.00 [[ 9.76900482e-01 2.12406847e-01 2.34260590e-02 3.38493859e+02] [-2.12342114e-01 9.77181308e-01 -5.24574531e-03 -3.54675535e+01] [-2.40057392e-02 1.50232214e-04 9.99711809e-01 -9.96250984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94591999999994 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:338.52, Y:-35.48, Z:-1.00 [[ 9.77270252e-01 2.10676300e-01 2.36294697e-02 3.38522014e+02] [-2.10610198e-01 9.77555862e-01 -5.28031538e-03 -3.54750123e+01] [-2.42115639e-02 1.83687849e-04 9.99706840e-01 -9.95791694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97592 meters Centerline goodness [0,1] 0.999900700064545 Centerline is valid? [True, True] Translation: X:338.55, Y:-35.48, Z:-1.00 [[ 9.78031073e-01 2.07018187e-01 2.44681514e-02 3.38549897e+02] [-2.06946212e-01 9.78337054e-01 -5.46578139e-03 -3.54845122e+01] [-2.50696153e-02 2.82112802e-04 9.99685668e-01 -9.96641020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00591999999995 meters Centerline goodness [0,1] 0.9999503992857497 Centerline is valid? [True, True] Translation: X:338.58, Y:-35.49, Z:-1.00 [[ 9.78156377e-01 2.06479231e-01 2.40089271e-02 3.38578927e+02] [-2.06409772e-01 9.78450940e-01 -5.36314574e-03 -3.54947085e+01] [-2.45989356e-02 2.90318031e-04 9.99697358e-01 -9.96180177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03592 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:338.61, Y:-35.51, Z:-0.99 [[ 9.78491824e-01 2.04943865e-01 2.34896352e-02 3.38608260e+02] [-2.04876901e-01 9.78773675e-01 -5.24862348e-03 -3.55086183e+01] [-2.40667098e-02 3.23251503e-04 9.99710303e-01 -9.94919801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06591999999995 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:338.64, Y:-35.52, Z:-1.00 [[ 9.78529160e-01 2.04706288e-01 2.40003890e-02 3.38638146e+02] [-2.04636269e-01 9.78823386e-01 -5.36433081e-03 -3.55179527e+01] [-2.45902543e-02 3.37804069e-04 9.99697557e-01 -9.95660648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09592 meters Centerline goodness [0,1] 0.9998511757118762 Centerline is valid? [True, True] Translation: X:338.67, Y:-35.53, Z:-1.00 [[ 9.78567623e-01 2.04685559e-01 2.25660989e-02 3.38667164e+02] [-2.04623653e-01 9.78827728e-01 -5.04380279e-03 -3.55260623e+01] [-2.31207169e-02 3.18144508e-04 9.99732630e-01 -9.95342226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12591999999995 meters Centerline goodness [0,1] 0.9997519102907612 Centerline is valid? [True, True] Translation: X:338.70, Y:-35.53, Z:-0.99 [[ 9.78290993e-01 2.06211046e-01 2.05848831e-02 3.38696513e+02] [-2.06159858e-01 9.78507505e-01 -4.60162796e-03 -3.55348905e+01] [-2.10913692e-02 2.57954591e-04 9.99777519e-01 -9.94482625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:338.73, Y:-35.54, Z:-1.00 [[ 9.77330547e-01 2.10760092e-01 2.01292282e-02 3.38725428e+02] [-2.10712135e-01 9.77537805e-01 -4.49849544e-03 -3.55424880e+01] [-2.06251849e-02 1.55044346e-04 9.99787266e-01 -9.95508017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18591999999995 meters Centerline goodness [0,1] 0.9999005618256849 Centerline is valid? [True, True] Translation: X:338.75, Y:-35.55, Z:-1.00 [[ 9.76777201e-01 2.13172057e-01 2.15400381e-02 3.38754756e+02] [-2.13117759e-01 9.77014668e-01 -4.81234565e-03 -3.55493264e+01] [-2.20707908e-02 1.10024864e-04 9.99756404e-01 -9.95652368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21592 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:338.78, Y:-35.56, Z:-1.00 [[ 9.75804866e-01 2.17738312e-01 1.98718694e-02 3.38783837e+02] [-2.17693046e-01 9.76007186e-01 -4.43960349e-03 -3.55573622e+01] [-2.03617591e-02 6.21889724e-06 9.99792678e-01 -9.95401805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24591999999996 meters Centerline goodness [0,1] 0.9998508575689784 Centerline is valid? [True, True] Translation: X:338.81, Y:-35.56, Z:-1.00 [[ 9.75406087e-01 2.19391494e-01 2.12211749e-02 3.38812844e+02] [-2.19340293e-01 9.75636906e-01 -4.73966598e-03 -3.55645833e+01] [-2.17440038e-02 -3.15596634e-05 9.99763571e-01 -9.95819362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.27592 meters Centerline goodness [0,1] 0.9997019522130048 Centerline is valid? [True, True] Translation: X:338.84, Y:-35.57, Z:-1.00 [[ 9.75074173e-01 2.20986202e-01 1.98860723e-02 3.38841982e+02] [-2.20941601e-01 9.75276932e-01 -4.44012282e-03 -3.55690981e+01] [-2.03756335e-02 -6.42115690e-05 9.99792393e-01 -9.96094828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30591999999996 meters Centerline goodness [0,1] 0.999751688518077 Centerline is valid? [True, True] Translation: X:338.87, Y:-35.57, Z:-1.00 [[ 9.75382089e-01 2.19590901e-01 2.02389676e-02 3.38870890e+02] [-2.19544594e-01 9.75592043e-01 -4.50964204e-03 -3.55738782e+01] [-2.07352521e-02 -4.47318621e-05 9.99785001e-01 -9.96356244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33592 meters Centerline goodness [0,1] 0.9999006013617614 Centerline is valid? [True, True] Translation: X:338.90, Y:-35.58, Z:-1.00 [[ 9.75454670e-01 2.19252638e-01 2.04075465e-02 3.38898948e+02] [-2.19205684e-01 9.75668119e-01 -4.53754235e-03 -3.55798532e+01] [-2.09058606e-02 -4.72833194e-05 9.99781448e-01 -9.97829851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36591999999996 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:338.93, Y:-35.59, Z:-1.00 [[ 9.75863380e-01 2.17648035e-01 1.78884699e-02 3.38927646e+02] [-2.17611843e-01 9.76027322e-01 -3.96902477e-03 -3.55853017e+01] [-1.83234858e-02 -1.95169803e-05 9.99832111e-01 -9.96079197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39592 meters Centerline goodness [0,1] 0.9998511757118762 Centerline is valid? [True, True] Translation: X:338.96, Y:-35.59, Z:-1.00 [[ 9.76168920e-01 2.16091998e-01 1.99621496e-02 3.38955714e+02] [-2.16046799e-01 9.76373007e-01 -4.41953539e-03 -3.55898999e+01] [-2.04455303e-02 1.45455796e-06 9.99790968e-01 -9.95289888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42591999999996 meters Centerline goodness [0,1] 0.9998013705432516 Centerline is valid? [True, True] Translation: X:338.98, Y:-35.60, Z:-1.00 [[ 9.76527995e-01 2.14408110e-01 2.05483938e-02 3.38984024e+02] [-2.14360049e-01 9.76744164e-01 -4.53960396e-03 -3.55960310e+01] [-2.10438516e-02 2.82956641e-05 9.99778553e-01 -9.95710343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.01, Y:-35.60, Z:-1.00 [[ 9.76867890e-01 2.12855559e-01 2.05338076e-02 3.39012126e+02] [-2.12807428e-01 9.77083675e-01 -4.52663363e-03 -3.56036930e+01] [-2.10267673e-02 5.21762629e-05 9.99778912e-01 -9.96255306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.04, Y:-35.61, Z:-1.00 [[ 9.77266303e-01 2.10919225e-01 2.15325984e-02 3.39040337e+02] [-2.10865866e-01 9.77503489e-01 -4.74502527e-03 -3.56141359e+01] [-2.20490071e-02 9.66633020e-05 9.99756886e-01 -9.96878389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.07, Y:-35.62, Z:-1.00 [[ 9.77335720e-01 2.10497918e-01 2.24836843e-02 3.39070096e+02] [-2.10439631e-01 9.77594299e-01 -4.95455429e-03 -3.56220875e+01] [-2.30228450e-02 1.10804655e-04 9.99734933e-01 -9.96008556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.10, Y:-35.63, Z:-0.99 [[ 9.77457434e-01 2.10108268e-01 2.07720852e-02 3.39100121e+02] [-2.10058430e-01 9.77678119e-01 -4.57738252e-03 -3.56293676e+01] [-2.12701590e-02 1.10844975e-04 9.99773758e-01 -9.93971953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57592 meters Centerline goodness [0,1] 0.9998510427010924 Centerline is valid? [True, True] Translation: X:339.13, Y:-35.64, Z:-0.99 [[ 9.77129437e-01 2.11490002e-01 2.21369003e-02 3.39129553e+02] [-2.11433754e-01 9.77380157e-01 -4.87813619e-03 -3.56370691e+01] [-2.26678441e-02 8.60825549e-05 9.99743048e-01 -9.93250484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60591999999997 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:339.16, Y:-35.65, Z:-0.99 [[ 9.77072944e-01 2.11807916e-01 2.15839756e-02 3.39159420e+02] [-2.11754520e-01 9.77311312e-01 -4.75629249e-03 -3.56450959e+01] [-2.21016839e-02 7.67403092e-05 9.99755725e-01 -9.93141123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63592 meters Centerline goodness [0,1] 0.9998014986849287 Centerline is valid? [True, True] Translation: X:339.19, Y:-35.65, Z:-0.99 [[ 9.76520426e-01 2.14371539e-01 2.12767749e-02 3.39188384e+02] [-2.14320260e-01 9.76752191e-01 -4.68859707e-03 -3.56535340e+01] [-2.17872383e-02 1.84668673e-05 9.99762630e-01 -9.93491567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66591999999997 meters Centerline goodness [0,1] 0.9998013508144616 Centerline is valid? [True, True] Translation: X:339.22, Y:-35.66, Z:-0.99 [[ 9.76367515e-01 2.15058160e-01 2.13649955e-02 3.39217880e+02] [-2.15006620e-01 9.76601243e-01 -4.70803756e-03 -3.56600878e+01] [-2.18775831e-02 3.15945632e-06 9.99760657e-01 -9.93414558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69591999999994 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:339.25, Y:-35.67, Z:-0.99 [[ 9.76324963e-01 2.15243351e-01 2.14444994e-02 3.39247458e+02] [-2.15191471e-01 9.76560444e-01 -4.72555720e-03 -3.56666699e+01] [-2.19589946e-02 -9.93897237e-07 9.99758872e-01 -9.93506605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72592 meters Centerline goodness [0,1] 0.9998508279051266 Centerline is valid? [True, True] Translation: X:339.28, Y:-35.68, Z:-0.99 [[ 9.76399728e-01 2.14784082e-01 2.26134910e-02 3.39277075e+02] [-2.14726268e-01 9.76661558e-01 -4.98315877e-03 -3.56758371e+01] [-2.31560305e-02 9.84434159e-06 9.99731863e-01 -9.93488894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75591999999995 meters Centerline goodness [0,1] 0.9999008428358949 Centerline is valid? [True, True] Translation: X:339.31, Y:-35.68, Z:-0.99 [[ 9.76646763e-01 2.13706753e-01 2.21477993e-02 3.39307719e+02] [-2.13650986e-01 9.76897857e-01 -4.88197665e-03 -3.56831914e+01] [-2.26794490e-02 3.60675317e-05 9.99742788e-01 -9.92557881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78592 meters Centerline goodness [0,1] 0.9998511757118762 Centerline is valid? [True, True] Translation: X:339.34, Y:-35.69, Z:-0.99 [[ 9.76574848e-01 2.14124643e-01 2.12650976e-02 3.39338547e+02] [-2.14073301e-01 9.76806345e-01 -4.68884053e-03 -3.56897045e+01] [-2.17758786e-02 2.67140829e-05 9.99762877e-01 -9.92448632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81591999999995 meters Centerline goodness [0,1] 0.9998016856717898 Centerline is valid? [True, True] Translation: X:339.37, Y:-35.70, Z:-0.99 [[ 9.76725099e-01 2.13394297e-01 2.17014734e-02 3.39369688e+02] [-2.13340614e-01 9.76966157e-01 -4.78652259e-03 -3.56954165e+01] [-2.22230217e-02 4.53110953e-05 9.99753037e-01 -9.93132331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84592 meters Centerline goodness [0,1] 0.9997518979804496 Centerline is valid? [True, True] Translation: X:339.40, Y:-35.70, Z:-0.99 [[ 9.76518452e-01 2.14471690e-01 2.03373308e-02 3.39399458e+02] [-2.14424777e-01 9.76730205e-01 -4.48569580e-03 -3.57031486e+01] [-2.08261400e-02 1.95371038e-05 9.99783112e-01 -9.92944166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87591999999995 meters Centerline goodness [0,1] 0.9995040420572335 Centerline is valid? [True, True] Translation: X:339.43, Y:-35.71, Z:-0.99 [[ 9.76506740e-01 2.14559468e-01 1.99705316e-02 3.39428850e+02] [-2.14514250e-01 9.76710927e-01 -4.40479287e-03 -3.57104084e+01] [-2.04505264e-02 1.73463217e-05 9.99790866e-01 -9.92488627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90592 meters Centerline goodness [0,1] 0.999851234751562 Centerline is valid? [True, True] Translation: X:339.46, Y:-35.72, Z:-0.99 [[ 9.76372224e-01 2.15108004e-01 2.06355754e-02 3.39458786e+02] [-2.15059847e-01 9.76590265e-01 -4.55147801e-03 -3.57171227e+01] [-2.11315614e-02 6.05302493e-06 9.99776704e-01 -9.92338947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93591999999995 meters Centerline goodness [0,1] 0.9997520087292927 Centerline is valid? [True, True] Translation: X:339.49, Y:-35.72, Z:-0.99 [[ 9.76174214e-01 2.15845383e-01 2.22412673e-02 3.39488872e+02] [-2.15789630e-01 9.76427555e-01 -4.90563685e-03 -3.57234374e+01] [-2.27758453e-02 -1.06786406e-05 9.99740597e-01 -9.92314437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96592 meters Centerline goodness [0,1] 0.9998510205095098 Centerline is valid? [True, True] Translation: X:339.52, Y:-35.73, Z:-0.99 [[ 9.75822078e-01 2.17461473e-01 2.19494630e-02 3.39519367e+02] [-2.17407549e-01 9.76068904e-01 -4.84271010e-03 -3.57307405e+01] [-2.24772912e-02 -4.63555240e-05 9.99747353e-01 -9.91936160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99591999999996 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:339.55, Y:-35.74, Z:-0.99 [[ 9.74825717e-01 2.21899164e-01 2.18078378e-02 3.39549469e+02] [-2.21847010e-01 9.75069608e-01 -4.81293526e-03 -3.57395881e+01] [-2.23321462e-02 -1.46230554e-04 9.99750596e-01 -9.89705696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.02592 meters Centerline goodness [0,1] 0.9999007788857469 Centerline is valid? [True, True] Translation: X:339.58, Y:-35.75, Z:-0.99 [[ 9.74811342e-01 2.21962339e-01 2.18075260e-02 3.39579598e+02] [-2.21910170e-01 9.75055229e-01 -4.81434785e-03 -3.57462185e+01] [-2.23321462e-02 -1.46230911e-04 9.99750596e-01 -9.89731401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05591999999996 meters Centerline goodness [0,1] 0.9999007493424644 Centerline is valid? [True, True] Translation: X:339.61, Y:-35.75, Z:-0.99 [[ 9.74222242e-01 2.24365265e-01 2.34787508e-02 3.39610373e+02] [-2.24305451e-01 9.74505096e-01 -5.18489349e-03 -3.57533718e+01] [-2.40434723e-02 -2.15173211e-04 9.99710891e-01 -9.90437558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08592 meters Centerline goodness [0,1] 0.9998511461744567 Centerline is valid? [True, True] Translation: X:339.64, Y:-35.76, Z:-0.99 [[ 9.73797504e-01 2.26300658e-01 2.25040730e-02 3.39641627e+02] [-2.26246155e-01 9.74057468e-01 -4.97266624e-03 -3.57595656e+01] [-2.30455780e-02 -2.49090007e-04 9.99734384e-01 -9.90397329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11591999999996 meters Centerline goodness [0,1] 0.9997517131790644 Centerline is valid? [True, True] Translation: X:339.67, Y:-35.76, Z:-0.99 [[ 9.72810176e-01 2.30650676e-01 2.09911148e-02 3.39671446e+02] [-2.30604250e-01 9.73036566e-01 -4.63913702e-03 -3.57645581e+01] [-2.14951424e-02 -3.27640593e-04 9.99768899e-01 -9.89510802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14592 meters Centerline goodness [0,1] 0.999504435304029 Centerline is valid? [True, True] Translation: X:339.70, Y:-35.77, Z:-0.99 [[ 9.72682190e-01 2.31266063e-01 2.01336972e-02 3.39701585e+02] [-2.31223484e-01 9.72890488e-01 -4.44966998e-03 -3.57702800e+01] [-2.06169402e-02 -3.27268876e-04 9.99787395e-01 -9.89814316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17591999999996 meters Centerline goodness [0,1] 0.9994504121908568 Centerline is valid? [True, True] Translation: X:339.73, Y:-35.77, Z:-0.99 [[ 9.72452168e-01 2.32065890e-01 2.19591254e-02 3.39731800e+02] [-2.32015475e-01 9.72699995e-01 -4.85166533e-03 -3.57724781e+01] [-2.24855472e-02 -3.76844429e-04 9.99747097e-01 -9.88559650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20592 meters Centerline goodness [0,1] 0.9992055216247083 Centerline is valid? [True, True] Translation: X:339.76, Y:-35.78, Z:-0.99 [[ 9.72535537e-01 2.31510208e-01 2.40344038e-02 3.39761855e+02] [-2.31449683e-01 9.72832392e-01 -5.30853162e-03 -3.57758587e+01] [-2.46104258e-02 -4.00019494e-04 9.99697038e-01 -9.89151018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23591999999996 meters Centerline goodness [0,1] 0.9994535247652641 Centerline is valid? [True, True] Translation: X:339.79, Y:-35.78, Z:-0.99 [[ 9.72691436e-01 2.30801904e-01 2.45326690e-02 3.39792311e+02] [-2.30738620e-01 9.73000683e-01 -5.41852781e-03 -3.57799895e+01] [-2.51209103e-02 -3.90078605e-04 9.99684344e-01 -9.89353699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26592 meters Centerline goodness [0,1] 0.9996029579631743 Centerline is valid? [True, True] Translation: X:339.82, Y:-35.78, Z:-0.99 [[ 9.73127641e-01 2.28920987e-01 2.48551140e-02 3.39823634e+02] [-2.28855415e-01 9.73444946e-01 -5.48974619e-03 -3.57816495e+01] [-2.54518032e-02 -3.46003658e-04 9.99675991e-01 -9.90365462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29591999999997 meters Centerline goodness [0,1] 0.999851234751562 Centerline is valid? [True, True] Translation: X:339.85, Y:-35.78, Z:-0.99 [[ 9.73279481e-01 2.28231943e-01 2.52434321e-02 3.39854142e+02] [-2.28164074e-01 9.73606732e-01 -5.57551396e-03 -3.57848403e+01] [-2.58496858e-02 -3.33110966e-04 9.99665786e-01 -9.90349672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32592 meters Centerline goodness [0,1] 0.9996520182938954 Centerline is valid? [True, True] Translation: X:339.88, Y:-35.79, Z:-0.99 [[ 9.73503575e-01 2.27209969e-01 2.58150954e-02 3.39883811e+02] [-2.27138676e-01 9.73845743e-01 -5.70008717e-03 -3.57863470e+01] [-2.64350374e-02 -3.14551355e-04 9.99650484e-01 -9.90917164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35591999999997 meters Centerline goodness [0,1] 0.9998016364988842 Centerline is valid? [True, True] Translation: X:339.91, Y:-35.78, Z:-0.99 [[ 9.74371137e-01 2.23391886e-01 2.63998497e-02 3.39913807e+02] [-2.23316253e-01 9.74728687e-01 -5.81700341e-03 -3.57847732e+01] [-2.70321622e-02 -2.27595273e-04 9.99634538e-01 -9.91409576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38592 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:339.94, Y:-35.79, Z:-0.99 [[ 9.74853842e-01 2.21417208e-01 2.51874427e-02 3.39943127e+02] [-2.21347757e-01 9.75179159e-01 -5.54785631e-03 -3.57887986e+01] [-2.57906600e-02 -1.66834893e-04 9.99667352e-01 -9.91585260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41591999999997 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:339.97, Y:-35.79, Z:-0.99 [[ 9.76594960e-01 2.13379931e-01 2.70423660e-02 3.39971661e+02] [-2.13297130e-01 9.76969295e-01 -5.94398357e-03 -3.57907453e+01] [-2.76878881e-02 3.68053390e-05 9.99616616e-01 -9.91868019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44591999999994 meters Centerline goodness [0,1] 0.999751848726984 Centerline is valid? [True, True] Translation: X:340.00, Y:-35.80, Z:-0.99 [[ 9.77344956e-01 2.09954988e-01 2.67533234e-02 3.40001147e+02] [-2.09872721e-01 9.77711044e-01 -5.87835082e-03 -3.57955315e+01] [-2.73912089e-02 1.30383745e-04 9.99624782e-01 -9.91673954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47592 meters Centerline goodness [0,1] 0.9995532833672507 Centerline is valid? [True, True] Translation: X:340.03, Y:-35.80, Z:-0.99 [[ 9.78225880e-01 2.05794641e-01 2.68829503e-02 3.40030453e+02] [-2.05710051e-01 9.78595169e-01 -5.90507175e-03 -3.58008264e+01] [-2.75227574e-02 2.46400916e-04 9.99621147e-01 -9.91518275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50591999999995 meters Centerline goodness [0,1] 0.9995033277043807 Centerline is valid? [True, True] Translation: X:340.06, Y:-35.81, Z:-0.99 [[ 9.79043135e-01 2.01718124e-01 2.80060523e-02 3.40059768e+02] [-2.01624701e-01 9.79443545e-01 -6.14991629e-03 -3.58057732e+01] [-2.86708968e-02 3.74321396e-04 9.99588835e-01 -9.92151606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53592 meters Centerline goodness [0,1] 0.9995039928574971 Centerline is valid? [True, True] Translation: X:340.09, Y:-35.81, Z:-0.99 [[ 9.80045786e-01 1.96568046e-01 2.95171300e-02 3.40089938e+02] [-1.96461932e-01 9.80490029e-01 -6.48168073e-03 -3.58106566e+01] [-3.02153430e-02 5.53351502e-04 9.99543259e-01 -9.92396783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56591999999995 meters Centerline goodness [0,1] 0.9997021593447506 Centerline is valid? [True, True] Translation: X:340.12, Y:-35.82, Z:-0.99 [[ 9.80402047e-01 1.94699273e-01 3.00669209e-02 3.40120503e+02] [-1.94588232e-01 9.80862785e-01 -6.60427058e-03 -3.58175178e+01] [-3.07773705e-02 6.24171391e-04 9.99526070e-01 -9.93483899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59592 meters Centerline goodness [0,1] 0.9997522053721876 Centerline is valid? [True, True] Translation: X:340.15, Y:-35.83, Z:-0.99 [[ 9.80901455e-01 1.92301220e-01 2.91989219e-02 3.40150592e+02] [-1.92195328e-01 9.81335709e-01 -6.41728924e-03 -3.58290895e+01] [-2.98879973e-02 6.82831997e-04 9.99553021e-01 -9.94352568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62591999999995 meters Centerline goodness [0,1] 0.9998015971429989 Centerline is valid? [True, True] Translation: X:340.18, Y:-35.84, Z:-0.99 [[ 9.81129395e-01 1.91326452e-01 2.79159212e-02 3.40181327e+02] [-1.91229168e-01 9.81526220e-01 -6.13883034e-03 -3.58393117e+01] [-2.85747292e-02 6.84648506e-04 9.99591425e-01 -9.93726149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65592 meters Centerline goodness [0,1] 0.9996527605535989 Centerline is valid? [True, True] Translation: X:340.21, Y:-35.85, Z:-0.99 [[ 9.81305408e-01 1.90320796e-01 2.85952781e-02 3.40211118e+02] [-1.90218237e-01 9.81721680e-01 -6.29008806e-03 -3.58478944e+01] [-2.92697390e-02 7.33154052e-04 9.99571281e-01 -9.94272973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68591999999995 meters Centerline goodness [0,1] 0.999701922599235 Centerline is valid? [True, True] Translation: X:340.24, Y:-35.86, Z:-0.99 [[ 9.81584800e-01 1.88994520e-01 2.77912236e-02 3.40241078e+02] [-1.88897019e-01 9.81977852e-01 -6.11669080e-03 -3.58596816e+01] [-2.84463871e-02 7.54371407e-04 9.99595035e-01 -9.94472553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71592 meters Centerline goodness [0,1] 0.9997519102907612 Centerline is valid? [True, True] Translation: X:340.27, Y:-35.87, Z:-0.99 [[ 9.81752753e-01 1.88130024e-01 2.77241009e-02 3.40271407e+02] [-1.88032549e-01 9.82143820e-01 -6.10543036e-03 -3.58705751e+01] [-2.83776691e-02 7.80989706e-04 9.99596968e-01 -9.94962277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.30, Y:-35.88, Z:-1.00 [[ 9.82211969e-01 1.85927822e-01 2.62772252e-02 3.40300992e+02] [-1.85839381e-01 9.82563076e-01 -5.79009742e-03 -3.58848286e+01] [-2.68955715e-02 8.03759704e-04 9.99637926e-01 -9.95647758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.77592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.33, Y:-35.89, Z:-1.00 [[ 9.82334936e-01 1.85184130e-01 2.69241881e-02 3.40332189e+02] [-1.85090908e-01 9.82703475e-01 -5.93604686e-03 -3.58947662e+01] [-2.75577549e-02 8.47763801e-04 9.99619853e-01 -9.95972282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80591999999996 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:340.36, Y:-35.91, Z:-1.00 [[ 9.82356650e-01 1.84918805e-01 2.79364824e-02 3.40363078e+02] [-1.84818231e-01 9.82753398e-01 -6.16274958e-03 -3.59059748e+01] [-2.85942813e-02 8.90846762e-04 9.99590703e-01 -9.95937718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83592 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:340.39, Y:-35.92, Z:-1.00 [[ 9.82500112e-01 1.84022463e-01 2.87969167e-02 3.40393655e+02] [-1.83915104e-01 9.82921580e-01 -6.35622065e-03 -3.59168053e+01] [-2.94747982e-02 9.48799574e-04 9.99565073e-01 -9.97173649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.42, Y:-35.93, Z:-1.00 [[ 9.82314458e-01 1.84815073e-01 3.00282146e-02 3.40423519e+02] [-1.84698587e-01 9.82772838e-01 -6.63179540e-03 -3.59314022e+01] [-3.07365694e-02 9.68339695e-04 9.99527051e-01 -9.97205573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89592 meters Centerline goodness [0,1] 0.999950295740345 Centerline is valid? [True, True] Translation: X:340.45, Y:-35.94, Z:-1.00 [[ 9.82219781e-01 1.85425358e-01 2.93553619e-02 3.40454892e+02] [-1.85314197e-01 9.82657910e-01 -6.48689793e-03 -3.59403894e+01] [-3.00491139e-02 9.31594154e-04 9.99547989e-01 -9.97415737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92591999999996 meters Centerline goodness [0,1] 0.9999007493424644 Centerline is valid? [True, True] Translation: X:340.48, Y:-35.95, Z:-1.00 [[ 9.81382952e-01 1.90000431e-01 2.80595533e-02 3.40484571e+02] [-1.89900658e-01 9.81783713e-01 -6.20324927e-03 -3.59526852e+01] [-2.87270325e-02 7.59235441e-04 9.99587005e-01 -9.98510657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95592 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:340.51, Y:-35.96, Z:-1.00 [[ 9.80701428e-01 1.93570361e-01 2.74813358e-02 3.40514766e+02] [-1.93475960e-01 9.81086184e-01 -6.07890040e-03 -3.59635012e+01] [-2.81382538e-02 6.44608483e-04 9.99603833e-01 -9.98840265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98591999999996 meters Centerline goodness [0,1] 0.9998510870644297 Centerline is valid? [True, True] Translation: X:340.55, Y:-35.97, Z:-1.00 [[ 9.80119006e-01 1.96683174e-01 2.61240099e-02 3.40546000e+02] [-1.96598847e-01 9.80466953e-01 -5.78341299e-03 -3.59740275e+01] [-2.67512284e-02 5.32482751e-04 9.99641980e-01 -9.98191106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01592 meters Centerline goodness [0,1] 0.9998014494192395 Centerline is valid? [True, True] Translation: X:340.58, Y:-35.98, Z:-1.00 [[ 9.78897355e-01 2.02836962e-01 2.48422198e-02 3.40576346e+02] [-2.02762582e-01 9.79212461e-01 -5.50375146e-03 -3.59847951e+01] [-2.54421754e-02 3.50535109e-04 9.99676234e-01 -9.96805393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04591999999997 meters Centerline goodness [0,1] 0.9998511830943996 Centerline is valid? [True, True] Translation: X:340.61, Y:-35.99, Z:-1.00 [[ 9.78316620e-01 2.05602598e-01 2.49832504e-02 3.40607911e+02] [-2.05528186e-01 9.78635525e-01 -5.53838619e-03 -3.59923922e+01] [-2.55882030e-02 2.83533127e-04 9.99672528e-01 -9.96872928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07592 meters Centerline goodness [0,1] 0.9998512421282293 Centerline is valid? [True, True] Translation: X:340.64, Y:-36.00, Z:-1.00 [[ 9.77566973e-01 2.08949556e-01 2.65121798e-02 3.40640250e+02] [-2.08866841e-01 9.77926397e-01 -5.88261718e-03 -3.60006308e+01] [-2.71561307e-02 2.13137041e-04 9.99631182e-01 -9.96401574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.67, Y:-36.01, Z:-1.00 [[ 9.76655280e-01 2.13033595e-01 2.75889688e-02 3.40671540e+02] [-2.12945493e-01 9.77044869e-01 -6.12712021e-03 -3.60102488e+01] [-2.82609429e-02 1.09137729e-04 9.99600574e-01 -9.96503940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13592 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:340.70, Y:-36.02, Z:-1.00 [[ 9.76365501e-01 2.14395851e-01 2.72915250e-02 3.40703313e+02] [-2.14310065e-01 9.76746853e-01 -6.06482295e-03 -3.60177536e+01] [-2.79571840e-02 7.26354058e-05 9.99609119e-01 -9.95353079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16591999999997 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:340.74, Y:-36.02, Z:-1.00 [[ 9.76032768e-01 2.15933160e-01 2.70722466e-02 3.40735078e+02] [-2.15849236e-01 9.76408147e-01 -6.01981079e-03 -3.60248940e+01] [-2.77334389e-02 3.20088547e-05 9.99615354e-01 -9.95927206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19591999999994 meters Centerline goodness [0,1] 0.9999503549620216 Centerline is valid? [True, True] Translation: X:340.77, Y:-36.03, Z:-1.00 [[ 9.75474319e-01 2.18381090e-01 2.75599663e-02 3.40766287e+02] [-2.18294984e-01 9.75863565e-01 -6.13202202e-03 -3.60316629e+01] [-2.82338846e-02 -3.45723887e-05 9.99601344e-01 -9.96444533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.80, Y:-36.04, Z:-1.00 [[ 9.75259153e-01 2.19588836e-01 2.55015148e-02 3.40797913e+02] [-2.19515436e-01 9.75592507e-01 -5.67748326e-03 -3.60390160e+01] [-2.61257987e-02 -6.09586244e-05 9.99658661e-01 -9.95166089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.83, Y:-36.05, Z:-0.99 [[ 9.74784050e-01 2.21573524e-01 2.64807492e-02 3.40829247e+02] [-2.21495012e-01 9.75143661e-01 -5.89909709e-03 -3.60465229e+01] [-2.71296184e-02 -1.15008109e-04 9.99631918e-01 -9.94965431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28592 meters Centerline goodness [0,1] 0.9999502833847072 Centerline is valid? [True, True] Translation: X:340.86, Y:-36.05, Z:-0.99 [[ 9.74469663e-01 2.23318056e-01 2.31931366e-02 3.40861017e+02] [-2.23258250e-01 9.74745621e-01 -5.16987513e-03 -3.60526464e+01] [-2.37619348e-02 -1.40172624e-04 9.99717636e-01 -9.93800651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31591999999995 meters Centerline goodness [0,1] 0.999900616179686 Centerline is valid? [True, True] Translation: X:340.89, Y:-36.06, Z:-0.99 [[ 9.74343644e-01 2.23965851e-01 2.22207347e-02 3.40892463e+02] [-2.23911053e-01 9.74596981e-01 -4.95619923e-03 -3.60593928e+01] [-2.27662803e-02 -1.46426882e-04 9.99740804e-01 -9.93269047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34592 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:340.92, Y:-36.07, Z:-1.00 [[ 9.73833774e-01 2.26050552e-01 2.34292297e-02 3.40924485e+02] [-2.25990157e-01 9.74115551e-01 -5.22897407e-03 -3.60655826e+01] [-2.40047895e-02 -2.02623751e-04 9.99711823e-01 -9.95394786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37591999999995 meters Centerline goodness [0,1] 0.999950411583854 Centerline is valid? [True, True] Translation: X:340.96, Y:-36.07, Z:-1.00 [[ 9.73479171e-01 2.27478791e-01 2.43249660e-02 3.40955652e+02] [-2.27414051e-01 9.73783005e-01 -5.43223932e-03 -3.60722660e+01] [-2.49229577e-02 -2.43667224e-04 9.99689345e-01 -9.95067959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40592 meters Centerline goodness [0,1] 0.9997518856689163 Centerline is valid? [True, True] Translation: X:340.99, Y:-36.08, Z:-1.00 [[ 9.73255911e-01 2.28435108e-01 2.42967611e-02 3.40987437e+02] [-2.28370733e-01 9.73559105e-01 -5.42929419e-03 -3.60768176e+01] [-2.48945744e-02 -2.64576470e-04 9.99690047e-01 -9.95273388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43591999999995 meters Centerline goodness [0,1] 0.9999006408664116 Centerline is valid? [True, True] Translation: X:341.02, Y:-36.08, Z:-0.99 [[ 9.73456919e-01 2.27555103e-01 2.45010450e-02 3.41018904e+02] [-2.27489277e-01 9.73765176e-01 -5.47829557e-03 -3.60813600e+01] [-2.51048785e-02 -2.40840298e-04 9.99684794e-01 -9.94490324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46592 meters Centerline goodness [0,1] 0.9996521393430403 Centerline is valid? [True, True] Translation: X:341.05, Y:-36.09, Z:-1.00 [[ 9.73438001e-01 2.27606973e-01 2.47694032e-02 3.41050285e+02] [-2.27539626e-01 9.73753053e-01 -5.54171872e-03 -3.60864123e+01] [-2.53806158e-02 -2.41501148e-04 9.99677831e-01 -9.95603097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49591999999996 meters Centerline goodness [0,1] 0.9999503253688341 Centerline is valid? [True, True] Translation: X:341.08, Y:-36.09, Z:-0.99 [[ 9.73416284e-01 2.27887593e-01 2.29778637e-02 3.41082106e+02] [-2.27829642e-01 9.73687421e-01 -5.14403703e-03 -3.60920817e+01] [-2.35455190e-02 -2.27749045e-04 9.99722740e-01 -9.94222961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.52592 meters Centerline goodness [0,1] 0.9999008379195795 Centerline is valid? [True, True] Translation: X:341.11, Y:-36.10, Z:-0.99 [[ 9.73332615e-01 2.28322200e-01 2.21944601e-02 3.41113694e+02] [-2.28268178e-01 9.73585600e-01 -4.97169654e-03 -3.60974290e+01] [-2.27433555e-02 -2.27174569e-04 9.99741311e-01 -9.94783658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55591999999996 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:341.15, Y:-36.10, Z:-0.99 [[ 9.73116075e-01 2.29236644e-01 2.22635654e-02 3.41145504e+02] [-2.29182454e-01 9.73370690e-01 -4.99023493e-03 -3.61027276e+01] [-2.28146467e-02 -2.46340739e-04 9.99739682e-01 -9.93725701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58592 meters Centerline goodness [0,1] 0.9998015971429989 Centerline is valid? [True, True] Translation: X:341.18, Y:-36.11, Z:-0.99 [[ 9.72938024e-01 2.29826898e-01 2.38997712e-02 3.41176891e+02] [-2.29764565e-01 9.73231483e-01 -5.35948879e-03 -3.61077557e+01] [-2.44917645e-02 -2.76870110e-04 9.99699993e-01 -9.94548863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61591999999996 meters Centerline goodness [0,1] 0.9998512716275841 Centerline is valid? [True, True] Translation: X:341.21, Y:-36.11, Z:-0.99 [[ 9.72326436e-01 2.32567000e-01 2.22236708e-02 3.41209454e+02] [-2.32513751e-01 9.72580325e-01 -4.98664754e-03 -3.61110520e+01] [-2.27740346e-02 -3.18659805e-04 9.99740587e-01 -9.93763574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64592 meters Centerline goodness [0,1] 0.999702469503124 Centerline is valid? [True, True] Translation: X:341.24, Y:-36.12, Z:-0.99 [[ 9.71946098e-01 2.34037256e-01 2.33954252e-02 3.41240700e+02] [-2.33978629e-01 9.72227559e-01 -5.25121920e-03 -3.61156551e+01] [-2.39746581e-02 -3.70127521e-04 9.99712498e-01 -9.93658149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67591999999996 meters Centerline goodness [0,1] 0.9994531444195873 Centerline is valid? [True, True] Translation: X:341.27, Y:-36.12, Z:-0.99 [[ 9.71692349e-01 2.35150843e-01 2.27609355e-02 3.41272063e+02] [-2.35095622e-01 9.71958812e-01 -5.11035470e-03 -3.61187217e+01] [-2.33243961e-02 -3.85303735e-04 9.99727875e-01 -9.93697156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70592 meters Centerline goodness [0,1] 0.9994052634187441 Centerline is valid? [True, True] Translation: X:341.30, Y:-36.12, Z:-0.99 [[ 9.71566222e-01 2.35720483e-01 2.22470177e-02 3.41301662e+02] [-2.35667876e-01 9.71820818e-01 -4.99502247e-03 -3.61238419e+01] [-2.27975440e-02 -3.89912293e-04 9.99740026e-01 -9.94216190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73591999999996 meters Centerline goodness [0,1] 0.9992566529560434 Centerline is valid? [True, True] Translation: X:341.33, Y:-36.13, Z:-0.99 [[ 9.71738190e-01 2.35260926e-01 1.94213066e-02 3.41331925e+02] [-2.35220744e-01 9.71932193e-01 -4.36057831e-03 -3.61292908e+01] [-1.99020668e-02 -3.30953711e-04 9.99801879e-01 -9.94259811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76592 meters Centerline goodness [0,1] 0.9994543921432468 Centerline is valid? [True, True] Translation: X:341.36, Y:-36.13, Z:-0.99 [[ 9.72109204e-01 2.33718730e-01 1.94743532e-02 3.41360305e+02] [-2.33678196e-01 9.72304201e-01 -4.36355500e-03 -3.61334564e+01] [-1.99548400e-02 -3.08879747e-04 9.99800835e-01 -9.94084554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79591999999997 meters Centerline goodness [0,1] 0.9994545003719315 Centerline is valid? [True, True] Translation: X:341.39, Y:-36.13, Z:-0.99 [[ 9.72387738e-01 2.32382227e-01 2.14612929e-02 3.41389184e+02] [-2.32332902e-01 9.72624490e-01 -4.79835962e-03 -3.61343722e+01] [-2.19888326e-02 -3.20298417e-04 9.99758165e-01 -9.93337826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82592 meters Centerline goodness [0,1] 0.9995041158385402 Centerline is valid? [True, True] Translation: X:341.42, Y:-36.14, Z:-0.99 [[ 9.72529092e-01 2.31608670e-01 2.33364334e-02 3.41417916e+02] [-2.31550394e-01 9.72808978e-01 -5.20639342e-03 -3.61378251e+01] [-2.39077378e-02 -3.40191296e-04 9.99714111e-01 -9.94136800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85591999999997 meters Centerline goodness [0,1] 0.9995534828338957 Centerline is valid? [True, True] Translation: X:341.45, Y:-36.14, Z:-0.99 [[ 9.72888666e-01 2.30079650e-01 2.34733474e-02 3.41447123e+02] [-2.30020514e-01 9.73171750e-01 -5.22571527e-03 -3.61381134e+01] [-2.40459294e-02 -3.15312277e-04 9.99710805e-01 -9.93717365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88592 meters Centerline goodness [0,1] 0.9996031155429875 Centerline is valid? [True, True] Translation: X:341.48, Y:-36.14, Z:-0.99 [[ 9.73209783e-01 2.28694308e-01 2.36987580e-02 3.41475683e+02] [-2.28633896e-01 9.73498242e-01 -5.26450287e-03 -3.61413189e+01] [-2.42746611e-02 -2.94873695e-04 9.99705284e-01 -9.94103163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91591999999997 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:341.50, Y:-36.14, Z:-0.99 [[ 9.73465559e-01 2.27509153e-01 2.45843525e-02 3.41504255e+02] [-2.27444055e-01 9.73775900e-01 -5.44962452e-03 -3.61444787e+01] [-2.51794894e-02 -2.86543044e-04 9.99682905e-01 -9.94963215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94591999999994 meters Centerline goodness [0,1] 0.9998511240136966 Centerline is valid? [True, True] Translation: X:341.53, Y:-36.15, Z:-0.99 [[ 9.73480028e-01 2.27447188e-01 2.45847687e-02 3.41532726e+02] [-2.27382118e-01 9.73790375e-01 -5.44774660e-03 -3.61508087e+01] [-2.51794858e-02 -2.86864265e-04 9.99682905e-01 -9.94987574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97592 meters Centerline goodness [0,1] 0.9998507908087139 Centerline is valid? [True, True] Translation: X:341.56, Y:-36.15, Z:-0.99 [[ 9.74217279e-01 2.24224932e-01 2.49774602e-02 3.41561867e+02] [-2.24156869e-01 9.74537395e-01 -5.52841976e-03 -3.61515514e+01] [-2.55810785e-02 -2.12987212e-04 9.99672728e-01 -9.94429332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00591999999995 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:341.59, Y:-36.16, Z:-0.99 [[ 9.74680347e-01 2.22323796e-01 2.38820370e-02 3.41589917e+02] [-2.22261278e-01 9.74972872e-01 -5.27466761e-03 -3.61558989e+01] [-2.44570223e-02 -1.66937206e-04 9.99700868e-01 -9.94790697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03592 meters Centerline goodness [0,1] 0.9999503278362806 Centerline is valid? [True, True] Translation: X:341.62, Y:-36.16, Z:-1.00 [[ 9.75214251e-01 2.20054387e-01 2.30917988e-02 3.41619274e+02] [-2.19995541e-01 9.75487598e-01 -5.09006129e-03 -3.61586508e+01] [-2.36458537e-02 -1.16192465e-04 9.99720391e-01 -9.95414889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06591999999995 meters Centerline goodness [0,1] 0.9999504287909582 Centerline is valid? [True, True] Translation: X:341.65, Y:-36.16, Z:-0.99 [[ 9.75467764e-01 2.18995305e-01 2.24432064e-02 3.41646874e+02] [-2.18939714e-01 9.75725907e-01 -4.93509492e-03 -3.61626036e+01] [-2.29791805e-02 -9.96831860e-05 9.99735939e-01 -9.94190477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09592 meters Centerline goodness [0,1] 0.9998513821460419 Centerline is valid? [True, True] Translation: X:341.68, Y:-36.16, Z:-0.99 [[ 9.75582150e-01 2.18459718e-01 2.26896379e-02 3.41675436e+02] [-2.18403037e-01 9.75845962e-01 -4.97714129e-03 -3.61647290e+01] [-2.32288964e-02 -9.98756189e-05 9.99730168e-01 -9.93146548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12591999999995 meters Centerline goodness [0,1] 0.9999503352371493 Centerline is valid? [True, True] Translation: X:341.70, Y:-36.17, Z:-0.99 [[ 9.75696700e-01 2.17934516e-01 2.28143849e-02 3.41702691e+02] [-2.17877354e-01 9.75963389e-01 -4.99216001e-03 -3.61697127e+01] [-2.33539684e-02 -9.99037804e-05 9.99727254e-01 -9.93423551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15592 meters Centerline goodness [0,1] 0.9999007394907936 Centerline is valid? [True, True] Translation: X:341.73, Y:-36.17, Z:-0.99 [[ 9.75883185e-01 2.17083720e-01 2.29492441e-02 3.41730359e+02] [-2.17025935e-01 9.76152985e-01 -5.00933611e-03 -3.61746251e+01] [-2.34894184e-02 -9.20542779e-05 9.99724081e-01 -9.93420004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18591999999995 meters Centerline goodness [0,1] 0.9998512937444235 Centerline is valid? [True, True] Translation: X:341.76, Y:-36.18, Z:-0.99 [[ 9.75822090e-01 2.17324802e-01 2.32632417e-02 3.41757730e+02] [-2.17265789e-01 9.76099338e-01 -5.06545844e-03 -3.61791388e+01] [-2.38080846e-02 -1.11320317e-04 9.99716541e-01 -9.93402775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21592 meters Centerline goodness [0,1] 0.9997522544841938 Centerline is valid? [True, True] Translation: X:341.79, Y:-36.18, Z:-0.99 [[ 9.75941007e-01 2.16915261e-01 2.20662868e-02 3.41786448e+02] [-2.16862293e-01 9.76190431e-01 -4.79454890e-03 -3.61819145e+01] [-2.25809089e-02 -1.06148678e-04 9.99745013e-01 -9.93881406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24591999999996 meters Centerline goodness [0,1] 0.9997016409746395 Centerline is valid? [True, True] Translation: X:341.81, Y:-36.19, Z:-0.99 [[ 9.76146160e-01 2.16150376e-01 2.04374593e-02 3.41814387e+02] [-2.16104971e-01 9.76360081e-01 -4.43110549e-03 -3.61869543e+01] [-2.09121045e-02 -9.12299456e-05 9.99781314e-01 -9.93640862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.27592 meters Centerline goodness [0,1] 0.9999008280854862 Centerline is valid? [True, True] Translation: X:341.84, Y:-36.19, Z:-0.99 [[ 9.76595970e-01 2.14129495e-01 2.02205356e-02 3.41842039e+02] [-2.14084839e-01 9.76805281e-01 -4.37330187e-03 -3.61905050e+01] [-2.06879788e-02 -5.79611065e-05 9.99785979e-01 -9.94594883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30591999999996 meters Centerline goodness [0,1] 0.9998018624925699 Centerline is valid? [True, True] Translation: X:341.87, Y:-36.19, Z:-0.99 [[ 9.77118458e-01 2.11796789e-01 1.95356064e-02 3.41869548e+02] [-2.11754850e-01 9.77313726e-01 -4.21470927e-03 -3.61947476e+01] [-1.99850782e-02 -1.84891922e-05 9.99800278e-01 -9.94453175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33592 meters Centerline goodness [0,1] 0.9999009312462849 Centerline is valid? [True, True] Translation: X:341.90, Y:-36.20, Z:-0.99 [[ 9.77369154e-01 2.10369102e-01 2.22346093e-02 3.41897630e+02] [-2.10314495e-01 9.77622034e-01 -4.79295662e-03 -3.61987172e+01] [-2.27453339e-02 8.22734075e-06 9.99741291e-01 -9.94660579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.93, Y:-36.20, Z:-0.99 [[ 9.77970603e-01 2.07424558e-01 2.34211989e-02 3.41926682e+02] [-2.07363375e-01 9.78251015e-01 -5.03817178e-03 -3.62011365e+01] [-2.39568522e-02 7.04850390e-05 9.99712991e-01 -9.93906323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.95, Y:-36.21, Z:-0.99 [[ 9.78168799e-01 2.06530342e-01 2.30438564e-02 3.41953951e+02] [-2.06471149e-01 9.78440193e-01 -4.94500134e-03 -3.62054993e+01] [-2.35683282e-02 7.91545125e-05 9.99722225e-01 -9.93531382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42591999999996 meters Centerline goodness [0,1] 0.9998014592743336 Centerline is valid? [True, True] Translation: X:341.98, Y:-36.21, Z:-0.99 [[ 9.78272675e-01 2.06213641e-01 2.14127786e-02 3.41982435e+02] [-2.06162674e-01 9.78506990e-01 -4.58507106e-03 -3.62088873e+01] [-2.18980577e-02 7.09340578e-05 9.99760206e-01 -9.94649793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45592 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:342.01, Y:-36.21, Z:-0.99 [[ 9.78512098e-01 2.05218127e-01 1.99898767e-02 3.42010500e+02] [-2.05173691e-01 9.78716258e-01 -4.27112614e-03 -3.62133790e+01] [-2.04409298e-02 7.79518306e-05 9.99791059e-01 -9.94572392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48591999999996 meters Centerline goodness [0,1] 0.999702646446625 Centerline is valid? [True, True] Translation: X:342.04, Y:-36.22, Z:-1.00 [[ 9.78815851e-01 2.03531639e-01 2.22351497e-02 3.42039141e+02] [-2.03476456e-01 9.79068363e-01 -4.74059142e-03 -3.62180130e+01] [-2.27345919e-02 1.15836564e-04 9.99741529e-01 -9.95301187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.07, Y:-36.22, Z:-0.99 [[ 9.79071268e-01 2.02072850e-01 2.42077496e-02 3.42067844e+02] [-2.02007269e-01 9.79370482e-01 -5.15004900e-03 -3.62233730e+01] [-2.47490405e-02 1.52123608e-04 9.99693684e-01 -9.94617789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54591999999997 meters Centerline goodness [0,1] 0.9998512421282293 Centerline is valid? [True, True] Translation: X:342.10, Y:-36.23, Z:-1.00 [[ 9.79300138e-01 2.00649738e-01 2.66631416e-02 3.42095695e+02] [-2.00569776e-01 9.79663024e-01 -5.66775843e-03 -3.62286627e+01] [-2.72581282e-02 2.02616261e-04 9.99628408e-01 -9.96210087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57592 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:342.12, Y:-36.23, Z:-0.99 [[ 9.79460422e-01 1.99987902e-01 2.57317055e-02 3.42124119e+02] [-1.99913503e-01 9.79798346e-01 -5.45832368e-03 -3.62329776e+01] [-2.63034812e-02 2.02096635e-04 9.99653983e-01 -9.94077511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60591999999997 meters Centerline goodness [0,1] 0.999950458261085 Centerline is valid? [True, True] Translation: X:342.15, Y:-36.24, Z:-1.00 [[ 9.79611214e-01 1.99276031e-01 2.55133917e-02 3.42151232e+02] [-1.99202992e-01 9.79943376e-01 -5.39881355e-03 -3.62380162e+01] [-2.60775334e-02 2.06394327e-04 9.99659902e-01 -9.95114748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63592 meters Centerline goodness [0,1] 0.9999504312481412 Centerline is valid? [True, True] Translation: X:342.18, Y:-36.24, Z:-1.00 [[ 9.79754742e-01 1.98588362e-01 2.53635026e-02 3.42178980e+02] [-1.98516292e-01 9.80082965e-01 -5.35383045e-03 -3.62438158e+01] [-2.59215453e-02 2.10372273e-04 9.99663958e-01 -9.95338087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66591999999997 meters Centerline goodness [0,1] 0.9999504312481412 Centerline is valid? [True, True] Translation: X:342.21, Y:-36.25, Z:-0.99 [[ 9.79599206e-01 1.99583479e-01 2.34910895e-02 3.42207361e+02] [-1.99522184e-01 9.79880814e-01 -4.94862885e-03 -3.62507075e+01] [-2.40061324e-02 1.60679423e-04 9.99711798e-01 -9.94169052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69591999999994 meters Centerline goodness [0,1] 0.999900911613159 Centerline is valid? [True, True] Translation: X:342.24, Y:-36.26, Z:-0.99 [[ 9.79484687e-01 1.99832289e-01 2.60154543e-02 3.42235633e+02] [-1.99757515e-01 9.79830103e-01 -5.46846683e-03 -3.62574604e+01] [-2.65835015e-02 1.59497011e-04 9.99646584e-01 -9.94726184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.26, Y:-36.26, Z:-0.99 [[ 9.79490092e-01 1.99813846e-01 2.59535592e-02 3.42262781e+02] [-1.99739783e-01 9.79833866e-01 -5.44185422e-03 -3.62635837e+01] [-2.65175341e-02 1.46284016e-04 9.99648338e-01 -9.93934120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.29, Y:-36.27, Z:-1.00 [[ 9.79796668e-01 1.98209737e-01 2.66718951e-02 3.42290350e+02] [-1.98131048e-01 9.80159611e-01 -5.58783551e-03 -3.62701551e+01] [-2.72502778e-02 1.90412087e-04 9.99628624e-01 -9.95028821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.32, Y:-36.28, Z:-1.00 [[ 9.80120610e-01 1.96680527e-01 2.60837079e-02 3.42316996e+02] [-1.96605080e-01 9.80467605e-01 -5.45145608e-03 -3.62767353e+01] [-2.66464258e-02 2.14894970e-04 9.99644898e-01 -9.95034920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.34, Y:-36.28, Z:-1.00 [[ 9.80343739e-01 1.95620759e-01 2.56645901e-02 3.42343681e+02] [-1.95547700e-01 9.80679595e-01 -5.35068419e-03 -3.62835634e+01] [-2.62154448e-02 2.26858175e-04 9.99656290e-01 -9.95579949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84592 meters Centerline goodness [0,1] 0.9998512642538423 Centerline is valid? [True, True] Translation: X:342.37, Y:-36.29, Z:-1.00 [[ 9.80530824e-01 1.94607626e-01 2.62140124e-02 3.42371057e+02] [-1.94531164e-01 9.80881138e-01 -5.46068974e-03 -3.62909616e+01] [-2.67755222e-02 2.54932257e-04 9.99641439e-01 -9.97342196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87591999999995 meters Centerline goodness [0,1] 0.9999504140427431 Centerline is valid? [True, True] Translation: X:342.40, Y:-36.30, Z:-1.00 [[ 9.80639622e-01 1.94274912e-01 2.45599161e-02 3.42398480e+02] [-1.94207963e-01 9.80947095e-01 -5.10533892e-03 -3.62992111e+01] [-2.50838176e-02 2.36766358e-04 9.99685324e-01 -9.96736183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90592 meters Centerline goodness [0,1] 0.9999504410744375 Centerline is valid? [True, True] Translation: X:342.43, Y:-36.31, Z:-1.00 [[ 9.80639885e-01 1.94544157e-01 2.23156312e-02 3.42426112e+02] [-1.94489185e-01 9.80893741e-01 -4.62876202e-03 -3.63078483e+01] [-2.27897615e-02 1.98999731e-04 9.99740260e-01 -9.95558545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93591999999995 meters Centerline goodness [0,1] 0.9996525364836693 Centerline is valid? [True, True] Translation: X:342.45, Y:-36.32, Z:-0.99 [[ 9.80440527e-01 1.95548500e-01 2.22970038e-02 3.42452759e+02] [-1.95494142e-01 9.80694018e-01 -4.61338899e-03 -3.63172224e+01] [-2.27686796e-02 1.64219899e-04 9.99740747e-01 -9.94318333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96592 meters Centerline goodness [0,1] 0.9999009312462849 Centerline is valid? [True, True] Translation: X:342.48, Y:-36.32, Z:-0.99 [[ 9.80310625e-01 1.96121443e-01 2.29664490e-02 3.42479587e+02] [-1.96064211e-01 9.80579604e-01 -4.73983166e-03 -3.63234627e+01] [-2.34500141e-02 1.43608636e-04 9.99725000e-01 -9.94476924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99591999999996 meters Centerline goodness [0,1] 0.999851315854686 Centerline is valid? [True, True] Translation: X:342.51, Y:-36.33, Z:-0.99 [[ 9.80057646e-01 1.97393775e-01 2.28628261e-02 3.42506422e+02] [-1.97337684e-01 9.80324277e-01 -4.70652523e-03 -3.63291702e+01] [-2.33420223e-02 1.00968883e-04 9.99727533e-01 -9.93146968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.02592 meters Centerline goodness [0,1] 0.9999009017936775 Centerline is valid? [True, True] Translation: X:342.53, Y:-36.34, Z:-0.99 [[ 9.79021642e-01 2.02493849e-01 2.26465134e-02 3.42533351e+02] [-2.02440452e-01 9.79283534e-01 -4.65010544e-03 -3.63367521e+01] [-2.31189755e-02 -3.20165466e-05 9.99732720e-01 -9.93150136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05591999999996 meters Centerline goodness [0,1] 0.9997520947989489 Centerline is valid? [True, True] Translation: X:342.56, Y:-36.34, Z:-0.99 [[ 9.78607543e-01 2.04456102e-01 2.29124280e-02 3.42560035e+02] [-2.04402263e-01 9.78875730e-01 -4.69262381e-03 -3.63435304e+01] [-2.33878553e-02 -9.11150739e-05 9.99726463e-01 -9.93314908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08592 meters Centerline goodness [0,1] 0.9999008526670633 Centerline is valid? [True, True] Translation: X:342.59, Y:-36.35, Z:-0.99 [[ 9.78092877e-01 2.06872992e-01 2.31924290e-02 3.42588419e+02] [-2.06818764e-01 9.78367793e-01 -4.73917924e-03 -3.63490683e+01] [-2.36711338e-02 -1.61272040e-04 9.99719786e-01 -9.92451664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11591999999996 meters Centerline goodness [0,1] 0.9997524017034762 Centerline is valid? [True, True] Translation: X:342.62, Y:-36.35, Z:-0.99 [[ 9.78165247e-01 2.06669116e-01 2.19231766e-02 3.42616869e+02] [-2.06620837e-01 9.78410881e-01 -4.46967919e-03 -3.63535980e+01] [-2.23736191e-02 -1.57700229e-04 9.99749667e-01 -9.91798652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14592 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:342.64, Y:-36.36, Z:-0.99 [[ 9.78321565e-01 2.05859235e-01 2.25586048e-02 3.42644444e+02] [-2.05808176e-01 9.78581602e-01 -4.58726768e-03 -3.63559226e+01] [-2.30197671e-02 -1.54922418e-04 9.99734998e-01 -9.92538409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17591999999996 meters Centerline goodness [0,1] 0.9999008526670633 Centerline is valid? [True, True] Translation: X:342.67, Y:-36.36, Z:-0.99 [[ 9.78682608e-01 2.04260670e-01 2.13993335e-02 3.42673302e+02] [-2.04214562e-01 9.78916526e-01 -4.34151756e-03 -3.63597032e+01] [-2.18349625e-02 -1.21087790e-04 9.99761581e-01 -9.91577146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20592 meters Centerline goodness [0,1] 0.9999008526670633 Centerline is valid? [True, True] Translation: X:342.70, Y:-36.36, Z:-0.99 [[ 9.78769801e-01 2.03713862e-01 2.25906754e-02 3.42702271e+02] [-2.03662575e-01 9.79030463e-01 -4.57263598e-03 -3.63633454e+01] [-2.30484687e-02 -1.25317116e-04 9.99734341e-01 -9.91442951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23591999999996 meters Centerline goodness [0,1] 0.999950458261085 Centerline is valid? [True, True] Translation: X:342.73, Y:-36.36, Z:-0.99 [[ 9.79085792e-01 2.02068214e-01 2.36526821e-02 3.42731661e+02] [-2.02011775e-01 9.79371445e-01 -4.77663739e-03 -3.63627482e+01] [-2.41299680e-02 -1.01382497e-04 9.99708825e-01 -9.90913133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.76, Y:-36.37, Z:-0.99 [[ 9.79175253e-01 2.01400169e-01 2.55694182e-02 3.42759933e+02] [-2.01334291e-01 9.79509041e-01 -5.15191126e-03 -3.63661779e+01] [-2.60830721e-02 -1.03376665e-04 9.99659773e-01 -9.93072478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.79, Y:-36.37, Z:-0.99 [[ 9.79574369e-01 1.99706228e-01 2.34835597e-02 3.42788995e+02] [-1.99650432e-01 9.79855815e-01 -4.72083699e-03 -3.63687270e+01] [-2.39532831e-02 -6.40919357e-05 9.99713077e-01 -9.93270395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.82, Y:-36.37, Z:-0.99 [[ 9.79956494e-01 1.97896298e-01 2.28544131e-02 3.42816652e+02] [-1.97843240e-01 9.80222962e-01 -4.58235522e-03 -3.63717957e+01] [-2.33092516e-02 -3.10823789e-05 9.99728302e-01 -9.92798942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35591999999997 meters Centerline goodness [0,1] 0.9999010292953285 Centerline is valid? [True, True] Translation: X:342.84, Y:-36.38, Z:-0.99 [[ 9.80184065e-01 1.96798235e-01 2.25755133e-02 3.42844020e+02] [-1.96746450e-01 9.80444009e-01 -4.51441446e-03 -3.63750639e+01] [-2.30224556e-02 -1.66950041e-05 9.99734948e-01 -9.92844982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.87, Y:-36.38, Z:-0.99 [[ 9.80537395e-01 1.94995315e-01 2.28745273e-02 3.42871566e+02] [-1.94941939e-01 9.80804174e-01 -4.56216775e-03 -3.63780618e+01] [-2.33250332e-02 1.41713698e-05 9.99727934e-01 -9.92731685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41591999999997 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:342.90, Y:-36.38, Z:-0.99 [[ 9.80868139e-01 1.93383696e-01 2.23705195e-02 3.42898928e+02] [-1.93332494e-01 9.81123206e-01 -4.44994426e-03 -3.63834181e+01] [-2.28087825e-02 3.98602013e-05 9.99739845e-01 -9.93401393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44591999999994 meters Centerline goodness [0,1] 0.9998513305912087 Centerline is valid? [True, True] Translation: X:342.93, Y:-36.39, Z:-0.99 [[ 9.81248691e-01 1.91237453e-01 2.40674697e-02 3.42927490e+02] [-1.91177817e-01 9.81543799e-01 -4.77630627e-03 -3.63876323e+01] [-2.45366843e-02 8.55779696e-05 9.99698927e-01 -9.94149702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47592 meters Centerline goodness [0,1] 0.9997523526498266 Centerline is valid? [True, True] Translation: X:342.96, Y:-36.39, Z:-0.99 [[ 9.81792647e-01 1.88368735e-01 2.45034453e-02 3.42956103e+02] [-1.88306301e-01 9.82098364e-01 -4.85174671e-03 -3.63903762e+01] [-2.49787109e-02 1.49256103e-04 9.99687972e-01 -9.94020787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50591999999995 meters Centerline goodness [0,1] 0.999900882148875 Centerline is valid? [True, True] Translation: X:342.98, Y:-36.40, Z:-0.99 [[ 9.82102442e-01 1.86600806e-01 2.55916510e-02 3.42984205e+02] [-1.86532402e-01 9.82435801e-01 -5.05573012e-03 -3.63961045e+01] [-2.60855574e-02 1.91572754e-04 9.99659696e-01 -9.94584665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53592 meters Centerline goodness [0,1] 0.999702380952381 Centerline is valid? [True, True] Translation: X:343.01, Y:-36.40, Z:-1.00 [[ 9.82801741e-01 1.82590306e-01 2.75956343e-02 3.43011750e+02] [-1.82509318e-01 9.83189036e-01 -5.44691594e-03 -3.64024308e+01] [-2.81262791e-02 3.16778075e-04 9.99604328e-01 -9.96045247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56591999999995 meters Centerline goodness [0,1] 0.9993051764355552 Centerline is valid? [True, True] Translation: X:343.04, Y:-36.41, Z:-0.99 [[ 9.83363461e-01 1.79898656e-01 2.51550613e-02 3.43040320e+02] [-1.79830764e-01 9.83685088e-01 -4.95417580e-03 -3.64083367e+01] [-2.56359083e-02 3.48101570e-04 9.99671285e-01 -9.94717838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59592 meters Centerline goodness [0,1] 0.9994523276076674 Centerline is valid? [True, True] Translation: X:343.07, Y:-36.41, Z:-1.00 [[ 9.83756773e-01 1.77766847e-01 2.49310863e-02 3.43067874e+02] [-1.77699756e-01 9.84072557e-01 -4.89896306e-03 -3.64148628e+01] [-2.54048710e-02 3.89140144e-04 9.99677168e-01 -9.95313860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62591999999995 meters Centerline goodness [0,1] 0.9993061406552015 Centerline is valid? [True, True] Translation: X:343.10, Y:-36.42, Z:-1.00 [[ 9.84504842e-01 1.73421494e-01 2.59846450e-02 3.43095339e+02] [-1.73347405e-01 9.84847564e-01 -5.09441879e-03 -3.64228704e+01] [-2.64743960e-02 5.11109191e-04 9.99649361e-01 -9.95996853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65592 meters Centerline goodness [0,1] 0.9990061617968595 Centerline is valid? [True, True] Translation: X:343.12, Y:-36.43, Z:-1.00 [[ 9.84919154e-01 1.71177585e-01 2.51494576e-02 3.43123277e+02] [-1.71107734e-01 9.85240042e-01 -4.91965369e-03 -3.64295017e+01] [-2.56203871e-02 5.42194461e-04 9.99671597e-01 -9.95721895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68591999999995 meters Centerline goodness [0,1] 0.9994051160023796 Centerline is valid? [True, True] Translation: X:343.15, Y:-36.44, Z:-1.00 [[ 9.85142915e-01 1.69864035e-01 2.52912489e-02 3.43151452e+02] [-1.69793246e-01 9.85467344e-01 -4.93633586e-03 -3.64369032e+01] [-2.57622058e-02 5.68713059e-04 9.99667938e-01 -9.95777497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71592 meters Centerline goodness [0,1] 0.9989056904098687 Centerline is valid? [True, True] Translation: X:343.18, Y:-36.45, Z:-1.00 [[ 9.84965657e-01 1.70697034e-01 2.65551874e-02 3.43178213e+02] [-1.70619653e-01 9.85323403e-01 -5.16976273e-03 -3.64450937e+01] [-2.70479108e-02 5.61201887e-04 9.99633981e-01 -9.95794376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74591999999996 meters Centerline goodness [0,1] 0.9991573312183999 Centerline is valid? [True, True] Translation: X:343.21, Y:-36.45, Z:-1.00 [[ 9.84774125e-01 1.71973244e-01 2.53993345e-02 3.43206153e+02] [-1.71903168e-01 9.85101498e-01 -4.93354179e-03 -3.64527096e+01] [-2.58693596e-02 4.92198249e-04 9.99665211e-01 -9.95542987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.77592 meters Centerline goodness [0,1] 0.9997023218892638 Centerline is valid? [True, True] Translation: X:343.23, Y:-36.46, Z:-1.00 [[ 9.84456427e-01 1.73896305e-01 2.46093010e-02 3.43234082e+02] [-1.73831272e-01 9.84763879e-01 -4.77407444e-03 -3.64622427e+01] [-2.50645446e-02 4.22002168e-04 9.99685746e-01 -9.95763774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80591999999996 meters Centerline goodness [0,1] 0.9997027642920836 Centerline is valid? [True, True] Translation: X:343.26, Y:-36.47, Z:-1.00 [[ 9.84302211e-01 1.74767486e-01 2.46065674e-02 3.43261487e+02] [-1.74703009e-01 9.84609656e-01 -4.76280351e-03 -3.64705635e+01] [-2.50602471e-02 3.89196652e-04 9.99685867e-01 -9.96788786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83592 meters Centerline goodness [0,1] 0.9997027642920836 Centerline is valid? [True, True] Translation: X:343.29, Y:-36.48, Z:-1.00 [[ 9.84388080e-01 1.74282847e-01 2.46088983e-02 3.43288325e+02] [-1.74218520e-01 9.84695556e-01 -4.75074483e-03 -3.64760901e+01] [-2.50602461e-02 3.89250745e-04 9.99685867e-01 -9.96811690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86591999999996 meters Centerline goodness [0,1] 0.9998018330443399 Centerline is valid? [True, True] Translation: X:343.32, Y:-36.48, Z:-1.00 [[ 9.84246941e-01 1.75104445e-01 2.44211253e-02 3.43316325e+02] [-1.75041622e-01 9.84549799e-01 -4.70354311e-03 -3.64842071e+01] [-2.48674254e-02 3.54734534e-04 9.99690695e-01 -9.95856122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89592 meters Centerline goodness [0,1] 0.999354966755979 Centerline is valid? [True, True] Translation: X:343.34, Y:-36.49, Z:-0.99 [[ 9.84267743e-01 1.74827024e-01 2.55444956e-02 3.43344180e+02] [-1.74758487e-01 9.84599095e-01 -4.90858489e-03 -3.64909678e+01] [-2.60092405e-02 3.67244368e-04 9.99661635e-01 -9.94889407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92591999999996 meters Centerline goodness [0,1] 0.999502784407319 Centerline is valid? [True, True] Translation: X:343.37, Y:-36.50, Z:-0.99 [[ 9.84011666e-01 1.76188897e-01 2.60482949e-02 3.43371150e+02] [-1.76118459e-01 9.84356321e-01 -4.99210820e-03 -3.64975407e+01] [-2.65203578e-02 3.24707155e-04 9.99648221e-01 -9.94757004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95592 meters Centerline goodness [0,1] 0.9992059947397152 Centerline is valid? [True, True] Translation: X:343.40, Y:-36.50, Z:-1.00 [[ 9.83973772e-01 1.76453289e-01 2.56876000e-02 3.43399780e+02] [-1.76385162e-01 9.84308968e-01 -4.91217605e-03 -3.65034499e+01] [-2.61513047e-02 3.02540915e-04 9.99657950e-01 -9.95063527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98591999999996 meters Centerline goodness [0,1] 0.9996032533227535 Centerline is valid? [True, True] Translation: X:343.43, Y:-36.51, Z:-1.00 [[ 9.83962041e-01 1.76501548e-01 2.58051316e-02 3.43426546e+02] [-1.76433157e-01 9.84300320e-01 -4.92152549e-03 -3.65098986e+01] [-2.62686562e-02 2.89713428e-04 9.99654877e-01 -9.96171915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01592 meters Centerline goodness [0,1] 0.9994541213835542 Centerline is valid? [True, True] Translation: X:343.45, Y:-36.52, Z:-1.00 [[ 9.83677730e-01 1.78097593e-01 2.56782020e-02 3.43454914e+02] [-1.78030720e-01 9.84012801e-01 -4.88572437e-03 -3.65158456e+01] [-2.61378152e-02 2.34469478e-04 9.99658321e-01 -9.96378059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04591999999997 meters Centerline goodness [0,1] 0.9995536378515102 Centerline is valid? [True, True] Translation: X:343.48, Y:-36.52, Z:-1.00 [[ 9.83558855e-01 1.78598935e-01 2.67282582e-02 3.43482723e+02] [-1.78526994e-01 9.83921934e-01 -5.07344441e-03 -3.65211706e+01] [-2.72046313e-02 2.18315574e-04 9.99629862e-01 -9.97215468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07592 meters Centerline goodness [0,1] 0.9994043186895011 Centerline is valid? [True, True] Translation: X:343.51, Y:-36.53, Z:-1.00 [[ 9.83528546e-01 1.78330512e-01 2.94928287e-02 3.43510861e+02] [-1.78243194e-01 9.83970616e-01 -5.58488310e-03 -3.65268154e+01] [-3.00160319e-02 2.35995971e-04 9.99549390e-01 -9.96174133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10591999999997 meters Centerline goodness [0,1] 0.999304658786133 Centerline is valid? [True, True] Translation: X:343.54, Y:-36.53, Z:-1.00 [[ 9.83747002e-01 1.77160755e-01 2.92558015e-02 3.43538928e+02] [-1.77074710e-01 9.84181894e-01 -5.52685931e-03 -3.65338858e+01] [-2.97721727e-02 2.56568719e-04 9.99556678e-01 -9.96430452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13592 meters Centerline goodness [0,1] 0.9991574147501983 Centerline is valid? [True, True] Translation: X:343.57, Y:-36.54, Z:-1.00 [[ 9.84194090e-01 1.74815338e-01 2.83123742e-02 3.43567816e+02] [-1.74733844e-01 9.84601188e-01 -5.34651857e-03 -3.65406764e+01] [-2.88110507e-02 3.14882007e-04 9.99584826e-01 -9.96659599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16591999999997 meters Centerline goodness [0,1] 0.9995041895978978 Centerline is valid? [True, True] Translation: X:343.60, Y:-36.55, Z:-1.00 [[ 9.84479714e-01 1.73276274e-01 2.78392679e-02 3.43595753e+02] [-1.73197208e-01 9.84873198e-01 -5.24512768e-03 -3.65480841e+01] [-2.83270049e-02 3.42038333e-04 9.99598651e-01 -9.97381820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19591999999994 meters Centerline goodness [0,1] 0.999206034140532 Centerline is valid? [True, True] Translation: X:343.63, Y:-36.55, Z:-1.00 [[ 9.84798398e-01 1.71571508e-01 2.71170304e-02 3.43625167e+02] [-1.71495901e-01 9.85171596e-01 -5.10703371e-03 -3.65539992e+01] [-2.75911496e-02 3.78939048e-04 9.99619220e-01 -9.96737180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22592 meters Centerline goodness [0,1] 0.9988605400049542 Centerline is valid? [True, True] Translation: X:343.65, Y:-36.56, Z:-1.00 [[ 9.84721156e-01 1.71936908e-01 2.76033416e-02 3.43653580e+02] [-1.71859044e-01 9.85107896e-01 -5.18665527e-03 -3.65598127e+01] [-2.80840472e-02 3.63525269e-04 9.99605499e-01 -9.96382249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25591999999995 meters Centerline goodness [0,1] 0.9995040912472105 Centerline is valid? [True, True] Translation: X:343.68, Y:-36.57, Z:-1.00 [[ 9.84196595e-01 1.74731243e-01 2.87411744e-02 3.43682263e+02] [-1.74648079e-01 9.84616122e-01 -5.39831199e-03 -3.65681299e+01] [-2.92422774e-02 2.93409382e-04 9.99572310e-01 -9.95831774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28592 meters Centerline goodness [0,1] 0.9998512863728747 Centerline is valid? [True, True] Translation: X:343.71, Y:-36.58, Z:-1.00 [[ 9.83874805e-01 1.76486018e-01 2.90353643e-02 3.43712330e+02] [-1.76401908e-01 9.84303117e-01 -5.45351602e-03 -3.65753342e+01] [-2.95420689e-02 2.43683338e-04 9.99563508e-01 -9.96373000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31591999999995 meters Centerline goodness [0,1] 0.9998513526905163 Centerline is valid? [True, True] Translation: X:343.74, Y:-36.58, Z:-0.99 [[ 9.83672844e-01 1.77851849e-01 2.75037490e-02 3.43741783e+02] [-1.77776914e-01 9.84057256e-01 -5.16584308e-03 -3.65821338e+01] [-2.79840185e-02 1.91967922e-04 9.99608352e-01 -9.94949376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.77, Y:-36.59, Z:-0.99 [[ 9.83372930e-01 1.79677357e-01 2.63387247e-02 3.43770890e+02] [-1.79609335e-01 9.83725587e-01 -4.94539002e-03 -3.65889800e+01] [-2.67986520e-02 1.32481839e-04 9.99640843e-01 -9.94958141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37591999999995 meters Centerline goodness [0,1] 0.9999008919722497 Centerline is valid? [True, True] Translation: X:343.80, Y:-36.60, Z:-0.99 [[ 9.83259869e-01 1.80443714e-01 2.53001174e-02 3.43798827e+02] [-1.80381494e-01 9.83585307e-01 -4.73920313e-03 -3.65978472e+01] [-2.57399831e-02 9.61952918e-05 9.99668667e-01 -9.94690508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40592 meters Centerline goodness [0,1] 0.9996526054590571 Centerline is valid? [True, True] Translation: X:343.83, Y:-36.60, Z:-1.00 [[ 9.83280917e-01 1.80149540e-01 2.65477220e-02 3.43826377e+02] [-1.80081230e-01 9.83639229e-01 -4.96156701e-03 -3.66046001e+01] [-2.70072049e-02 9.78677194e-05 9.99635234e-01 -9.95135860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43591999999995 meters Centerline goodness [0,1] 0.9997523894418858 Centerline is valid? [True, True] Translation: X:343.85, Y:-36.61, Z:-1.00 [[ 9.83570439e-01 1.78652121e-01 2.59347478e-02 3.43854790e+02] [-1.78586461e-01 9.83912294e-01 -4.84500469e-03 -3.66118177e+01] [-2.63830875e-02 1.33808564e-04 9.99651897e-01 -9.95544649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46592 meters Centerline goodness [0,1] 0.9998015479261758 Centerline is valid? [True, True] Translation: X:343.88, Y:-36.62, Z:-1.00 [[ 9.83864156e-01 1.77112192e-01 2.53494317e-02 3.43883008e+02] [-1.77049240e-01 9.84190655e-01 -4.72447410e-03 -3.66190645e+01] [-2.57854357e-02 1.60143106e-04 9.99667488e-01 -9.95008754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49591999999996 meters Centerline goodness [0,1] 0.9999009557767543 Centerline is valid? [True, True] Translation: X:343.91, Y:-36.63, Z:-1.00 [[ 9.83982365e-01 1.76657065e-01 2.38953208e-02 3.43910897e+02] [-1.76601259e-01 9.84272451e-01 -4.44261601e-03 -3.66270431e+01] [-2.43043255e-02 1.51512083e-04 9.99704595e-01 -9.95169642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.52592 meters Centerline goodness [0,1] 0.9995041158385402 Centerline is valid? [True, True] Translation: X:343.94, Y:-36.64, Z:-0.99 [[ 9.83914846e-01 1.77268641e-01 2.20772417e-02 3.43937840e+02] [-1.77221384e-01 9.84162495e-01 -4.09458023e-03 -3.66374834e+01] [-2.24534339e-02 1.16158963e-04 9.99747883e-01 -9.94581466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55591999999996 meters Centerline goodness [0,1] 0.999553216838761 Centerline is valid? [True, True] Translation: X:343.97, Y:-36.65, Z:-0.99 [[ 9.83909986e-01 1.77414461e-01 2.11009133e-02 3.43965766e+02] [-1.77371518e-01 9.84136220e-01 -3.90453949e-03 -3.66457760e+01] [-2.14588948e-02 9.90143786e-05 9.99769727e-01 -9.93955208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58592 meters Centerline goodness [0,1] 0.999504435304029 Centerline is valid? [True, True] Translation: X:343.99, Y:-36.65, Z:-1.00 [[ 9.83670623e-01 1.78513706e-01 2.29120609e-02 3.43992902e+02] [-1.78463465e-01 9.83937422e-01 -4.23564355e-03 -3.66547467e+01] [-2.33001546e-02 7.75123448e-05 9.99728512e-01 -9.95837053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61591999999996 meters Centerline goodness [0,1] 0.99970128447675 Centerline is valid? [True, True] Translation: X:344.02, Y:-36.66, Z:-1.00 [[ 9.83682385e-01 1.78147459e-01 2.51485359e-02 3.44020278e+02] [-1.78087102e-01 9.84003799e-01 -4.63768420e-03 -3.66644143e+01] [-2.55724465e-02 8.33783596e-05 9.99672968e-01 -9.96348897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64592 meters Centerline goodness [0,1] 0.9999008772364574 Centerline is valid? [True, True] Translation: X:344.05, Y:-36.68, Z:-1.00 [[ 9.83202828e-01 1.80678114e-01 2.58382934e-02 3.44049728e+02] [-1.80615240e-01 9.83542281e-01 -4.76615098e-03 -3.66783663e+01] [-2.62741932e-02 1.93035637e-05 9.99654774e-01 -9.95533093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.08, Y:-36.69, Z:-0.99 [[ 9.82928915e-01 1.82300436e-01 2.48455009e-02 3.44080344e+02] [-1.82242778e-01 9.83242875e-01 -4.58465922e-03 -3.66868321e+01] [-2.52649471e-02 -2.15189945e-05 9.99680790e-01 -9.94978835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70592 meters Centerline goodness [0,1] 0.9997519595197937 Centerline is valid? [True, True] Translation: X:344.11, Y:-36.70, Z:-0.99 [[ 9.82669396e-01 1.83812380e-01 2.39555354e-02 3.44110714e+02] [-1.83759172e-01 9.82961345e-01 -4.42276961e-03 -3.66976986e+01] [-2.43603251e-02 -5.59290257e-05 9.99703242e-01 -9.94905152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73591999999996 meters Centerline goodness [0,1] 0.9998016266613767 Centerline is valid? [True, True] Translation: X:344.14, Y:-36.71, Z:-1.00 [[ 9.82555890e-01 1.84439296e-01 2.37921870e-02 3.44140578e+02] [-1.84386956e-01 9.82843905e-01 -4.39422076e-03 -3.67061170e+01] [-2.41944729e-02 -6.94014455e-05 9.99707268e-01 -9.95810940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76592 meters Centerline goodness [0,1] 0.999851249504165 Centerline is valid? [True, True] Translation: X:344.17, Y:-36.72, Z:-1.00 [[ 9.82185496e-01 1.86675830e-01 2.15357058e-02 3.44170486e+02] [-1.86633454e-01 9.82421560e-01 -3.97890338e-03 -3.67161879e+01] [-2.18999068e-02 -1.11261975e-04 9.99760162e-01 -9.95287781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79591999999997 meters Centerline goodness [0,1] 0.9999007296371668 Centerline is valid? [True, True] Translation: X:344.20, Y:-36.72, Z:-0.99 [[ 9.82036655e-01 1.87605471e-01 2.02038237e-02 3.44200325e+02] [-1.87568371e-01 9.82244456e-01 -3.73287838e-03 -3.67234459e+01] [-2.05454023e-02 -1.23774902e-04 9.99788913e-01 -9.94727529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82592 meters Centerline goodness [0,1] 0.9998510944557503 Centerline is valid? [True, True] Translation: X:344.23, Y:-36.73, Z:-0.99 [[ 9.81891411e-01 1.88352259e-01 2.03146307e-02 3.44229912e+02] [-1.88314911e-01 9.82101526e-01 -3.75335120e-03 -3.67306935e+01] [-2.06579820e-02 -1.40164569e-04 9.99786591e-01 -9.94463466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85591999999997 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:344.26, Y:-36.74, Z:-0.99 [[ 9.81733189e-01 1.89121102e-01 2.08123548e-02 3.44259838e+02] [-1.89082074e-01 9.81953758e-01 -3.84531118e-03 -3.67381985e+01] [-2.11639995e-02 -1.60173589e-04 9.99776005e-01 -9.94107594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88592 meters Centerline goodness [0,1] 0.9999503795960899 Centerline is valid? [True, True] Translation: X:344.29, Y:-36.75, Z:-1.00 [[ 9.81691998e-01 1.89324732e-01 2.09037735e-02 3.44290537e+02] [-1.89285377e-01 9.81914517e-01 -3.86354420e-03 -3.67464298e+01] [-2.12571831e-02 -1.63968229e-04 9.99774027e-01 -9.95079262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91591999999997 meters Centerline goodness [0,1] 0.9998509538950715 Centerline is valid? [True, True] Translation: X:344.32, Y:-36.75, Z:-1.00 [[ 9.81434633e-01 1.90456762e-01 2.26336530e-02 3.44320745e+02] [-1.90410890e-01 9.81695564e-01 -4.18477727e-03 -3.67537491e+01] [-2.30163759e-02 -2.02608660e-04 9.99735068e-01 -9.95517520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94591999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.35, Y:-36.76, Z:-1.00 [[ 9.81444873e-01 1.90555698e-01 2.13187157e-02 3.44351291e+02] [-1.90514993e-01 9.81676367e-01 -3.94308201e-03 -3.67613151e+01] [-2.16794561e-02 -1.91617354e-04 9.99764955e-01 -9.95046599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97592 meters Centerline goodness [0,1] 0.9999504091247211 Centerline is valid? [True, True] Translation: X:344.38, Y:-36.77, Z:-0.99 [[ 9.81266805e-01 1.91312206e-01 2.26957582e-02 3.44381329e+02] [-1.91266240e-01 9.81529211e-01 -4.19929879e-03 -3.67689478e+01] [-2.30799267e-02 -2.20299827e-04 9.99733599e-01 -9.94800464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00591999999995 meters Centerline goodness [0,1] 0.9999007049945388 Centerline is valid? [True, True] Translation: X:344.41, Y:-36.78, Z:-0.99 [[ 9.81129553e-01 1.92037415e-01 2.25040498e-02 3.44413281e+02] [-1.91992345e-01 9.81387578e-01 -4.16680827e-03 -3.67755545e+01] [-2.28853780e-02 -2.32426553e-04 9.99738068e-01 -9.93846646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03592 meters Centerline goodness [0,1] 0.9996528638730473 Centerline is valid? [True, True] Translation: X:344.44, Y:-36.78, Z:-0.99 [[ 9.80866029e-01 1.93468964e-01 2.17161756e-02 3.44444309e+02] [-1.93427281e-01 9.81106363e-01 -4.02384718e-03 -3.67831020e+01] [-2.20843676e-02 -2.53645794e-04 9.99756078e-01 -9.93976643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06591999999995 meters Centerline goodness [0,1] 0.999751787132645 Centerline is valid? [True, True] Translation: X:344.47, Y:-36.79, Z:-0.99 [[ 9.80650814e-01 1.94683042e-01 2.05546818e-02 3.44474876e+02] [-1.94645936e-01 9.80866170e-01 -3.81006784e-03 -3.67895781e+01] [-2.09031476e-02 -2.64539144e-04 9.99781470e-01 -9.93088143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09592 meters Centerline goodness [0,1] 0.9993547426415843 Centerline is valid? [True, True] Translation: X:344.51, Y:-36.80, Z:-0.99 [[ 9.80481476e-01 1.95622973e-01 1.96908119e-02 3.44505639e+02] [-1.95589083e-01 9.80679142e-01 -3.65125454e-03 -3.67951191e+01] [-2.00246378e-02 -2.71320417e-04 9.99799450e-01 -9.92814938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12591999999995 meters Centerline goodness [0,1] 0.9991565786862473 Centerline is valid? [True, True] Translation: X:344.54, Y:-36.80, Z:-0.99 [[ 9.80217515e-01 1.96724710e-01 2.17488230e-02 3.44536755e+02] [-1.96683604e-01 9.80458711e-01 -4.03433130e-03 -3.67991442e+01] [-2.21174756e-02 -3.23114668e-04 9.99755327e-01 -9.92725087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15592 meters Centerline goodness [0,1] 0.9990088214887501 Centerline is valid? [True, True] Translation: X:344.57, Y:-36.80, Z:-0.99 [[ 9.80143714e-01 1.97159461e-01 2.11292942e-02 3.44567816e+02] [-1.97120735e-01 9.80371380e-01 -3.92082637e-03 -3.68041377e+01] [-2.14875833e-02 -3.22048668e-04 9.99769063e-01 -9.92055999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18591999999995 meters Centerline goodness [0,1] 0.9990070006454496 Centerline is valid? [True, True] Translation: X:344.60, Y:-36.81, Z:-0.99 [[ 9.79925631e-01 1.98201050e-01 2.14965480e-02 3.44598878e+02] [-1.98161169e-01 9.80161325e-01 -3.99111094e-03 -3.68089477e+01] [-2.18611273e-02 -3.48789164e-04 9.99760956e-01 -9.91434446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21592 meters Centerline goodness [0,1] 0.9992559892862457 Centerline is valid? [True, True] Translation: X:344.63, Y:-36.81, Z:-0.99 [[ 9.79843302e-01 1.98438777e-01 2.30033786e-02 3.44629925e+02] [-1.98393137e-01 9.80113213e-01 -4.27247330e-03 -3.68136022e+01] [-2.33937397e-02 -3.77358091e-04 9.99726258e-01 -9.92661480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24591999999996 meters Centerline goodness [0,1] 0.9997518117740495 Centerline is valid? [True, True] Translation: X:344.66, Y:-36.82, Z:-0.99 [[ 9.79397501e-01 2.00607065e-01 2.31806009e-02 3.44661242e+02] [-2.00561289e-01 9.79671690e-01 -4.30693325e-03 -3.68165172e+01] [-2.35733797e-02 -4.30931532e-04 9.99722016e-01 -9.90838219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.27592 meters Centerline goodness [0,1] 0.9990563695058357 Centerline is valid? [True, True] Translation: X:344.69, Y:-36.82, Z:-0.99 [[ 9.79140214e-01 2.02097694e-01 2.09991253e-02 3.44692577e+02] [-2.02060441e-01 9.79365276e-01 -3.90302255e-03 -3.68206539e+01] [-2.13546060e-02 -4.21486188e-04 9.99771876e-01 -9.89892343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30591999999996 meters Centerline goodness [0,1] 0.9988082232595094 Centerline is valid? [True, True] Translation: X:344.72, Y:-36.82, Z:-0.99 [[ 9.78299275e-01 2.06112617e-01 2.11687984e-02 3.44722970e+02] [-2.06075697e-01 9.78528143e-01 -3.93461450e-03 -3.68230127e+01] [-2.15252387e-02 -5.13144383e-04 9.99768174e-01 -9.91394602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33592 meters Centerline goodness [0,1] 0.9987104453923222 Centerline is valid? [True, True] Translation: X:344.75, Y:-36.83, Z:-0.99 [[ 9.77996394e-01 2.07537684e-01 2.12406184e-02 3.44752451e+02] [-2.07500879e-01 9.78226870e-01 -3.94659854e-03 -3.68260302e+01] [-2.15972116e-02 -5.47687837e-04 9.99766603e-01 -9.90729105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36591999999996 meters Centerline goodness [0,1] 0.9993060374739764 Centerline is valid? [True, True] Translation: X:344.78, Y:-36.83, Z:-0.99 [[ 9.77751725e-01 2.08581346e-01 2.22572541e-02 3.44781654e+02] [-2.08541253e-01 9.78004837e-01 -4.13329000e-03 -3.68285527e+01] [-2.26298294e-02 -6.00224238e-04 9.99743732e-01 -9.90529327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39592 meters Centerline goodness [0,1] 0.9992564318643732 Centerline is valid? [True, True] Translation: X:344.81, Y:-36.83, Z:-0.99 [[ 9.77797458e-01 2.08569266e-01 2.02729701e-02 3.44811243e+02] [-2.08536029e-01 9.78007444e-01 -3.76341426e-03 -3.68317727e+01] [-2.06120482e-02 -5.47787783e-04 9.99787399e-01 -9.90489287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42591999999996 meters Centerline goodness [0,1] 0.9985617219659773 Centerline is valid? [True, True] Translation: X:344.84, Y:-36.83, Z:-0.99 [[ 9.78014950e-01 2.07683901e-01 1.88189820e-02 3.44840065e+02] [-2.07655261e-01 9.78195864e-01 -3.48495238e-03 -3.68331071e+01] [-1.91324189e-02 -4.99525098e-04 9.99816834e-01 -9.91307549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45592 meters Centerline goodness [0,1] 0.9983630952380952 Centerline is valid? [True, True] Translation: X:344.87, Y:-36.84, Z:-0.99 [[ 9.78259173e-01 2.06406428e-01 2.01339508e-02 3.44867803e+02] [-2.06373597e-01 9.78466207e-01 -3.71762907e-03 -3.68352233e+01] [-2.04677330e-02 -5.18311113e-04 9.99790380e-01 -9.91232590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48591999999996 meters Centerline goodness [0,1] 0.9989096496010309 Centerline is valid? [True, True] Translation: X:344.90, Y:-36.83, Z:-0.99 [[ 9.78612913e-01 2.04645878e-01 2.09004983e-02 3.44896370e+02] [-2.04610336e-01 9.78835943e-01 -3.84792257e-03 -3.68342364e+01] [-2.12456204e-02 -5.10831268e-04 9.99774156e-01 -9.91070137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51592 meters Centerline goodness [0,1] 0.9991075412762159 Centerline is valid? [True, True] Translation: X:344.93, Y:-36.84, Z:-0.99 [[ 9.78914976e-01 2.03181125e-01 2.10451851e-02 3.44925333e+02] [-2.03144965e-01 9.79141046e-01 -3.86459484e-03 -3.68373331e+01] [-2.13914173e-02 -4.92113621e-04 9.99771056e-01 -9.91243793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54591999999997 meters Centerline goodness [0,1] 0.9991086461325146 Centerline is valid? [True, True] Translation: X:344.95, Y:-36.84, Z:-0.99 [[ 9.79231932e-01 2.01617612e-01 2.13345268e-02 3.44953564e+02] [-2.01580325e-01 9.79464197e-01 -3.90643450e-03 -3.68402911e+01] [-2.16840112e-02 -4.75315440e-04 9.99764761e-01 -9.91682497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57592 meters Centerline goodness [0,1] 0.9987611496531219 Centerline is valid? [True, True] Translation: X:344.98, Y:-36.84, Z:-0.99 [[ 9.79450974e-01 2.00713475e-01 1.97456598e-02 3.44982851e+02] [-2.00681455e-01 9.79649896e-01 -3.61031754e-03 -3.68429230e+01] [-2.00684729e-02 -4.26458716e-04 9.99798517e-01 -9.92101690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60591999999997 meters Centerline goodness [0,1] 0.9988094056950094 Centerline is valid? [True, True] Translation: X:345.01, Y:-36.84, Z:-0.99 [[ 9.79574873e-01 2.00151941e-01 1.92942582e-02 3.45011398e+02] [-2.00121459e-01 9.79764782e-01 -3.51764269e-03 -3.68427925e+01] [-1.96078977e-02 -4.15400707e-04 9.99807660e-01 -9.92109308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63592 meters Centerline goodness [0,1] 0.998661311914324 Centerline is valid? [True, True] Translation: X:345.04, Y:-36.85, Z:-0.99 [[ 9.79658202e-01 1.99709526e-01 1.96446513e-02 3.45039104e+02] [-1.99678048e-01 9.79855053e-01 -3.57099732e-03 -3.68459087e+01] [-1.99620731e-02 -4.24248815e-04 9.99800648e-01 -9.92695882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66591999999997 meters Centerline goodness [0,1] 0.9986625718248464 Centerline is valid? [True, True] Translation: X:345.07, Y:-36.84, Z:-0.99 [[ 9.79948892e-01 1.97904317e-01 2.31095220e-02 3.45068825e+02] [-1.97860509e-01 9.80221232e-01 -4.18991602e-03 -3.68449208e+01] [-2.34816466e-02 -4.66558212e-04 9.99724159e-01 -9.93472373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69591999999994 meters Centerline goodness [0,1] 0.9984130132910137 Centerline is valid? [True, True] Translation: X:345.10, Y:-36.85, Z:-0.99 [[ 9.80231083e-01 1.96637465e-01 2.19255858e-02 3.45097845e+02] [-1.96597940e-01 9.80476174e-01 -3.96514382e-03 -3.68459247e+01] [-2.22772103e-02 -4.23767762e-04 9.99751742e-01 -9.92459936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72592 meters Centerline goodness [0,1] 0.9977218700475435 Centerline is valid? [True, True] Translation: X:345.13, Y:-36.85, Z:-0.99 [[ 9.80449378e-01 1.95513881e-01 2.22112294e-02 3.45126305e+02] [-1.95473293e-01 9.80700846e-01 -4.00516558e-03 -3.68469306e+01] [-2.25656369e-02 -4.14840056e-04 9.99745278e-01 -9.92371084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75591999999995 meters Centerline goodness [0,1] 0.9977218700475435 Centerline is valid? [True, True] Translation: X:345.15, Y:-36.85, Z:-0.99 [[ 9.80549155e-01 1.95012630e-01 2.22132731e-02 3.45153222e+02] [-1.94972171e-01 9.80800643e-01 -3.99381452e-03 -3.68520986e+01] [-2.25656369e-02 -4.14838639e-04 9.99745278e-01 -9.92393998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78592 meters Centerline goodness [0,1] 0.9969305411158969 Centerline is valid? [True, True] Translation: X:345.18, Y:-36.85, Z:-0.99 [[ 9.81306355e-01 1.91009589e-01 2.35196467e-02 3.45182487e+02] [-1.90963342e-01 9.81588107e-01 -4.21773748e-03 -3.68521277e+01] [-2.38922338e-02 -3.52497740e-04 9.99714478e-01 -9.92556973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81591999999995 meters Centerline goodness [0,1] 0.997275204359673 Centerline is valid? [True, True] Translation: X:345.21, Y:-36.85, Z:-0.99 [[ 9.81851195e-01 1.88085393e-01 2.43334405e-02 3.45210080e+02] [-1.88035306e-01 9.82152632e-01 -4.35093894e-03 -3.68545855e+01] [-2.47175007e-02 -3.03571340e-04 9.99694430e-01 -9.92663439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84592 meters Centerline goodness [0,1] 0.9970786294315707 Centerline is valid? [True, True] Translation: X:345.24, Y:-36.86, Z:-0.99 [[ 9.82354401e-01 1.85191337e-01 2.61533969e-02 3.45239392e+02] [-1.85132775e-01 9.82702448e-01 -4.66419211e-03 -3.68560173e+01] [-2.65647751e-02 -2.59961296e-04 9.99647060e-01 -9.92793669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87591999999995 meters Centerline goodness [0,1] 0.9967294350842418 Centerline is valid? [True, True] Translation: X:345.27, Y:-36.86, Z:-0.99 [[ 9.82870665e-01 1.82462933e-01 2.59332674e-02 3.45268523e+02] [-1.82404717e-01 9.83212713e-01 -4.61300308e-03 -3.68573430e+01] [-2.63396202e-02 -1.96364881e-04 9.99653033e-01 -9.93483191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90592 meters Centerline goodness [0,1] 0.9964340547768807 Centerline is valid? [True, True] Translation: X:345.30, Y:-36.86, Z:-0.99 [[ 9.83860712e-01 1.77001928e-01 2.62377095e-02 3.45297511e+02] [-1.76940759e-01 9.84210503e-01 -4.65341357e-03 -3.68559010e+01] [-2.66470924e-02 -6.42094557e-05 9.99644901e-01 -9.94294925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93591999999995 meters Centerline goodness [0,1] 0.9962847377024818 Centerline is valid? [True, True] Translation: X:345.32, Y:-36.86, Z:-0.99 [[ 9.84243366e-01 1.74849988e-01 2.63149742e-02 3.45324916e+02] [-1.74788057e-01 9.84595085e-01 -4.65338164e-03 -3.68586469e+01] [-2.67232380e-02 -1.94832043e-05 9.99642870e-01 -9.94254387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96592 meters Centerline goodness [0,1] 0.9962335216572504 Centerline is valid? [True, True] Translation: X:345.35, Y:-36.86, Z:-0.99 [[ 9.85069578e-01 1.70137610e-01 2.62891487e-02 3.45352862e+02] [-1.70074487e-01 9.85420309e-01 -4.63510613e-03 -3.68583821e+01] [-2.66944669e-02 9.47885552e-05 9.99643635e-01 -9.93836289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99591999999996 meters Centerline goodness [0,1] 0.9961875526068228 Centerline is valid? [True, True] Translation: X:345.38, Y:-36.86, Z:-0.99 [[ 9.85530104e-01 1.67414529e-01 2.65101762e-02 3.45381927e+02] [-1.67349679e-01 9.85886581e-01 -4.66202066e-03 -3.68616899e+01] [-2.69165170e-02 1.58092225e-04 9.99637672e-01 -9.94132529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.02592 meters Centerline goodness [0,1] 0.9952416356877324 Centerline is valid? [True, True] Translation: X:345.41, Y:-36.87, Z:-0.99 [[ 9.86410808e-01 1.62057416e-01 2.70390667e-02 3.45410717e+02] [-1.61988269e-01 9.86781285e-01 -4.74298110e-03 -3.68657150e+01] [-2.74502803e-02 2.98516220e-04 9.99623125e-01 -9.94961058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05591999999996 meters Centerline goodness [0,1] 0.9959823421457269 Centerline is valid? [True, True] Translation: X:345.44, Y:-36.87, Z:-1.00 [[ 9.86843514e-01 1.59514546e-01 2.63626516e-02 3.45438017e+02] [-1.59448265e-01 9.87195517e-01 -4.61102448e-03 -3.68699540e+01] [-2.67606170e-02 3.46880535e-04 9.99641810e-01 -9.95608905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08592 meters Centerline goodness [0,1] 0.9954428373291064 Centerline is valid? [True, True] Translation: X:345.47, Y:-36.87, Z:-1.00 [[ 9.87219949e-01 1.57148395e-01 2.64793084e-02 3.45466780e+02] [-1.57080990e-01 9.87574919e-01 -4.61970423e-03 -3.68740720e+01] [-2.68762800e-02 4.01268198e-04 9.99638687e-01 -9.95322310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11591999999996 meters Centerline goodness [0,1] 0.995542568471101 Centerline is valid? [True, True] Translation: X:345.49, Y:-36.88, Z:-1.00 [[ 9.87541943e-01 1.55252427e-01 2.56436204e-02 3.45493838e+02] [-1.55188901e-01 9.87874740e-01 -4.46122830e-03 -3.68794026e+01] [-2.60253014e-02 4.26044784e-04 9.99661194e-01 -9.95125301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14592 meters Centerline goodness [0,1] 0.9957330687174398 Centerline is valid? [True, True] Translation: X:345.52, Y:-36.89, Z:-1.00 [[ 9.87852202e-01 1.52725730e-01 2.86858452e-02 3.45521168e+02] [-1.52645375e-01 9.88268463e-01 -4.98336467e-03 -3.68877083e+01] [-2.91104042e-02 5.44066152e-04 9.99576054e-01 -9.96857794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17591999999996 meters Centerline goodness [0,1] 0.9959282983266299 Centerline is valid? [True, True] Translation: X:345.55, Y:-36.90, Z:-1.00 [[ 9.87875641e-01 1.52583702e-01 2.86344445e-02 3.45550264e+02] [-1.52503632e-01 9.88290401e-01 -4.97251165e-03 -3.68954845e+01] [-2.90578709e-02 5.45366349e-04 9.99577582e-01 -9.96840248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20592 meters Centerline goodness [0,1] 0.9956843097375861 Centerline is valid? [True, True] Translation: X:345.58, Y:-36.90, Z:-1.00 [[ 9.87877961e-01 1.52769543e-01 2.75427064e-02 3.45579444e+02] [-1.52695584e-01 9.88261706e-01 -4.78121065e-03 -3.69025274e+01] [-2.79498254e-02 5.17602990e-04 9.99609193e-01 -9.96092826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23591999999996 meters Centerline goodness [0,1] 0.996725865661276 Centerline is valid? [True, True] Translation: X:345.61, Y:-36.91, Z:-1.00 [[ 9.87854333e-01 1.53187948e-01 2.60243803e-02 3.45607401e+02] [-1.53122108e-01 9.88196957e-01 -4.51603022e-03 -3.69132228e+01] [-2.64090148e-02 4.76272069e-04 9.99651108e-01 -9.97078861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26592 meters Centerline goodness [0,1] 0.9967289488030926 Centerline is valid? [True, True] Translation: X:345.64, Y:-36.92, Z:-1.00 [[ 9.87743368e-01 1.54215036e-01 2.40989988e-02 3.45635478e+02] [-1.54159118e-01 9.88037225e-01 -4.17235538e-03 -3.69225381e+01] [-2.44541478e-02 4.06135954e-04 9.99700870e-01 -9.96912233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29591999999997 meters Centerline goodness [0,1] 0.9968282287640003 Centerline is valid? [True, True] Translation: X:345.66, Y:-36.93, Z:-1.00 [[ 9.86978678e-01 1.58890025e-01 2.50409353e-02 3.45662781e+02] [-1.58831413e-01 9.87296245e-01 -4.32518946e-03 -3.69336806e+01] [-2.54100508e-02 2.91582653e-04 9.99677070e-01 -9.96855849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32592 meters Centerline goodness [0,1] 0.9967761134808055 Centerline is valid? [True, True] Translation: X:345.69, Y:-36.94, Z:-1.00 [[ 9.86471732e-01 1.62266803e-01 2.33024855e-02 3.45691114e+02] [-1.62217235e-01 9.86746904e-01 -4.01452829e-03 -3.69401531e+01] [-2.36450801e-02 1.80153907e-04 9.99720400e-01 -9.95121796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35591999999997 meters Centerline goodness [0,1] 0.9970295559186099 Centerline is valid? [True, True] Translation: X:345.72, Y:-36.95, Z:-0.99 [[ 9.85124274e-01 1.70365229e-01 2.24911979e-02 3.45719019e+02] [-1.70321290e-01 9.85380986e-01 -3.86909880e-03 -3.69486300e+01] [-2.28215587e-02 -1.91866934e-05 9.99739554e-01 -9.94613482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38592 meters Centerline goodness [0,1] 0.9969314526107399 Centerline is valid? [True, True] Translation: X:345.75, Y:-36.96, Z:-1.00 [[ 9.84390206e-01 1.74423388e-01 2.35032631e-02 3.45747281e+02] [-1.74376812e-01 9.84670740e-01 -4.03262310e-03 -3.69554437e+01] [-2.38463592e-02 -1.28749405e-04 9.99715627e-01 -9.95003981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41591999999997 meters Centerline goodness [0,1] 0.9971740208230044 Centerline is valid? [True, True] Translation: X:345.78, Y:-36.96, Z:-0.99 [[ 9.83807874e-01 1.77655828e-01 2.36743362e-02 3.45775406e+02] [-1.77609767e-01 9.84092658e-01 -4.05116924e-03 -3.69607731e+01] [-2.40174543e-02 -2.19221149e-04 9.99711515e-01 -9.94798891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44591999999994 meters Centerline goodness [0,1] 0.9971213023625174 Centerline is valid? [True, True] Translation: X:345.80, Y:-36.96, Z:-0.99 [[ 9.83055026e-01 1.81760925e-01 2.37861829e-02 3.45803874e+02] [-1.81715890e-01 9.83342695e-01 -4.05949238e-03 -3.69649341e+01] [-2.41278263e-02 -3.31623004e-04 9.99708827e-01 -9.93842373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47592 meters Centerline goodness [0,1] 0.9974721189591078 Centerline is valid? [True, True] Translation: X:345.83, Y:-36.97, Z:-0.99 [[ 9.82055392e-01 1.87117200e-01 2.35448772e-02 3.45832410e+02] [-1.87074754e-01 9.82337487e-01 -4.01229805e-03 -3.69655042e+01] [-2.38797854e-02 -4.64353172e-04 9.99714729e-01 -9.94156796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50591999999995 meters Centerline goodness [0,1] 0.9972704714640198 Centerline is valid? [True, True] Translation: X:345.86, Y:-36.97, Z:-0.99 [[ 9.81929107e-01 1.87826647e-01 2.31598470e-02 3.45860816e+02] [-1.87786021e-01 9.82202075e-01 -3.93624953e-03 -3.69686617e+01] [-2.34869823e-02 -4.83977521e-04 9.99724026e-01 -9.93466391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53592 meters Centerline goodness [0,1] 0.997424212403408 Centerline is valid? [True, True] Translation: X:345.89, Y:-36.97, Z:-0.99 [[ 9.81712323e-01 1.88913184e-01 2.35100941e-02 3.45889219e+02] [-1.88871887e-01 9.81993651e-01 -3.98500617e-03 -3.69714143e+01] [-2.38395833e-02 -5.28266181e-04 9.99715657e-01 -9.93272367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56591999999995 meters Centerline goodness [0,1] 0.997422424903341 Centerline is valid? [True, True] Translation: X:345.92, Y:-36.97, Z:-0.99 [[ 9.81780708e-01 1.88629579e-01 2.29242807e-02 3.45916744e+02] [-1.88590517e-01 9.82048172e-01 -3.87369970e-03 -3.69735397e+01] [-2.32434423e-02 -5.20178304e-04 9.99729699e-01 -9.91856174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59592 meters Centerline goodness [0,1] 0.9971289971289972 Centerline is valid? [True, True] Translation: X:345.95, Y:-36.97, Z:-0.99 [[ 9.81590519e-01 1.89645306e-01 2.26872227e-02 3.45946182e+02] [-1.89607559e-01 9.81852513e-01 -3.82321261e-03 -3.69712162e+01] [-2.30005609e-02 -5.48839652e-04 9.99735301e-01 -9.90793328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62591999999995 meters Centerline goodness [0,1] 0.9973746780265504 Centerline is valid? [True, True] Translation: X:345.97, Y:-36.97, Z:-0.99 [[ 9.81591811e-01 1.89521434e-01 2.36462092e-02 3.45974599e+02] [-1.89480652e-01 9.81876413e-01 -3.97395142e-03 -3.69739034e+01] [-2.39708040e-02 -5.79700971e-04 9.99712491e-01 -9.92140079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65592 meters Centerline goodness [0,1] 0.997125012392188 Centerline is valid? [True, True] Translation: X:346.00, Y:-36.98, Z:-0.99 [[ 9.81415513e-01 1.90590154e-01 2.23379554e-02 3.46002265e+02] [-1.90554298e-01 9.81669523e-01 -3.74255450e-03 -3.69764289e+01] [-2.26417841e-02 -5.83592384e-04 9.99743472e-01 -9.92251243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68591999999995 meters Centerline goodness [0,1] 0.997574377506064 Centerline is valid? [True, True] Translation: X:346.03, Y:-36.98, Z:-0.99 [[ 9.81382267e-01 1.90992921e-01 2.02620125e-02 3.46030481e+02] [-1.90963697e-01 9.81591262e-01 -3.38548560e-03 -3.69792760e+01] [-2.05356182e-02 -5.46853282e-04 9.99788972e-01 -9.90725815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71592 meters Centerline goodness [0,1] 0.9973199662514268 Centerline is valid? [True, True] Translation: X:346.06, Y:-36.98, Z:-0.99 [[ 9.81360702e-01 1.91060835e-01 2.06622827e-02 3.46059287e+02] [-1.91030657e-01 9.81578033e-01 -3.44291308e-03 -3.69814751e+01] [-2.09394487e-02 -5.68389848e-04 9.99780584e-01 -9.90188775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74591999999996 meters Centerline goodness [0,1] 0.9973793512658228 Centerline is valid? [True, True] Translation: X:346.09, Y:-36.98, Z:-0.99 [[ 9.81256248e-01 1.91548506e-01 2.11032124e-02 3.46087874e+02] [-1.91517219e-01 9.81482968e-01 -3.51266278e-03 -3.69820668e+01] [-2.13852888e-02 -5.94806252e-04 9.99771132e-01 -9.90579613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.77592 meters Centerline goodness [0,1] 0.9972231863936133 Centerline is valid? [True, True] Translation: X:346.12, Y:-36.99, Z:-0.99 [[ 9.81518483e-01 1.90181982e-01 2.12669017e-02 3.46115897e+02] [-1.90150091e-01 9.81748684e-01 -3.53042903e-03 -3.69857445e+01] [-2.15501767e-02 -5.78721942e-04 9.99767600e-01 -9.90869787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80591999999996 meters Centerline goodness [0,1] 0.9975189798044956 Centerline is valid? [True, True] Translation: X:346.14, Y:-36.99, Z:-0.99 [[ 9.81752342e-01 1.89030820e-01 2.07289108e-02 3.46144243e+02] [-1.89000465e-01 9.81971002e-01 -3.43164581e-03 -3.69898320e+01] [-2.10038761e-02 -5.48747481e-04 9.99779244e-01 -9.90748568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83592 meters Centerline goodness [0,1] 0.9974293059125964 Centerline is valid? [True, True] Translation: X:346.17, Y:-36.99, Z:-0.99 [[ 9.82533014e-01 1.85001573e-01 2.00821769e-02 3.46172741e+02] [-1.84972431e-01 9.82738118e-01 -3.31526009e-03 -3.69934529e+01] [-2.03488491e-02 -4.57296601e-04 9.99792836e-01 -9.91849574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86591999999996 meters Centerline goodness [0,1] 0.9978716032272434 Centerline is valid? [True, True] Translation: X:346.20, Y:-37.00, Z:-0.99 [[ 9.83030205e-01 1.82440229e-01 1.91619183e-02 3.46201818e+02] [-1.82413304e-01 9.83216868e-01 -3.15854530e-03 -3.69970612e+01] [-1.94165670e-02 -3.90443387e-04 9.99811404e-01 -9.91026815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89592 meters Centerline goodness [0,1] 0.9980186249256985 Centerline is valid? [True, True] Translation: X:346.23, Y:-37.00, Z:-0.99 [[ 9.83731734e-01 1.78543140e-01 1.98550201e-02 3.46230825e+02] [-1.78513616e-01 9.83932028e-01 -3.26387881e-03 -3.70000397e+01] [-2.01187334e-02 -3.33610287e-04 9.99797542e-01 -9.91488968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92591999999996 meters Centerline goodness [0,1] 0.9982692117495797 Centerline is valid? [True, True] Translation: X:346.26, Y:-37.00, Z:-0.99 [[ 9.84496984e-01 1.74314523e-01 1.94970606e-02 3.46259748e+02] [-1.74285401e-01 9.84689994e-01 -3.19612671e-03 -3.70032635e+01] [-1.97556918e-02 -2.51475928e-04 9.99804806e-01 -9.91393377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95592 meters Centerline goodness [0,1] 0.9986139300034652 Centerline is valid? [True, True] Translation: X:346.29, Y:-37.01, Z:-0.99 [[ 9.85955991e-01 1.65746262e-01 2.04685341e-02 3.46287884e+02] [-1.65712512e-01 9.86168428e-01 -3.34592495e-03 -3.70070429e+01] [-2.07399966e-02 -9.29574547e-05 9.99784899e-01 -9.92580171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98591999999996 meters Centerline goodness [0,1] 0.9988121752041574 Centerline is valid? [True, True] Translation: X:346.32, Y:-37.01, Z:-0.99 [[ 9.86530724e-01 1.62505952e-01 1.86801181e-02 3.46316186e+02] [-1.62477422e-01 9.86707563e-01 -3.04510523e-03 -3.70116297e+01] [-1.89266615e-02 -3.10075596e-05 9.99820874e-01 -9.92044583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01592 meters Centerline goodness [0,1] 0.9989104595879557 Centerline is valid? [True, True] Translation: X:346.34, Y:-37.01, Z:-0.99 [[ 9.87359368e-01 1.57428464e-01 1.83781717e-02 3.46344015e+02] [-1.57400145e-01 9.87530392e-01 -2.98642466e-03 -3.70134136e+01] [-1.86191514e-02 5.59474744e-05 9.99826647e-01 -9.91971417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04591999999997 meters Centerline goodness [0,1] 0.9989066693171653 Centerline is valid? [True, True] Translation: X:346.37, Y:-37.02, Z:-0.99 [[ 9.87823642e-01 1.54486094e-01 1.83983555e-02 3.46371959e+02] [-1.54457380e-01 9.87994958e-01 -2.98019597e-03 -3.70171859e+01] [-1.86378813e-02 1.02146251e-04 9.99826294e-01 -9.91613798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07592 meters Centerline goodness [0,1] 0.9989093793376959 Centerline is valid? [True, True] Translation: X:346.40, Y:-37.02, Z:-0.99 [[ 9.88204473e-01 1.52022500e-01 1.84683388e-02 3.46400317e+02] [-1.51993291e-01 9.88377023e-01 -2.98325567e-03 -3.70220910e+01] [-1.87072037e-02 1.41003001e-04 9.99824995e-01 -9.92276013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10591999999997 meters Centerline goodness [0,1] 0.9984147428911126 Centerline is valid? [True, True] Translation: X:346.43, Y:-37.03, Z:-0.99 [[ 9.88583785e-01 1.49566390e-01 1.82207486e-02 3.46428227e+02] [-1.49537712e-01 9.88751670e-01 -2.93403123e-03 -3.70269140e+01] [-1.84546280e-02 1.75846650e-04 9.99829683e-01 -9.91073044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13592 meters Centerline goodness [0,1] 0.9982667260932007 Centerline is valid? [True, True] Translation: X:346.46, Y:-37.03, Z:-0.99 [[ 9.88706888e-01 1.48479370e-01 2.03117399e-02 3.46456615e+02] [-1.48443690e-01 9.88915483e-01 -3.26164676e-03 -3.70318070e+01] [-2.05708813e-02 2.09662998e-04 9.99788375e-01 -9.92156227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16591999999997 meters Centerline goodness [0,1] 0.9980207817911925 Centerline is valid? [True, True] Translation: X:346.48, Y:-37.04, Z:-0.99 [[ 9.88797171e-01 1.47930877e-01 1.99150937e-02 3.46484402e+02] [-1.47896668e-01 9.88997681e-01 -3.18791866e-03 -3.70369525e+01] [-2.01675731e-02 2.06828951e-04 9.99796592e-01 -9.90934209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19591999999994 meters Centerline goodness [0,1] 0.9984154493686556 Centerline is valid? [True, True] Translation: X:346.51, Y:-37.04, Z:-0.99 [[ 9.88932399e-01 1.47016888e-01 1.99685982e-02 3.46511039e+02] [-1.46982513e-01 9.89133959e-01 -3.18634714e-03 -3.70447254e+01] [-2.02200654e-02 2.16047182e-04 9.99795530e-01 -9.91765226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22592 meters Centerline goodness [0,1] 0.9989112683723462 Centerline is valid? [True, True] Translation: X:346.54, Y:-37.05, Z:-0.99 [[ 9.88966193e-01 1.46547668e-01 2.16714123e-02 3.46539260e+02] [-1.46507280e-01 9.89203582e-01 -3.44835917e-03 -3.70505222e+01] [-2.19427877e-02 2.35290978e-04 9.99759200e-01 -9.92144829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25591999999995 meters Centerline goodness [0,1] 0.9989085677432158 Centerline is valid? [True, True] Translation: X:346.57, Y:-37.06, Z:-0.99 [[ 9.88998431e-01 1.46220152e-01 2.24002381e-02 3.46567108e+02] [-1.46177143e-01 9.89252045e-01 -3.55438530e-03 -3.70553012e+01] [-2.26792041e-02 2.40878676e-04 9.99742765e-01 -9.91940920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28592 meters Centerline goodness [0,1] 0.9988602011992666 Centerline is valid? [True, True] Translation: X:346.59, Y:-37.06, Z:-0.99 [[ 9.89085143e-01 1.45449040e-01 2.35617584e-02 3.46594702e+02] [-1.45401485e-01 9.89365710e-01 -3.72827736e-03 -3.70631342e+01] [-2.38534702e-02 2.61669098e-04 9.99715431e-01 -9.93032154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31591999999995 meters Centerline goodness [0,1] 0.9984138785625775 Centerline is valid? [True, True] Translation: X:346.62, Y:-37.07, Z:-0.99 [[ 9.89200450e-01 1.44849217e-01 2.23869235e-02 3.46622764e+02] [-1.44806356e-01 9.89453708e-01 -3.53254167e-03 -3.70711499e+01] [-2.26625103e-02 2.52623001e-04 9.99743140e-01 -9.92996919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34592 meters Centerline goodness [0,1] 0.9989567290973222 Centerline is valid? [True, True] Translation: X:346.65, Y:-37.08, Z:-0.99 [[ 9.89235903e-01 1.44573045e-01 2.26044933e-02 3.46649390e+02] [-1.44529534e-01 9.89494099e-01 -3.55552751e-03 -3.70788926e+01] [-2.28810461e-02 2.50238580e-04 9.99738163e-01 -9.93273113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37591999999995 meters Centerline goodness [0,1] 0.9989098657152767 Centerline is valid? [True, True] Translation: X:346.68, Y:-37.09, Z:-0.99 [[ 9.88930502e-01 1.46735865e-01 2.20238137e-02 3.46677299e+02] [-1.46695316e-01 9.89175693e-01 -3.45439867e-03 -3.70878660e+01] [-2.22923054e-02 1.85369898e-04 9.99751479e-01 -9.92313189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40592 meters Centerline goodness [0,1] 0.9991061230570591 Centerline is valid? [True, True] Translation: X:346.71, Y:-37.09, Z:-0.99 [[ 9.88849213e-01 1.47035256e-01 2.36192084e-02 3.46705797e+02] [-1.46988957e-01 9.89131235e-01 -3.69402949e-03 -3.70942254e+01] [-2.39056493e-02 1.81075346e-04 9.99714203e-01 -9.92115661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43591999999995 meters Centerline goodness [0,1] 0.9988617805710892 Centerline is valid? [True, True] Translation: X:346.73, Y:-37.10, Z:-0.99 [[ 9.88790484e-01 1.47272293e-01 2.45815182e-02 3.46733629e+02] [-1.47222489e-01 9.89095972e-01 -3.83357885e-03 -3.71003679e+01] [-2.48780605e-02 1.71653994e-04 9.99690478e-01 -9.91845675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46592 meters Centerline goodness [0,1] 0.9990581937146823 Centerline is valid? [True, True] Translation: X:346.76, Y:-37.11, Z:-0.99 [[ 9.88601301e-01 1.48326614e-01 2.58202164e-02 3.46761735e+02] [-1.48272326e-01 9.88938419e-01 -4.01514614e-03 -3.71096243e+01] [-2.61301571e-02 1.40955139e-04 9.99658539e-01 -9.92342232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49591999999996 meters Centerline goodness [0,1] 0.998761947209429 Centerline is valid? [True, True] Translation: X:346.79, Y:-37.12, Z:-0.99 [[ 9.88690456e-01 1.47859657e-01 2.50739769e-02 3.46790021e+02] [-1.47808597e-01 9.89008343e-01 -3.88791787e-03 -3.71165094e+01] [-2.53732386e-02 1.37797941e-04 9.99678038e-01 -9.92715333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.52592 meters Centerline goodness [0,1] 0.99900975392385 Centerline is valid? [True, True] Translation: X:346.82, Y:-37.12, Z:-0.99 [[ 9.88676736e-01 1.48129559e-01 2.39988744e-02 3.46818217e+02] [-1.48083124e-01 9.88967957e-01 -3.71046891e-03 -3.71235172e+01] [-2.42837480e-02 1.14625981e-04 9.99705100e-01 -9.92843640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55591999999996 meters Centerline goodness [0,1] 0.9985625774473358 Centerline is valid? [True, True] Translation: X:346.85, Y:-37.13, Z:-0.99 [[ 9.88903472e-01 1.46964824e-01 2.17086008e-02 3.46846290e+02] [-1.46926762e-01 9.89141712e-01 -3.34669950e-03 -3.71317579e+01] [-2.19647297e-02 1.19988321e-04 9.99758739e-01 -9.92771943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58592 meters Centerline goodness [0,1] 0.9987617019168854 Centerline is valid? [True, True] Translation: X:346.87, Y:-37.14, Z:-0.99 [[ 9.88978841e-01 1.46399942e-01 2.20886548e-02 3.46873938e+02] [-1.46360647e-01 9.89225476e-01 -3.39400791e-03 -3.71381401e+01] [-2.23475426e-02 1.23692209e-04 9.99750255e-01 -9.92108007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61591999999996 meters Centerline goodness [0,1] 0.9983147459727385 Centerline is valid? [True, True] Translation: X:346.90, Y:-37.15, Z:-0.99 [[ 9.89268191e-01 1.44152247e-01 2.38448495e-02 3.46902139e+02] [-1.44106063e-01 9.89555505e-01 -3.65301541e-03 -3.71458392e+01] [-2.41223925e-02 1.77624566e-04 9.99708997e-01 -9.91349922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64592 meters Centerline goodness [0,1] 0.9983147459727385 Centerline is valid? [True, True] Translation: X:346.93, Y:-37.15, Z:-0.99 [[ 9.89331949e-01 1.43713745e-01 2.38464655e-02 3.46930010e+02] [-1.43667688e-01 9.89619284e-01 -3.64245106e-03 -3.71504179e+01] [-2.41223924e-02 1.77626634e-04 9.99708997e-01 -9.91373529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67591999999996 meters Centerline goodness [0,1] 0.9983648795956793 Centerline is valid? [True, True] Translation: X:346.96, Y:-37.16, Z:-0.99 [[ 9.89646460e-01 1.41537303e-01 2.38133555e-02 3.46958117e+02] [-1.41491004e-01 9.89932899e-01 -3.62660498e-03 -3.71561111e+01] [-2.40869239e-02 2.19681208e-04 9.99709844e-01 -9.90671831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70592 meters Centerline goodness [0,1] 0.998562506196094 Centerline is valid? [True, True] Translation: X:346.99, Y:-37.16, Z:-0.99 [[ 9.89830041e-01 1.40182469e-01 2.41943330e-02 3.46986285e+02] [-1.40134540e-01 9.90125656e-01 -3.67367204e-03 -3.71623949e+01] [-2.44704143e-02 2.45849223e-04 9.99700524e-01 -9.92290415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73591999999996 meters Centerline goodness [0,1] 0.9982160555004955 Centerline is valid? [True, True] Translation: X:347.01, Y:-37.17, Z:-0.99 [[ 9.90077545e-01 1.38337390e-01 2.46823998e-02 3.47014999e+02] [-1.38286981e-01 9.90385117e-01 -3.74589002e-03 -3.71722228e+01] [-2.49632780e-02 2.95467040e-04 9.99688325e-01 -9.92345986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76592 meters Centerline goodness [0,1] 0.99836520360646 Centerline is valid? [True, True] Translation: X:347.04, Y:-37.18, Z:-0.99 [[ 9.90134807e-01 1.37836739e-01 2.51813050e-02 3.47044388e+02] [-1.37784130e-01 9.90454913e-01 -3.82077539e-03 -3.71785617e+01] [-2.54675905e-02 3.13498485e-04 9.99675599e-01 -9.92657210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79591999999997 meters Centerline goodness [0,1] 0.9982120685373728 Centerline is valid? [True, True] Translation: X:347.08, Y:-37.18, Z:-0.99 [[ 9.90098533e-01 1.38205532e-01 2.45789618e-02 3.47075163e+02] [-1.38155487e-01 9.90403525e-01 -3.73084909e-03 -3.71849195e+01] [-2.48587144e-02 2.98189761e-04 9.99690930e-01 -9.91396228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82592 meters Centerline goodness [0,1] 0.9980150853513299 Centerline is valid? [True, True] Translation: X:347.10, Y:-37.19, Z:-0.99 [[ 9.89995556e-01 1.38848116e-01 2.50998030e-02 3.47104512e+02] [-1.38796133e-01 9.90313646e-01 -3.80996062e-03 -3.71917622e+01] [-2.53856832e-02 2.88088507e-04 9.99677690e-01 -9.91715865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85591999999997 meters Centerline goodness [0,1] 0.9980193117108195 Centerline is valid? [True, True] Translation: X:347.14, Y:-37.20, Z:-0.99 [[ 9.89927645e-01 1.39378507e-01 2.48372708e-02 3.47135032e+02] [-1.39327735e-01 9.90239141e-01 -3.77162442e-03 -3.72020535e+01] [-2.51205211e-02 2.73114596e-04 9.99684393e-01 -9.91703274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88592 meters Centerline goodness [0,1] 0.9972733131723762 Centerline is valid? [True, True] Translation: X:347.17, Y:-37.21, Z:-0.99 [[ 9.89873261e-01 1.40016172e-01 2.33751844e-02 3.47165568e+02] [-1.39971345e-01 9.90149187e-01 -3.55107146e-03 -3.72091263e+01] [-2.36421272e-02 2.43254679e-04 9.99720456e-01 -9.90909809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91591999999997 meters Centerline goodness [0,1] 0.9976224676804201 Centerline is valid? [True, True] Translation: X:347.20, Y:-37.22, Z:-0.99 [[ 9.89701785e-01 1.41493838e-01 2.16765104e-02 3.47196187e+02] [-1.41455615e-01 9.89939117e-01 -3.29438472e-03 -3.72176085e+01] [-2.19245607e-02 1.94194321e-04 9.99759609e-01 -9.89153522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94591999999994 meters Centerline goodness [0,1] 0.9975220537218753 Centerline is valid? [True, True] Translation: X:347.22, Y:-37.23, Z:-0.99 [[ 9.89573169e-01 1.42343142e-01 2.19857296e-02 3.47224706e+02] [-1.42304059e-01 9.89817356e-01 -3.34008689e-03 -3.72250147e+01] [-2.22372952e-02 1.76601814e-04 9.99752705e-01 -9.89647064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97592 meters Centerline goodness [0,1] 0.9968797979297707 Centerline is valid? [True, True] Translation: X:347.25, Y:-37.23, Z:-0.99 [[ 9.89486597e-01 1.42995215e-01 2.16481613e-02 3.47254486e+02] [-1.42957479e-01 9.89723367e-01 -3.28875171e-03 -3.72331692e+01] [-2.18959668e-02 1.59409164e-04 9.99760242e-01 -9.89703401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00591999999995 meters Centerline goodness [0,1] 0.9974664679582712 Centerline is valid? [True, True] Translation: X:347.28, Y:-37.24, Z:-0.99 [[ 9.89106215e-01 1.45839220e-01 1.99954529e-02 3.47284256e+02] [-1.45807596e-01 9.89308301e-01 -3.03828956e-03 -3.72411463e+01] [-2.02247693e-02 8.97021684e-05 9.99795454e-01 -9.88448244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03592 meters Centerline goodness [0,1] 0.9973219599285856 Centerline is valid? [True, True] Translation: X:347.31, Y:-37.25, Z:-0.99 [[ 9.89034399e-01 1.46339795e-01 1.98902562e-02 3.47313352e+02] [-1.46308629e-01 9.89234380e-01 -3.02108910e-03 -3.72456946e+01] [-2.01182308e-02 7.78449408e-05 9.99797605e-01 -9.88069739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06591999999995 meters Centerline goodness [0,1] 0.9979654624851131 Centerline is valid? [True, True] Translation: X:347.34, Y:-37.26, Z:-0.99 [[ 9.88940778e-01 1.46957952e-01 1.99874566e-02 3.47341397e+02] [-1.46926632e-01 9.89142738e-01 -3.03455722e-03 -3.72561843e+01] [-2.02163999e-02 6.43076964e-05 9.99795626e-01 -9.88084927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09592 meters Centerline goodness [0,1] 0.9979150119142176 Centerline is valid? [True, True] Translation: X:347.37, Y:-37.27, Z:-0.99 [[ 9.89043594e-01 1.46240839e-01 2.01590094e-02 3.47370786e+02] [-1.46208831e-01 9.89249014e-01 -3.06054907e-03 -3.72652504e+01] [-2.03898574e-02 7.95912505e-05 9.99792102e-01 -9.87668008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12591999999995 meters Centerline goodness [0,1] 0.9978188668021613 Centerline is valid? [True, True] Translation: X:347.40, Y:-37.27, Z:-0.99 [[ 9.89176555e-01 1.45537055e-01 1.86737161e-02 3.47400811e+02] [-1.45509465e-01 9.89352798e-01 -2.83505124e-03 -3.72729287e+01] [-1.88874983e-02 8.71637663e-05 9.99821612e-01 -9.87248401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15592 meters Centerline goodness [0,1] 0.9979178027861781 Centerline is valid? [True, True] Translation: X:347.43, Y:-37.28, Z:-0.99 [[ 9.89252734e-01 1.44997302e-01 1.88364233e-02 3.47430266e+02] [-1.44969154e-01 9.89432046e-01 -2.85857914e-03 -3.72791474e+01] [-1.90518471e-02 9.71568819e-05 9.99818492e-01 -9.87002069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18591999999995 meters Centerline goodness [0,1] 0.9978164855342166 Centerline is valid? [True, True] Translation: X:347.46, Y:-37.29, Z:-0.99 [[ 9.89003761e-01 1.46767723e-01 1.81878009e-02 3.47459847e+02] [-1.46741780e-01 9.89170982e-01 -2.76009361e-03 -3.72880782e+01] [-1.83959376e-02 6.08326702e-05 9.99830779e-01 -9.87074155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21592 meters Centerline goodness [0,1] 0.9978119250087025 Centerline is valid? [True, True] Translation: X:347.49, Y:-37.30, Z:-0.99 [[ 9.88783850e-01 1.48335199e-01 1.74116683e-02 3.47489534e+02] [-1.48311667e-01 9.88937140e-01 -2.64231144e-03 -3.72971438e+01] [-1.76109933e-02 3.03213311e-05 9.99844914e-01 -9.86914500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24591999999996 meters Centerline goodness [0,1] 0.9979173897952099 Centerline is valid? [True, True] Translation: X:347.52, Y:-37.31, Z:-0.99 [[ 9.88554273e-01 1.49901680e-01 1.70275061e-02 3.47518877e+02] [-1.49879406e-01 9.88700908e-01 -2.58401282e-03 -3.73060627e+01] [-1.72224586e-02 2.36440722e-06 9.99851682e-01 -9.85982666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.27592 meters Centerline goodness [0,1] 0.9981161072827326 Centerline is valid? [True, True] Translation: X:347.55, Y:-37.32, Z:-0.98 [[ 9.87881285e-01 1.54368932e-01 1.61492858e-02 3.47548100e+02] [-1.54349485e-01 9.88013273e-01 -2.45124364e-03 -3.73158900e+01] [-1.63341046e-02 -7.10962278e-05 9.99866587e-01 -9.84147203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30591999999996 meters Centerline goodness [0,1] 0.9987121699935608 Centerline is valid? [True, True] Translation: X:347.58, Y:-37.32, Z:-0.98 [[ 9.87545131e-01 1.56596571e-01 1.52357166e-02 3.47577449e+02] [-1.56579542e-01 9.87662647e-01 -2.31163801e-03 -3.73222083e+01] [-1.54097427e-02 -1.02754666e-04 9.99881258e-01 -9.83717016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33592 meters Centerline goodness [0,1] 0.9988547527759797 Centerline is valid? [True, True] Translation: X:347.61, Y:-37.33, Z:-0.98 [[ 9.87557114e-01 1.56516248e-01 1.52843211e-02 3.47606769e+02] [-1.56499116e-01 9.87675379e-01 -2.31799726e-03 -3.73283065e+01] [-1.54587518e-02 -1.02828053e-04 9.99880501e-01 -9.83724344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36591999999996 meters Centerline goodness [0,1] 0.9992067426871591 Centerline is valid? [True, True] Translation: X:347.63, Y:-37.34, Z:-0.98 [[ 9.87363507e-01 1.57651557e-01 1.61025286e-02 3.47634925e+02] [-1.57632711e-01 9.87494795e-01 -2.44099994e-03 -3.73383976e+01] [-1.62859906e-02 -1.28130970e-04 9.99867366e-01 -9.83853628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39592 meters Centerline goodness [0,1] 0.9984616148081981 Centerline is valid? [True, True] Translation: X:347.67, Y:-37.34, Z:-0.98 [[ 9.87423955e-01 1.57397922e-01 1.48265909e-02 3.47665195e+02] [-1.57381916e-01 9.87535256e-01 -2.24752812e-03 -3.73445284e+01] [-1.49955375e-02 -1.14174183e-04 9.99887554e-01 -9.82916838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42591999999996 meters Centerline goodness [0,1] 0.9986611791540636 Centerline is valid? [True, True] Translation: X:347.69, Y:-37.35, Z:-0.98 [[ 9.87552888e-01 1.56434783e-01 1.63539585e-02 3.47694781e+02] [-1.56415195e-01 9.87688284e-01 -2.47801266e-03 -3.73500782e+01] [-1.65402606e-02 -1.10839043e-04 9.99863194e-01 -9.83274541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45592 meters Centerline goodness [0,1] 0.9988111160647942 Centerline is valid? [True, True] Translation: X:347.72, Y:-37.36, Z:-0.98 [[ 9.87619985e-01 1.55996866e-01 1.64846343e-02 3.47724908e+02] [-1.55976886e-01 9.87757545e-01 -2.49880398e-03 -3.73587881e+01] [-1.66726275e-02 -1.03353167e-04 9.99860997e-01 -9.83109745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48591999999996 meters Centerline goodness [0,1] 0.9988088147706968 Centerline is valid? [True, True] Translation: X:347.76, Y:-37.37, Z:-0.98 [[ 9.87466966e-01 1.57050047e-01 1.56292719e-02 3.47755923e+02] [-1.57032201e-01 9.87590639e-01 -2.37018479e-03 -3.73661795e+01] [-1.58075602e-02 -1.13819788e-04 9.99875046e-01 -9.82179180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51592 meters Centerline goodness [0,1] 0.9985612938433298 Centerline is valid? [True, True] Translation: X:347.79, Y:-37.37, Z:-0.98 [[ 9.87194966e-01 1.58731491e-01 1.58244714e-02 3.47786933e+02] [-1.58713396e-01 9.87321778e-01 -2.40084750e-03 -3.73722933e+01] [-1.60049353e-02 -1.41451025e-04 9.99871903e-01 -9.81652118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54591999999997 meters Centerline goodness [0,1] 0.9988575402344526 Centerline is valid? [True, True] Translation: X:347.82, Y:-37.38, Z:-0.98 [[ 9.86505977e-01 1.63149088e-01 1.37233920e-02 3.47817434e+02] [-1.63135894e-01 9.86601409e-01 -2.08298866e-03 -3.73779284e+01] [-1.38793556e-02 -1.83897063e-04 9.99903660e-01 -9.80872693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57592 meters Centerline goodness [0,1] 0.9987592436349199 Centerline is valid? [True, True] Translation: X:347.85, Y:-37.38, Z:-0.98 [[ 9.86086264e-01 1.65827201e-01 1.16283611e-02 3.47847313e+02] [-1.65817913e-01 9.86154807e-01 -1.76504363e-03 -3.73848138e+01] [-1.17600564e-02 -1.87705290e-04 9.99930831e-01 -9.80743809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60591999999997 meters Centerline goodness [0,1] 0.9994543380127983 Centerline is valid? [True, True] Translation: X:347.88, Y:-37.39, Z:-0.98 [[ 9.84981539e-01 1.72449276e-01 8.52139886e-03 3.47875796e+02] [-1.72444540e-01 9.85018380e-01 -1.29292983e-03 -3.73932863e+01] [-8.61669931e-03 -1.95956690e-04 9.99962856e-01 -9.79640499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63592 meters Centerline goodness [0,1] 0.9996529327185284 Centerline is valid? [True, True] Translation: X:347.90, Y:-37.40, Z:-0.98 [[ 9.84470141e-01 1.75404480e-01 7.19787707e-03 3.47903965e+02] [-1.75401200e-01 9.84496436e-01 -1.08928081e-03 -3.73971052e+01] [-7.27734906e-03 -1.90151849e-04 9.99973502e-01 -9.78877765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66591999999997 meters Centerline goodness [0,1] 0.9998014691284495 Centerline is valid? [True, True] Translation: X:347.93, Y:-37.40, Z:-0.98 [[ 9.84117034e-01 1.77259386e-01 9.63190627e-03 3.47932805e+02] [-1.77253648e-01 9.84164129e-01 -1.45294170e-03 -3.74004461e+01] [-9.73692420e-03 -2.77425849e-04 9.99952557e-01 -9.78841616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69591999999994 meters Centerline goodness [0,1] 0.999702631709372 Centerline is valid? [True, True] Translation: X:347.96, Y:-37.40, Z:-0.98 [[ 9.83576963e-01 1.80235025e-01 9.57570817e-03 3.47960955e+02] [-1.80229513e-01 9.83623526e-01 -1.44260642e-03 -3.74039500e+01] [-9.67890004e-03 -3.06910781e-04 9.99953111e-01 -9.78259204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72592 meters Centerline goodness [0,1] 0.9997022184723807 Centerline is valid? [True, True] Translation: X:347.99, Y:-37.41, Z:-0.98 [[ 9.83017462e-01 1.83157591e-01 1.14002786e-02 3.47989837e+02] [-1.83150034e-01 9.83083482e-01 -1.71233102e-03 -3.74075154e+01] [-1.15210520e-02 -4.04710116e-04 9.99933549e-01 -9.77259500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75591999999995 meters Centerline goodness [0,1] 0.9995040174585854 Centerline is valid? [True, True] Translation: X:348.02, Y:-37.41, Z:-0.98 [[ 9.82899330e-01 1.83849933e-01 1.03975250e-02 3.48018094e+02] [-1.83843737e-01 9.82954250e-01 -1.55688579e-03 -3.74110886e+01] [-1.05065247e-02 -3.81257851e-04 9.99944732e-01 -9.77180234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78592 meters Centerline goodness [0,1] 0.9996531219028741 Centerline is valid? [True, True] Translation: X:348.05, Y:-37.41, Z:-0.98 [[ 9.82933480e-01 1.83594952e-01 1.16046200e-02 3.48046933e+02] [-1.83587279e-01 9.83001887e-01 -1.73216346e-03 -3.74129376e+01] [-1.17253798e-02 -4.27859159e-04 9.99931164e-01 -9.78114152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81591999999995 meters Centerline goodness [0,1] 0.9996531219028741 Centerline is valid? [True, True] Translation: X:348.08, Y:-37.41, Z:-0.98 [[ 9.83033551e-01 1.83015770e-01 1.22582880e-02 3.48075597e+02] [-1.83007245e-01 9.83109874e-01 -1.82318393e-03 -3.74133851e+01] [-1.23849154e-02 -4.51104541e-04 9.99923202e-01 -9.78123249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84592 meters Centerline goodness [0,1] 0.999603567888999 Centerline is valid? [True, True] Translation: X:348.10, Y:-37.42, Z:-0.98 [[ 9.83251949e-01 1.81828734e-01 1.24062995e-02 3.48104845e+02] [-1.81819975e-01 9.83330113e-01 -1.83977381e-03 -3.74157226e+01] [-1.25340116e-02 -4.46751886e-04 9.99921346e-01 -9.78095447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87591999999995 meters Centerline goodness [0,1] 0.9992059553349876 Centerline is valid? [True, True] Translation: X:348.13, Y:-37.42, Z:-0.98 [[ 9.83684178e-01 1.79470960e-01 1.24744394e-02 3.48133511e+02] [-1.79461989e-01 9.83763180e-01 -1.84406664e-03 -3.74163600e+01] [-1.26028506e-02 -4.24708527e-04 9.99920491e-01 -9.78920391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90592 meters Centerline goodness [0,1] 0.9988070384730092 Centerline is valid? [True, True] Translation: X:348.16, Y:-37.42, Z:-0.98 [[ 9.83951237e-01 1.78127419e-01 1.05159333e-02 3.48161961e+02] [-1.78121018e-01 9.84007369e-01 -1.54966490e-03 -3.74181308e+01] [-1.06237937e-02 -3.48314052e-04 9.99943505e-01 -9.77868189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93591999999995 meters Centerline goodness [0,1] 0.9990578200932262 Centerline is valid? [True, True] Translation: X:348.19, Y:-37.42, Z:-0.98 [[ 9.84238853e-01 1.76373447e-01 1.28952439e-02 3.48189851e+02] [-1.76363763e-01 9.84323239e-01 -1.89328773e-03 -3.74197893e+01] [-1.30270139e-02 -4.10806407e-04 9.99915060e-01 -9.78606317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96592 meters Centerline goodness [0,1] 0.9994037859591594 Centerline is valid? [True, True] Translation: X:348.22, Y:-37.42, Z:-0.98 [[ 9.84341050e-01 1.75909063e-01 1.13445810e-02 3.48217997e+02] [-1.75901607e-01 9.84406354e-01 -1.65957114e-03 -3.74201205e+01] [-1.14596113e-02 -3.61946041e-04 9.99934271e-01 -9.77863719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99591999999996 meters Centerline goodness [0,1] 0.9994047619047619 Centerline is valid? [True, True] Translation: X:348.25, Y:-37.42, Z:-0.98 [[ 9.84531925e-01 1.74723269e-01 1.29872160e-02 3.48246366e+02] [-1.74713487e-01 9.84617497e-01 -1.89277702e-03 -3.74220277e+01] [-1.31181523e-02 -4.05542396e-04 9.99913871e-01 -9.77953669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.02592 meters Centerline goodness [0,1] 0.9991065223865779 Centerline is valid? [True, True] Translation: X:348.28, Y:-37.42, Z:-0.98 [[ 9.84535058e-01 1.74658359e-01 1.36079828e-02 3.48275219e+02] [-1.74647703e-01 9.84629002e-01 -1.97676367e-03 -3.74241597e+01] [-1.37440729e-02 -4.30409809e-04 9.99905453e-01 -9.77916841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05591999999996 meters Centerline goodness [0,1] 0.99945506786882 Centerline is valid? [True, True] Translation: X:348.30, Y:-37.42, Z:-0.98 [[ 9.84594962e-01 1.74218753e-01 1.48521818e-02 3.48304703e+02] [-1.74206114e-01 9.84706863e-01 -2.15049050e-03 -3.74236990e+01] [-1.49997011e-02 -4.69978762e-04 9.99887388e-01 -9.78711829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08592 meters Centerline goodness [0,1] 0.9997026759167492 Centerline is valid? [True, True] Translation: X:348.33, Y:-37.43, Z:-0.98 [[ 9.84852036e-01 1.72877278e-01 1.34132289e-02 3.48333301e+02] [-1.72866930e-01 9.84943286e-01 -1.93587159e-03 -3.74263205e+01] [-1.35459379e-02 -4.12156621e-04 9.99908165e-01 -9.77941826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11591999999996 meters Centerline goodness [0,1] 0.9998513379583747 Centerline is valid? [True, True] Translation: X:348.36, Y:-37.43, Z:-0.98 [[ 9.85080671e-01 1.71614137e-01 1.28319614e-02 3.48361737e+02] [-1.71604637e-01 9.85164170e-01 -1.84599930e-03 -3.74294257e+01] [-1.29583882e-02 -3.83565844e-04 9.99915963e-01 -9.78122889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14592 meters Centerline goodness [0,1] 0.99980176429775 Centerline is valid? [True, True] Translation: X:348.39, Y:-37.43, Z:-0.98 [[ 9.85867514e-01 1.67017563e-01 1.30529244e-02 3.48390990e+02] [-1.67007411e-01 9.85953864e-01 -1.87161553e-03 -3.74303017e+01] [-1.31821739e-02 -3.34770157e-04 9.99913055e-01 -9.77924143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17591999999996 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:348.42, Y:-37.43, Z:-0.98 [[ 9.86375922e-01 1.64035647e-01 1.24437414e-02 3.48419456e+02] [-1.64026257e-01 9.86454370e-01 -1.77846160e-03 -3.74325855e+01] [-1.25669142e-02 -2.86868628e-04 9.99920992e-01 -9.78168144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.45, Y:-37.44, Z:-0.98 [[ 9.86991011e-01 1.60078667e-01 1.49521043e-02 3.48448277e+02] [-1.60064763e-01 9.87104217e-01 -2.12981289e-03 -3.74351195e+01] [-1.51002228e-02 -2.91198853e-04 9.99885943e-01 -9.79686138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23591999999996 meters Centerline goodness [0,1] 0.9997028673302629 Centerline is valid? [True, True] Translation: X:348.48, Y:-37.44, Z:-0.98 [[ 9.87251797e-01 1.58381054e-01 1.57901932e-02 3.48475720e+02] [-1.58365464e-01 9.87378022e-01 -2.24082179e-03 -3.74382300e+01] [-1.59457935e-02 -2.88365942e-04 9.99872816e-01 -9.79651055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26592 meters Centerline goodness [0,1] 0.9997524507376968 Centerline is valid? [True, True] Translation: X:348.50, Y:-37.44, Z:-0.98 [[ 9.87396535e-01 1.57123893e-01 1.89779990e-02 3.48504121e+02] [-1.57101310e-01 9.87578844e-01 -2.68431602e-03 -3.74408886e+01] [-1.91640405e-02 -3.30984161e-04 9.99816298e-01 -9.80774867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29591999999997 meters Centerline goodness [0,1] 0.999801793766414 Centerline is valid? [True, True] Translation: X:348.53, Y:-37.44, Z:-0.98 [[ 9.87628303e-01 1.55612536e-01 1.93668139e-02 3.48532635e+02] [-1.55588904e-01 9.87818120e-01 -2.73033574e-03 -3.74439339e+01] [-1.95557641e-02 -3.16704488e-04 9.99808718e-01 -9.80836348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32592 meters Centerline goodness [0,1] 0.9994548518188126 Centerline is valid? [True, True] Translation: X:348.56, Y:-37.45, Z:-0.98 [[ 9.87624532e-01 1.55697023e-01 1.88737844e-02 3.48562255e+02] [-1.55674624e-01 9.87804809e-01 -2.65927342e-03 -3.74488244e+01] [-1.90576559e-02 -3.11805620e-04 9.99818338e-01 -9.80514794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35591999999997 meters Centerline goodness [0,1] 0.9993547426415843 Centerline is valid? [True, True] Translation: X:348.59, Y:-37.45, Z:-0.98 [[ 9.87755364e-01 1.54861113e-01 1.89044149e-02 3.48590463e+02] [-1.54838649e-01 9.87936204e-01 -2.65516285e-03 -3.74532665e+01] [-1.90875373e-02 -3.04482707e-04 9.99817770e-01 -9.80919196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38592 meters Centerline goodness [0,1] 0.9996534481905045 Centerline is valid? [True, True] Translation: X:348.62, Y:-37.46, Z:-0.98 [[ 9.87719285e-01 1.55072372e-01 1.90571283e-02 3.48619289e+02] [-1.55049753e-01 9.87903061e-01 -2.66775320e-03 -3.74550909e+01] [-1.92402902e-02 -3.19811764e-04 9.99814837e-01 -9.81529529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41591999999997 meters Centerline goodness [0,1] 0.9998511830943996 Centerline is valid? [True, True] Translation: X:348.65, Y:-37.46, Z:-0.98 [[ 9.87884053e-01 1.54114694e-01 1.82690533e-02 3.48647913e+02] [-1.54093900e-01 9.88052920e-01 -2.54893556e-03 -3.74587326e+01] [-1.84436199e-02 -2.97096874e-04 9.99829858e-01 -9.81110486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44591999999994 meters Centerline goodness [0,1] 0.9994051454914985 Centerline is valid? [True, True] Translation: X:348.68, Y:-37.46, Z:-0.98 [[ 9.87773654e-01 1.54434207e-01 2.12904839e-02 3.48676320e+02] [-1.54406255e-01 9.88003008e-01 -2.96049519e-03 -3.74623507e+01] [-2.14922639e-02 -3.63084731e-04 9.99768949e-01 -9.81156225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47592 meters Centerline goodness [0,1] 0.9990578668121188 Centerline is valid? [True, True] Translation: X:348.71, Y:-37.46, Z:-0.98 [[ 9.87858768e-01 1.53820685e-01 2.17773175e-02 3.48705411e+02] [-1.53791330e-01 9.88098714e-01 -3.02641428e-03 -3.74648348e+01] [-2.19836645e-02 -3.59492729e-04 9.99758265e-01 -9.81751992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50591999999995 meters Centerline goodness [0,1] 0.9986603820391963 Centerline is valid? [True, True] Translation: X:348.73, Y:-37.47, Z:-0.98 [[ 9.87862834e-01 1.53556072e-01 2.33998821e-02 3.48734653e+02] [-1.53522142e-01 9.88139862e-01 -3.25036426e-03 -3.74673269e+01] [-2.36214694e-02 -3.81485961e-04 9.99720901e-01 -9.81744612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53592 meters Centerline goodness [0,1] 0.9980177412161158 Centerline is valid? [True, True] Translation: X:348.77, Y:-37.47, Z:-0.98 [[ 9.87880497e-01 1.53364935e-01 2.39023092e-02 3.48765311e+02] [-1.53329477e-01 9.88169544e-01 -3.32009868e-03 -3.74699781e+01] [-2.41287207e-02 -3.85067840e-04 9.99708786e-01 -9.82146724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56591999999995 meters Centerline goodness [0,1] 0.9980177412161158 Centerline is valid? [True, True] Translation: X:348.80, Y:-37.47, Z:-0.98 [[ 9.87870617e-01 1.53428596e-01 2.39021027e-02 3.48795877e+02] [-1.53393121e-01 9.88159662e-01 -3.32158537e-03 -3.74742063e+01] [-2.41287199e-02 -3.85121522e-04 9.99708786e-01 -9.82172440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59592 meters Centerline goodness [0,1] 0.9974247226624405 Centerline is valid? [True, True] Translation: X:348.83, Y:-37.48, Z:-0.98 [[ 9.87848148e-01 1.53306719e-01 2.55555381e-02 3.48827593e+02] [-1.53266081e-01 9.88178569e-01 -3.55304271e-03 -3.74763969e+01] [-2.57981404e-02 -4.06930496e-04 9.99667090e-01 -9.83976122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62591999999995 meters Centerline goodness [0,1] 0.9970227757653948 Centerline is valid? [True, True] Translation: X:348.86, Y:-37.48, Z:-0.98 [[ 9.87762637e-01 1.53819165e-01 2.57805562e-02 3.48858687e+02] [-1.53777939e-01 9.88098925e-01 -3.58602076e-03 -3.74785043e+01] [-2.60253386e-02 -4.22343464e-04 9.99661194e-01 -9.83327862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65592 meters Centerline goodness [0,1] 0.9970217412885932 Centerline is valid? [True, True] Translation: X:348.89, Y:-37.48, Z:-0.98 [[ 9.87469109e-01 1.55597239e-01 2.63487811e-02 3.48889931e+02] [-1.55554784e-01 9.87820464e-01 -3.66595206e-03 -3.74779668e+01] [-2.65982772e-02 -4.78664536e-04 9.99646089e-01 -9.83354487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68591999999995 meters Centerline goodness [0,1] 0.9966792228390167 Centerline is valid? [True, True] Translation: X:348.92, Y:-37.48, Z:-0.98 [[ 9.87308772e-01 1.56446732e-01 2.73094909e-02 3.48921406e+02] [-1.56401400e-01 9.87686262e-01 -3.80136732e-03 -3.74793451e+01] [-2.75679205e-02 -5.18119299e-04 9.99619798e-01 -9.82475715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71592 meters Centerline goodness [0,1] 0.9966328299083932 Centerline is valid? [True, True] Translation: X:348.95, Y:-37.48, Z:-0.98 [[ 9.87048609e-01 1.58020855e-01 2.76487330e-02 3.48953085e+02] [-1.57974957e-01 9.87435612e-01 -3.85040563e-03 -3.74814603e+01] [-2.79097880e-02 -5.67269877e-04 9.99610285e-01 -9.82763196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74591999999996 meters Centerline goodness [0,1] 0.9963827362370546 Centerline is valid? [True, True] Translation: X:348.98, Y:-37.48, Z:-0.98 [[ 9.86872699e-01 1.59261214e-01 2.67981800e-02 3.48984995e+02] [-1.59218505e-01 9.87236308e-01 -3.73370911e-03 -3.74804842e+01] [-2.70507714e-02 -5.82070579e-04 9.99633891e-01 -9.82606023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.77592 meters Centerline goodness [0,1] 0.9962277262123393 Centerline is valid? [True, True] Translation: X:349.01, Y:-37.48, Z:-0.98 [[ 9.86861726e-01 1.59224614e-01 2.74126980e-02 3.49014410e+02] [-1.59179957e-01 9.87242203e-01 -3.81763904e-03 -3.74811215e+01] [-2.76708345e-02 -5.96070239e-04 9.99616911e-01 -9.84419086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80591999999996 meters Centerline goodness [0,1] 0.9962340815618651 Centerline is valid? [True, True] Translation: X:349.04, Y:-37.48, Z:-0.98 [[ 9.86878310e-01 1.59234939e-01 2.67476247e-02 3.49044326e+02] [-1.59192473e-01 9.87240545e-01 -3.72325849e-03 -3.74815155e+01] [-2.69992124e-02 -5.83617484e-04 9.99635284e-01 -9.83951283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83592 meters Centerline goodness [0,1] 0.9963757323006652 Centerline is valid? [True, True] Translation: X:349.07, Y:-37.48, Z:-0.98 [[ 9.86947740e-01 1.58804350e-01 2.67458003e-02 3.49074612e+02] [-1.58761757e-01 9.87309906e-01 -3.72210806e-03 -3.74818138e+01] [-2.69974805e-02 -5.72684106e-04 9.99635338e-01 -9.83361711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86591999999996 meters Centerline goodness [0,1] 0.9960898831914472 Centerline is valid? [True, True] Translation: X:349.10, Y:-37.48, Z:-0.98 [[ 9.86978292e-01 1.58524102e-01 2.72756375e-02 3.49103417e+02] [-1.58480035e-01 9.87354933e-01 -3.78357819e-03 -3.74820298e+01] [-2.75305236e-02 -5.88334458e-04 9.99620790e-01 -9.84558479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89592 meters Centerline goodness [0,1] 0.9963789682539682 Centerline is valid? [True, True] Translation: X:349.13, Y:-37.48, Z:-0.98 [[ 9.87073730e-01 1.58138262e-01 2.60334553e-02 3.49133185e+02] [-1.58098036e-01 9.87416824e-01 -3.60927848e-03 -3.74824549e+01] [-2.62766368e-02 -5.53214189e-04 9.99654557e-01 -9.83474335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92591999999996 meters Centerline goodness [0,1] 0.9960417594379298 Centerline is valid? [True, True] Translation: X:349.16, Y:-37.48, Z:-0.98 [[ 9.87063232e-01 1.58281231e-01 2.55583427e-02 3.49161346e+02] [-1.58242841e-01 9.87393913e-01 -3.53048528e-03 -3.74790890e+01] [-2.57949616e-02 -5.59612564e-04 9.99667098e-01 -9.83492497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95592 meters Centerline goodness [0,1] 0.9961399515019548 Centerline is valid? [True, True] Translation: X:349.19, Y:-37.48, Z:-0.98 [[ 9.87049327e-01 1.58430948e-01 2.51646588e-02 3.49189576e+02] [-1.58394118e-01 9.87369896e-01 -3.46283428e-03 -3.74805271e+01] [-2.53954467e-02 -5.67945694e-04 9.99677322e-01 -9.84290623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98591999999996 meters Centerline goodness [0,1] 0.9961852861035423 Centerline is valid? [True, True] Translation: X:349.22, Y:-37.48, Z:-0.98 [[ 9.87160053e-01 1.57840580e-01 2.45230851e-02 3.49218173e+02] [-1.57805737e-01 9.87464454e-01 -3.36181470e-03 -3.74789958e+01] [-2.47463057e-02 -5.51234355e-04 9.99693611e-01 -9.84209735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01592 meters Centerline goodness [0,1] 0.9958890539871224 Centerline is valid? [True, True] Translation: X:349.25, Y:-37.48, Z:-0.98 [[ 9.87334871e-01 1.56780902e-01 2.42816849e-02 3.49246011e+02] [-1.56746731e-01 9.87633265e-01 -3.31610630e-03 -3.74793824e+01] [-2.45013019e-02 -5.31967355e-04 9.99699657e-01 -9.84492267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04591999999997 meters Centerline goodness [0,1] 0.996240043536338 Centerline is valid? [True, True] Translation: X:349.27, Y:-37.48, Z:-0.98 [[ 9.87691220e-01 1.54575786e-01 2.39244918e-02 3.49274648e+02] [-1.54542229e-01 9.87980817e-01 -3.25645555e-03 -3.74796963e+01] [-2.41403081e-02 -4.80971725e-04 9.99708465e-01 -9.84591982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07592 meters Centerline goodness [0,1] 0.9961824491819534 Centerline is valid? [True, True] Translation: X:349.30, Y:-37.48, Z:-0.99 [[ 9.88150038e-01 1.51844109e-01 2.24247518e-02 3.49303904e+02] [-1.51814153e-01 9.88404375e-01 -3.04219892e-03 -3.74803765e+01] [-2.26266627e-02 -3.98245717e-04 9.99743905e-01 -9.85352863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10591999999997 meters Centerline goodness [0,1] 0.9957883262312952 Centerline is valid? [True, True] Translation: X:349.33, Y:-37.48, Z:-0.99 [[ 9.89341996e-01 1.43957782e-01 2.18762735e-02 3.49332779e+02] [-1.43927565e-01 9.89583805e-01 -2.95779566e-03 -3.74791089e+01] [-2.20742037e-02 -2.22327315e-04 9.99756310e-01 -9.86256972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13592 meters Centerline goodness [0,1] 0.9954003659923834 Centerline is valid? [True, True] Translation: X:349.36, Y:-37.48, Z:-0.99 [[ 9.90010470e-01 1.39075695e-01 2.31780224e-02 3.49360755e+02] [-1.39040718e-01 9.90281745e-01 -3.12174919e-03 -3.74810948e+01] [-2.33869319e-02 -1.32124492e-04 9.99726480e-01 -9.86347539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16591999999997 meters Centerline goodness [0,1] 0.9955394756405809 Centerline is valid? [True, True] Translation: X:349.39, Y:-37.48, Z:-0.99 [[ 9.91190538e-01 1.29992722e-01 2.53615703e-02 3.49390054e+02] [-1.29948162e-01 9.91514945e-01 -3.40430233e-03 -3.74813191e+01] [-2.55889105e-02 7.86228100e-05 9.99672547e-01 -9.86216171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19591999999994 meters Centerline goodness [0,1] 0.9952008707698397 Centerline is valid? [True, True] Translation: X:349.42, Y:-37.48, Z:-0.99 [[ 9.91740240e-01 1.25604875e-01 2.59751956e-02 3.49418821e+02] [-1.25556930e-01 9.92080330e-01 -3.47510623e-03 -3.74842580e+01] [-2.62059709e-02 1.85036881e-04 9.99656547e-01 -9.87076633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22592 meters Centerline goodness [0,1] 0.9945027733755943 Centerline is valid? [True, True] Translation: X:349.45, Y:-37.49, Z:-0.99 [[ 9.92169806e-01 1.21940925e-01 2.70090026e-02 3.49447642e+02] [-1.21888053e-01 9.92537320e-01 -3.60150261e-03 -3.74883639e+01] [-2.72466136e-02 2.81227414e-04 9.99628703e-01 -9.87834976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25591999999995 meters Centerline goodness [0,1] 0.9952354955580922 Centerline is valid? [True, True] Translation: X:349.48, Y:-37.49, Z:-0.99 [[ 9.92546887e-01 1.18739885e-01 2.74137959e-02 3.49476701e+02] [-1.18684251e-01 9.92925325e-01 -3.65344402e-03 -3.74939426e+01] [-2.76536617e-02 3.72628656e-04 9.99617495e-01 -9.88601976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28592 meters Centerline goodness [0,1] 0.9949100612769322 Centerline is valid? [True, True] Translation: X:349.51, Y:-37.50, Z:-0.99 [[ 9.92618710e-01 1.18118584e-01 2.74972292e-02 3.49506528e+02] [-1.18062374e-01 9.92999420e-01 -3.66451129e-03 -3.74991683e+01] [-2.77375795e-02 3.91074306e-04 9.99615163e-01 -9.88300549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31591999999995 meters Centerline goodness [0,1] 0.9950002475124994 Centerline is valid? [True, True] Translation: X:349.54, Y:-37.51, Z:-0.99 [[ 9.92623601e-01 1.18409535e-01 2.60301478e-02 3.49536309e+02] [-1.18359265e-01 9.92964778e-01 -3.46899572e-03 -3.75074029e+01] [-2.62577821e-02 3.62497870e-04 9.99655139e-01 -9.87554842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34592 meters Centerline goodness [0,1] 0.994660338178582 Centerline is valid? [True, True] Translation: X:349.57, Y:-37.51, Z:-0.99 [[ 9.92505051e-01 1.19338447e-01 2.63069976e-02 3.49565802e+02] [-1.19287427e-01 9.92853574e-01 -3.50589104e-03 -3.75141065e+01] [-2.65373841e-02 3.41520522e-04 9.99647763e-01 -9.88263867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37591999999995 meters Centerline goodness [0,1] 0.9946590178527274 Centerline is valid? [True, True] Translation: X:349.60, Y:-37.52, Z:-0.99 [[ 9.92396976e-01 1.20236264e-01 2.62960629e-02 3.49595333e+02] [-1.20185601e-01 9.92745254e-01 -3.50443380e-03 -3.75206276e+01] [-2.65266517e-02 3.17381374e-04 9.99648056e-01 -9.89410308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40592 meters Centerline goodness [0,1] 0.9948545418563229 Centerline is valid? [True, True] Translation: X:349.63, Y:-37.53, Z:-0.99 [[ 9.92362136e-01 1.20983050e-01 2.40934185e-02 3.49625037e+02] [-1.20940741e-01 9.92654536e-01 -3.21089094e-03 -3.75290117e+01] [-2.43049045e-02 2.72490704e-04 9.99704555e-01 -9.89052362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43591999999995 meters Centerline goodness [0,1] 0.9953047002421787 Centerline is valid? [True, True] Translation: X:349.65, Y:-37.54, Z:-0.99 [[ 9.92273996e-01 1.21750552e-01 2.38562470e-02 3.49654313e+02] [-1.21709328e-01 9.92560699e-01 -3.17783897e-03 -3.75355456e+01] [-2.40656769e-02 2.49759173e-04 9.99710348e-01 -9.89169654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46592 meters Centerline goodness [0,1] 0.9957398325655125 Centerline is valid? [True, True] Translation: X:349.68, Y:-37.54, Z:-0.99 [[ 9.92225831e-01 1.21762194e-01 2.57267947e-02 3.49683435e+02] [-1.21714297e-01 9.92559266e-01 -3.42539543e-03 -3.75436120e+01] [-2.59524521e-02 2.67447098e-04 9.99663143e-01 -9.89868103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49591999999996 meters Centerline goodness [0,1] 0.9956418383518225 Centerline is valid? [True, True] Translation: X:349.71, Y:-37.55, Z:-0.99 [[ 9.92241977e-01 1.21572301e-01 2.60006591e-02 3.49713531e+02] [-1.21523315e-01 9.92582541e-01 -3.46180686e-03 -3.75498889e+01] [-2.62286601e-02 2.75263815e-04 9.99655932e-01 -9.89586450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.52592 meters Centerline goodness [0,1] 0.9954444169348848 Centerline is valid? [True, True] Translation: X:349.74, Y:-37.56, Z:-0.99 [[ 9.92288191e-01 1.21511856e-01 2.44747671e-02 3.49743845e+02] [-1.21468433e-01 9.92589946e-01 -3.25864496e-03 -3.75557741e+01] [-2.46893717e-02 2.60603305e-04 9.99695137e-01 -9.89811447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55591999999996 meters Centerline goodness [0,1] 0.9955452160570213 Centerline is valid? [True, True] Translation: X:349.77, Y:-37.56, Z:-0.99 [[ 9.92347368e-01 1.21152834e-01 2.38472722e-02 3.49773978e+02] [-1.21111506e-01 9.92633831e-01 -3.17509838e-03 -3.75621448e+01] [-2.40562813e-02 2.62621463e-04 9.99710571e-01 -9.89921370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58592 meters Centerline goodness [0,1] 0.9956954133887487 Centerline is valid? [True, True] Translation: X:349.80, Y:-37.57, Z:-0.99 [[ 9.92404016e-01 1.20846185e-01 2.30319218e-02 3.49803494e+02] [-1.20807553e-01 9.92671210e-01 -3.06654015e-03 -3.75712630e+01] [-2.32337054e-02 2.60816654e-04 9.99730027e-01 -9.89336383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61591999999996 meters Centerline goodness [0,1] 0.9960912374449558 Centerline is valid? [True, True] Translation: X:349.83, Y:-37.58, Z:-0.99 [[ 9.92419487e-01 1.20689379e-01 2.31869696e-02 3.49833683e+02] [-1.20650182e-01 9.92690285e-01 -3.08718368e-03 -3.75779145e+01] [-2.33900697e-02 2.66269137e-04 9.99726379e-01 -9.89309606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64592 meters Centerline goodness [0,1] 0.9966875957878084 Centerline is valid? [True, True] Translation: X:349.86, Y:-37.59, Z:-0.99 [[ 9.92399812e-01 1.20349674e-01 2.56626110e-02 3.49863168e+02] [-1.20301545e-01 9.92731516e-01 -3.41679811e-03 -3.75866988e+01] [-2.58872932e-02 3.03578047e-04 9.99664822e-01 -9.89798912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67591999999996 meters Centerline goodness [0,1] 0.9972804588607594 Centerline is valid? [True, True] Translation: X:349.89, Y:-37.59, Z:-0.99 [[ 9.92334969e-01 1.20768932e-01 2.61949273e-02 3.49894812e+02] [-1.20718847e-01 9.92680600e-01 -3.49085318e-03 -3.75935421e+01] [-2.64247828e-02 3.01874256e-04 9.99650759e-01 -9.89381839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70592 meters Centerline goodness [0,1] 0.9982610423808814 Centerline is valid? [True, True] Translation: X:349.93, Y:-37.60, Z:-0.99 [[ 9.92223933e-01 1.21158339e-01 2.85013007e-02 3.49926792e+02] [-1.21099100e-01 9.92633142e-01 -3.80181577e-03 -3.75995633e+01] [-2.87519574e-02 3.20770717e-04 9.99586526e-01 -9.89864155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73591999999996 meters Centerline goodness [0,1] 0.9986109044004564 Centerline is valid? [True, True] Translation: X:349.96, Y:-37.61, Z:-0.99 [[ 9.92136449e-01 1.22128337e-01 2.73849746e-02 3.49958937e+02] [-1.22073900e-01 9.92514276e-01 -3.65717463e-03 -3.76060073e+01] [-2.76266229e-02 2.85425593e-04 9.99618271e-01 -9.89521253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76592 meters Centerline goodness [0,1] 0.9992557308722834 Centerline is valid? [True, True] Translation: X:349.99, Y:-37.61, Z:-0.99 [[ 9.91756775e-01 1.24934424e-01 2.84585624e-02 3.49990658e+02] [-1.24876684e-01 9.92164977e-01 -3.80419881e-03 -3.76142697e+01] [-2.87108643e-02 2.19029029e-04 9.99587734e-01 -9.89035999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79591999999997 meters Centerline goodness [0,1] 0.9992058370973346 Centerline is valid? [True, True] Translation: X:350.02, Y:-37.62, Z:-0.99 [[ 9.91517666e-01 1.27075373e-01 2.72867467e-02 3.50022243e+02] [-1.27023006e-01 9.91893052e-01 -3.65105023e-03 -3.76196305e+01] [-2.75294930e-02 1.54036213e-04 9.99620980e-01 -9.88258544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82592 meters Centerline goodness [0,1] 0.9998017839444995 Centerline is valid? [True, True] Translation: X:350.05, Y:-37.63, Z:-0.99 [[ 9.90700935e-01 1.33237386e-01 2.75582440e-02 3.50054244e+02] [-1.33186253e-01 9.91084153e-01 -3.69096268e-03 -3.76263007e+01] [-2.78043131e-02 -1.37390870e-05 9.99613385e-01 -9.87642287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85591999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.09, Y:-37.63, Z:-0.99 [[ 9.90252862e-01 1.36488023e-01 2.77540662e-02 3.50086095e+02] [-1.36437336e-01 9.90641716e-01 -3.72078817e-03 -3.76316741e+01] [-2.80021787e-02 -1.02169726e-04 9.99607857e-01 -9.88829655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88592 meters Centerline goodness [0,1] 0.9999504803406952 Centerline is valid? [True, True] Translation: X:350.12, Y:-37.64, Z:-0.99 [[ 9.89614061e-01 1.40858807e-01 2.86846276e-02 3.50117874e+02] [-1.40806390e-01 9.90029668e-01 -3.84923990e-03 -3.76361836e+01] [-2.89408317e-02 -2.29716939e-04 9.99581100e-01 -9.88438159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91591999999997 meters Centerline goodness [0,1] 0.9999504631693664 Centerline is valid? [True, True] Translation: X:350.15, Y:-37.64, Z:-0.99 [[ 9.88636496e-01 1.48104989e-01 2.57447209e-02 3.50149650e+02] [-1.48065136e-01 9.88971566e-01 -3.45804024e-03 -3.76379835e+01] [-2.59729500e-02 -3.93150812e-04 9.99662569e-01 -9.87400842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94591999999994 meters Centerline goodness [0,1] 0.9999008182494421 Centerline is valid? [True, True] Translation: X:350.18, Y:-37.64, Z:-0.99 [[ 9.88162425e-01 1.50912573e-01 2.75756549e-02 3.50180240e+02] [-1.50867938e-01 9.88546987e-01 -3.70408609e-03 -3.76404247e+01] [-2.78188237e-02 -5.00043478e-04 9.99612857e-01 -9.86992851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.21, Y:-37.64, Z:-0.99 [[ 9.87700880e-01 1.53470317e-01 2.98970485e-02 3.50211315e+02] [-1.53419019e-01 9.88153064e-01 -4.01590614e-03 -3.76382515e+01] [-3.01591825e-02 -6.20261839e-04 9.99544916e-01 -9.86617571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00591999999995 meters Centerline goodness [0,1] 0.9999505244409261 Centerline is valid? [True, True] Translation: X:350.24, Y:-37.64, Z:-0.99 [[ 9.87551199e-01 1.54554149e-01 2.92514043e-02 3.50243360e+02] [-1.54505465e-01 9.87984114e-01 -3.93100863e-03 -3.76386786e+01] [-2.95074764e-02 -6.37429517e-04 9.99564356e-01 -9.86152378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03592 meters Centerline goodness [0,1] 0.9999011173736775 Centerline is valid? [True, True] Translation: X:350.27, Y:-37.64, Z:-0.99 [[ 9.87617244e-01 1.54194963e-01 2.89152582e-02 3.50274208e+02] [-1.54147235e-01 9.88040247e-01 -3.88588747e-03 -3.76384652e+01] [-2.91686232e-02 -6.19437643e-04 9.99574313e-01 -9.87141992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06591999999995 meters Centerline goodness [0,1] 0.999950544015826 Centerline is valid? [True, True] Translation: X:350.30, Y:-37.64, Z:-0.99 [[ 9.87661058e-01 1.53777687e-01 2.96320504e-02 3.50303760e+02] [-1.53727431e-01 9.88105275e-01 -3.98035367e-03 -3.76375752e+01] [-2.98916749e-02 -6.24018676e-04 9.99552949e-01 -9.89018746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09592 meters Centerline goodness [0,1] 0.9999504189597898 Centerline is valid? [True, True] Translation: X:350.33, Y:-37.63, Z:-0.99 [[ 9.87735878e-01 1.53354925e-01 2.93274876e-02 3.50334694e+02] [-1.53305567e-01 9.88170987e-01 -3.93756898e-03 -3.76317105e+01] [-2.95844179e-02 -6.06788957e-04 9.99562101e-01 -9.88660601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12591999999995 meters Centerline goodness [0,1] 0.9998517566833028 Centerline is valid? [True, True] Translation: X:350.36, Y:-37.63, Z:-0.99 [[ 9.87874944e-01 1.52167135e-01 3.07938047e-02 3.50363696e+02] [-1.52112560e-01 9.88354586e-01 -4.12092609e-03 -3.76309158e+01] [-3.10622676e-02 -6.13164826e-04 9.99517263e-01 -9.89892418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.39, Y:-37.63, Z:-0.99 [[ 9.88109215e-01 1.50755627e-01 3.02145695e-02 3.50394163e+02] [-1.50702495e-01 9.88570901e-01 -4.04117409e-03 -3.76266601e+01] [-3.04784739e-02 -5.60289634e-04 9.99535266e-01 -9.89937589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18591999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.42, Y:-37.63, Z:-0.99 [[ 9.88559682e-01 1.47808640e-01 3.00393158e-02 3.50423335e+02] [-1.47755163e-01 9.89015862e-01 -4.00450592e-03 -3.76270684e+01] [-3.03012604e-02 -4.79770904e-04 9.99540696e-01 -9.90688547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21592 meters Centerline goodness [0,1] 0.9999505219929741 Centerline is valid? [True, True] Translation: X:350.45, Y:-37.63, Z:-0.99 [[ 9.88931416e-01 1.45019450e-01 3.13689804e-02 3.50451396e+02] [-1.44960241e-01 9.89428712e-01 -4.16560191e-03 -3.76274571e+01] [-3.16414631e-02 -4.27760363e-04 9.99499192e-01 -9.92044215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.48, Y:-37.62, Z:-0.99 [[ 9.89670177e-01 1.39862024e-01 3.14889778e-02 3.50480659e+02] [-1.39800199e-01 9.90170964e-01 -4.16741517e-03 -3.76241764e+01] [-3.17623346e-02 -2.77798863e-04 9.99495411e-01 -9.93011172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.27592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.51, Y:-37.62, Z:-0.99 [[ 9.89930414e-01 1.37961630e-01 3.16917118e-02 3.50510169e+02] [-1.37898106e-01 9.90437550e-01 -4.19193485e-03 -3.76245871e+01] [-3.19669876e-02 -2.20503247e-04 9.99488901e-01 -9.94150588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30591999999996 meters Centerline goodness [0,1] 0.9999505953263179 Centerline is valid? [True, True] Translation: X:350.54, Y:-37.62, Z:-0.99 [[ 9.90288391e-01 1.35391934e-01 3.15899847e-02 3.50539939e+02] [-1.35327573e-01 9.90792110e-01 -4.17648321e-03 -3.76249427e+01] [-3.18645698e-02 -1.39073142e-04 9.99492186e-01 -9.94706397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33592 meters Centerline goodness [0,1] 0.9999505806770447 Centerline is valid? [True, True] Translation: X:350.57, Y:-37.62, Z:-1.00 [[ 9.90822579e-01 1.31354234e-01 3.18854519e-02 3.50570055e+02] [-1.31286637e-01 9.91335496e-01 -4.21352465e-03 -3.76227271e+01] [-3.21626446e-02 -1.12784054e-05 9.99482648e-01 -9.96017386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36591999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.60, Y:-37.62, Z:-1.00 [[ 9.91008573e-01 1.29851036e-01 3.22601524e-02 3.50599240e+02] [-1.29781143e-01 9.91533513e-01 -4.26001574e-03 -3.76243815e+01] [-3.25401897e-02 3.49526645e-05 9.99470427e-01 -9.96410591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39592 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.63, Y:-37.63, Z:-1.00 [[ 9.91734407e-01 1.24077070e-01 3.26763892e-02 3.50629155e+02] [-1.24002261e-01 9.92272558e-01 -4.31390022e-03 -3.76253443e+01] [-3.29591404e-02 2.26297119e-04 9.99456674e-01 -9.95444173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42591999999996 meters Centerline goodness [0,1] 0.9999011564693091 Centerline is valid? [True, True] Translation: X:350.66, Y:-37.63, Z:-1.00 [[ 9.92067402e-01 1.21153656e-01 3.35270380e-02 3.50658994e+02] [-1.21073267e-01 9.92633710e-01 -4.42513272e-03 -3.76286084e+01] [-3.38161891e-02 3.30801878e-04 9.99428014e-01 -9.98279111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45592 meters Centerline goodness [0,1] 0.9999011564693091 Centerline is valid? [True, True] Translation: X:350.69, Y:-37.63, Z:-1.00 [[ 9.92060224e-01 1.21212482e-01 3.35267856e-02 3.50689600e+02] [-1.21132062e-01 9.92626528e-01 -4.42704480e-03 -3.76326262e+01] [-3.38161898e-02 3.30726379e-04 9.99428014e-01 -9.98304843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48591999999996 meters Centerline goodness [0,1] 0.9997525487478967 Centerline is valid? [True, True] Translation: X:350.72, Y:-37.64, Z:-1.00 [[ 9.92324989e-01 1.18675553e-01 3.47452144e-02 3.50721022e+02] [-1.18587551e-01 9.92932991e-01 -4.59002481e-03 -3.76361313e+01] [-3.50443934e-02 4.34446424e-04 9.99385662e-01 -9.99954965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51592 meters Centerline goodness [0,1] 0.9998011236513697 Centerline is valid? [True, True] Translation: X:350.75, Y:-37.64, Z:-1.00 [[ 9.92704746e-01 1.15157094e-01 3.57229820e-02 3.50753080e+02] [-1.15061638e-01 9.93347124e-01 -4.72340392e-03 -3.76393128e+01] [-3.60292549e-02 5.78600665e-04 9.99350568e-01 -1.00071455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54591999999997 meters Centerline goodness [0,1] 0.9991574147501983 Centerline is valid? [True, True] Translation: X:350.78, Y:-37.64, Z:-1.00 [[ 9.93220133e-01 1.09507414e-01 3.90114660e-02 3.50783888e+02] [-1.09389160e-01 9.93985609e-01 -5.15944480e-03 -3.76424496e+01] [-3.93418333e-02 8.57032942e-04 9.99225443e-01 -1.00308063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57592 meters Centerline goodness [0,1] 0.9986150954594916 Centerline is valid? [True, True] Translation: X:350.81, Y:-37.65, Z:-1.00 [[ 9.93442357e-01 1.06006417e-01 4.28359904e-02 3.50814409e+02] [-1.05860521e-01 9.94364843e-01 -5.66648665e-03 -3.76467425e+01] [-4.31952868e-02 1.09468762e-03 9.99066048e-01 -1.00461286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60591999999997 meters Centerline goodness [0,1] 0.9980193117108195 Centerline is valid? [True, True] Translation: X:350.84, Y:-37.65, Z:-1.01 [[ 9.93714585e-01 1.01232824e-01 4.77832511e-02 3.50844202e+02] [-1.01045676e-01 9.94861699e-01 -6.32223385e-03 -3.76540602e+01] [-4.81777440e-02 1.45420506e-03 9.98837720e-01 -1.00686484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63592 meters Centerline goodness [0,1] 0.9976228209191759 Centerline is valid? [True, True] Translation: X:350.88, Y:-37.66, Z:-1.01 [[ 9.93661026e-01 1.00550395e-01 5.02730928e-02 3.50876016e+02] [-1.00342063e-01 9.94930727e-01 -6.65723267e-03 -3.76606909e+01] [-5.06876321e-02 1.57052679e-03 9.98713321e-01 -1.00709969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66591999999997 meters Centerline goodness [0,1] 0.9971198728771477 Centerline is valid? [True, True] Translation: X:350.91, Y:-37.67, Z:-1.01 [[ 9.93296671e-01 1.02440747e-01 5.35501413e-02 3.50906874e+02] [-1.02206044e-01 9.94737838e-01 -7.11041191e-03 -3.76699461e+01] [-5.39967477e-02 1.58960037e-03 9.98539846e-01 -1.00879723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69591999999994 meters Centerline goodness [0,1] 0.9968777876895629 Centerline is valid? [True, True] Translation: X:350.94, Y:-37.68, Z:-1.01 [[ 9.92979642e-01 1.05048863e-01 5.43706492e-02 3.50938728e+02] [-1.04809638e-01 9.94465943e-01 -7.24068089e-03 -3.76763497e+01] [-5.48303843e-02 1.49128067e-03 9.98494569e-01 -1.00847922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72592 meters Centerline goodness [0,1] 0.99677755193099 Centerline is valid? [True, True] Translation: X:350.97, Y:-37.68, Z:-1.01 [[ 9.92629903e-01 1.07716389e-01 5.55252663e-02 3.50971430e+02] [-1.07469637e-01 9.94180681e-01 -7.41963515e-03 -3.76818931e+01] [-5.60013634e-02 1.39767150e-03 9.98429714e-01 -1.00944545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75591999999995 meters Centerline goodness [0,1] 0.9963755523558909 Centerline is valid? [True, True] Translation: X:351.00, Y:-37.69, Z:-1.01 [[ 9.92110454e-01 1.10831318e-01 5.85940840e-02 3.51003198e+02] [-1.10560548e-01 9.93838365e-01 -7.85302726e-03 -3.76865931e+01] [-5.91034100e-02 1.31287642e-03 9.98251002e-01 -1.01048133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78592 meters Centerline goodness [0,1] 0.9957740877001093 Centerline is valid? [True, True] Translation: X:351.03, Y:-37.69, Z:-1.01 [[ 9.91315401e-01 1.15484086e-01 6.29062956e-02 3.51034711e+02] [-1.15180818e-01 9.93308700e-01 -8.43839110e-03 -3.76931009e+01] [-6.34598706e-02 1.11950847e-03 9.97983763e-01 -1.01122442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81591999999995 meters Centerline goodness [0,1] 0.9947011340563562 Centerline is valid? [True, True] Translation: X:351.07, Y:-37.70, Z:-1.01 [[ 9.91037011e-01 1.16335219e-01 6.56639917e-02 3.51066272e+02] [-1.16004993e-01 9.93209357e-01 -8.83264316e-03 -3.76977077e+01] [-6.62456384e-02 1.13612539e-03 9.97802698e-01 -1.01227364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84592 meters Centerline goodness [0,1] 0.9919762258543834 Centerline is valid? [True, True] Translation: X:351.10, Y:-37.70, Z:-1.01 [[ 9.90212475e-01 1.19741122e-01 7.17029868e-02 3.51096683e+02] [-1.19355946e-01 9.92804650e-01 -9.64807824e-03 -3.77031584e+01] [-7.23423304e-02 9.95469579e-04 9.97379364e-01 -1.01350285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87591999999995 meters Centerline goodness [0,1] 0.9907843234405193 Centerline is valid? [True, True] Translation: X:351.13, Y:-37.71, Z:-1.01 [[ 9.89691208e-01 1.21563915e-01 7.57200525e-02 3.51127374e+02] [-1.21139208e-01 9.92583183e-01 -1.01939782e-02 -3.77065804e+01] [-7.63976706e-02 9.16223414e-04 9.97077006e-01 -1.01450189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90592 meters Centerline goodness [0,1] 0.989202040715241 Centerline is valid? [True, True] Translation: X:351.16, Y:-37.71, Z:-1.02 [[ 9.89148716e-01 1.23350991e-01 7.98082163e-02 3.51157801e+02] [-1.22884493e-01 9.92362762e-01 -1.07494135e-02 -3.77097622e+01] [-8.05246527e-02 8.25576305e-04 9.96752276e-01 -1.01599562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93591999999995 meters Centerline goodness [0,1] 0.9875875080681198 Centerline is valid? [True, True] Translation: X:351.19, Y:-37.71, Z:-1.02 [[ 9.88127592e-01 1.29301177e-01 8.29763048e-02 3.51189134e+02] [-1.28817354e-01 9.91605303e-01 -1.11809120e-02 -3.77141543e+01] [-8.37254489e-02 3.59379642e-04 9.96488796e-01 -1.01807696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96592 meters Centerline goodness [0,1] 0.9854311199207135 Centerline is valid? [True, True] Translation: X:351.22, Y:-37.72, Z:-1.02 [[ 9.87510660e-01 1.31719625e-01 8.64444107e-02 3.51219761e+02] [-1.31203453e-01 9.91286999e-01 -1.16507603e-02 -3.77175277e+01] [-8.72258542e-02 1.63444801e-04 9.96188548e-01 -1.01916978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99591999999996 meters Centerline goodness [0,1] 0.9833763398173878 Centerline is valid? [True, True] Translation: X:351.25, Y:-37.72, Z:-1.02 [[ 9.86606709e-01 1.35919000e-01 9.01844070e-02 3.51251371e+02] [-1.35374120e-01 9.90719931e-01 -1.21600482e-02 -3.77186775e+01] [-9.10002711e-02 -2.11449644e-04 9.95850845e-01 -1.02010576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.02592 meters Centerline goodness [0,1] 0.980978799286705 Centerline is valid? [True, True] Translation: X:351.28, Y:-37.72, Z:-1.02 [[ 9.86107040e-01 1.36336350e-01 9.48962877e-02 3.51281996e+02] [-1.35734642e-01 9.90662572e-01 -1.27974866e-02 -3.77209911e+01] [-9.57549631e-02 -2.61021980e-04 9.95404902e-01 -1.02052328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05591999999996 meters Centerline goodness [0,1] 0.9787044374009509 Centerline is valid? [True, True] Translation: X:351.31, Y:-37.72, Z:-1.02 [[ 9.85906879e-01 1.35989806e-01 9.74392055e-02 3.51312513e+02] [-1.35353372e-01 9.90710210e-01 -1.31432535e-02 -3.77238024e+01] [-9.83213642e-02 -2.30700994e-04 9.95154690e-01 -1.02146237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08592 meters Centerline goodness [0,1] 0.9788890552477916 Centerline is valid? [True, True] Translation: X:351.34, Y:-37.72, Z:-1.02 [[ 9.85433788e-01 1.37053557e-01 1.00680545e-01 3.51344016e+02] [-1.36378916e-01 9.90563580e-01 -1.35862402e-02 -3.77246598e+01] [-1.01592524e-01 -3.42363395e-04 9.94826036e-01 -1.02094758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11591999999996 meters Centerline goodness [0,1] 0.965322220568537 Centerline is valid? [True, True] Translation: X:351.38, Y:-37.72, Z:-1.03 [[ 9.84937280e-01 1.32598657e-01 1.10978158e-01 3.51375904e+02] [-1.31749743e-01 9.91169803e-01 -1.49808871e-02 -3.77234239e+01] [-1.11984644e-01 1.33890482e-04 9.93709928e-01 -1.02575524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14592 meters Centerline goodness [0,1] 0.9510767093380966 Centerline is valid? [True, True] Translation: X:351.41, Y:-37.72, Z:-1.03 [[ 9.83961099e-01 1.30483535e-01 1.21633065e-01 3.51406842e+02] [-1.29446301e-01 9.91450389e-01 -1.64250381e-02 -3.77219773e+01] [-1.22736346e-01 4.16648313e-04 9.92439225e-01 -1.03031304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17591999999996 meters Centerline goodness [0,1] 0.9454192971118954 Centerline is valid? [True, False] Translation: X:351.48, Y:-37.73, Z:-1.04 [[ 9.87762239e-01 1.21407440e-01 9.79080859e-02 3.51479539e+02] [-1.20752021e-01 9.92602553e-01 -1.26143615e-02 -3.77321323e+01] [-9.87152933e-02 6.37390720e-04 9.95115513e-01 -1.03786653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20592 meters Centerline goodness [0,1] 0.9380157073267721 Centerline is valid? [False, False] Translation: X:351.53, Y:-37.74, Z:-1.04 [[ 9.90601712e-01 1.09971048e-01 8.13302973e-02 3.51534372e+02] [-1.09563187e-01 9.93934678e-01 -9.47442286e-03 -3.77404276e+01] [-8.18789150e-02 4.74572958e-04 9.96642172e-01 -1.04433564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23591999999996 meters Centerline goodness [0,1] 0.928974013666517 Centerline is valid? [False, False] Translation: X:351.59, Y:-37.75, Z:-1.05 [[ 9.92898137e-01 9.88288903e-02 6.62279358e-02 3.51585116e+02] [-9.85958125e-02 9.95104420e-01 -6.78666809e-03 -3.77473942e+01] [-6.65744306e-02 2.08672966e-04 9.97781440e-01 -1.04943750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26592 meters Centerline goodness [0,1] 0.9141899329530672 Centerline is valid? [False, False] Translation: X:351.64, Y:-37.75, Z:-1.05 [[ 9.94824518e-01 8.80889727e-02 5.06410023e-02 3.51637583e+02] [-8.79411459e-02 9.96112389e-01 -5.14423160e-03 -3.77516841e+01] [-5.08972799e-02 6.64179949e-04 9.98703673e-01 -1.05393545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29591999999997 meters Centerline goodness [0,1] 0.8983925083880014 Centerline is valid? [False, False] Translation: X:351.66, Y:-37.76, Z:-1.06 [[ 9.95926510e-01 7.68667107e-02 4.71369771e-02 3.51664146e+02] [-7.67466167e-02 9.97041118e-01 -4.35498925e-03 -3.77558460e+01] [-4.73322580e-02 7.19645737e-04 9.98878941e-01 -1.05568574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32592 meters Centerline goodness [0,1] 0.8168052256532067 Centerline is valid? [False, False] Translation: X:351.69, Y:-37.76, Z:-1.06 [[ 9.96804822e-01 6.52223936e-02 4.61105897e-02 3.51688604e+02] [-6.50764930e-02 9.97869398e-01 -4.65985431e-03 -3.77582655e+01] [-4.63162733e-02 1.64424977e-03 9.98925472e-01 -1.05873588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35591999999997 meters Centerline goodness [0,1] 0.818159141930656 Centerline is valid? [False, False] Translation: X:351.71, Y:-37.76, Z:-1.06 [[ 9.97516618e-01 5.49164431e-02 4.40996647e-02 3.51711499e+02] [-5.48091108e-02 9.98490215e-01 -3.64021448e-03 -3.77609379e+01] [-4.42329913e-02 1.21411103e-03 9.99020505e-01 -1.05878348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38592 meters Centerline goodness [0,1] 0.8169445560466051 Centerline is valid? [False, False] Translation: X:351.74, Y:-37.76, Z:-1.06 [[ 9.98168026e-01 4.55852263e-02 3.97816388e-02 3.51735556e+02] [-4.55496875e-02 9.98960453e-01 -1.79974188e-03 -3.77644377e+01] [-3.98223256e-02 -1.55964119e-05 9.99206776e-01 -1.05802711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41591999999997 meters Centerline goodness [0,1] 0.793089594214544 Centerline is valid? [False, False] Translation: X:351.76, Y:-37.77, Z:-1.06 [[ 9.98733684e-01 3.66249086e-02 3.44912246e-02 3.51760293e+02] [-3.66562031e-02 9.99327898e-01 2.75197938e-04 -3.77685202e+01] [-3.44579638e-02 -1.53916678e-03 9.99404963e-01 -1.05713955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44591999999994 meters Centerline goodness [0,1] 0.7766113158027558 Centerline is valid? [False, False] Translation: X:351.79, Y:-37.77, Z:-1.06 [[ 9.99305178e-01 2.58937429e-02 2.68081283e-02 3.51786290e+02] [-2.58714997e-02 9.99664585e-01 -1.17629232e-03 -3.77711244e+01] [-2.68295950e-02 4.81908526e-04 9.99639905e-01 -1.05589021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47592 meters Centerline goodness [0,1] 0.7496357333065367 Centerline is valid? [False, False] Translation: X:351.79, Y:-37.77, Z:-1.06 [[ 9.99384062e-01 2.36885583e-02 2.58911144e-02 3.51791506e+02] [-2.36058759e-02 9.99715235e-01 -3.49449983e-03 -3.77699761e+01] [-2.59665212e-02 2.88116500e-03 9.99658661e-01 -1.06077350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50591999999995 meters Centerline goodness [0,1] 0.7200363196125907 Centerline is valid? [False, False] Translation: X:351.82, Y:-37.78, Z:-1.06 [[ 9.99701820e-01 1.73448400e-02 1.71880361e-02 3.51817842e+02] [-1.73272201e-02 9.99849184e-01 -1.17352828e-03 -3.77767964e+01] [-1.72057985e-02 8.75357471e-04 9.99851586e-01 -1.06178050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53592 meters Centerline goodness [0,1] 0.7416717760065399 Centerline is valid? [False, False] Translation: X:351.84, Y:-37.78, Z:-1.06 [[ 9.99887809e-01 7.90948682e-03 1.27203970e-02 3.51842325e+02] [-7.91918462e-03 9.99968389e-01 7.12192286e-04 -3.77811803e+01] [-1.27143618e-02 -8.12847557e-04 9.99918839e-01 -1.06061851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56591999999995 meters Centerline goodness [0,1] 0.7004048582995952 Centerline is valid? [False, False] Translation: X:351.84, Y:-37.78, Z:-1.06 [[ 9.99889002e-01 7.89720637e-03 1.26339582e-02 3.51842936e+02] [-7.90813396e-03 9.99968398e-01 8.15214068e-04 -3.77816166e+01] [-1.26271210e-02 -9.15034615e-04 9.99919856e-01 -1.06140828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59592 meters Centerline goodness [0,1] 0.6646397081179689 Centerline is valid? [False, False] Translation: X:351.85, Y:-37.78, Z:-1.07 [[ 9.99915371e-01 5.64823736e-03 1.17196044e-02 3.51848630e+02] [-5.63570001e-03 9.99983512e-01 -1.10252575e-03 -3.77836927e+01] [-1.17256385e-02 1.03638427e-03 9.99930715e-01 -1.06675880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62591999999995 meters Centerline goodness [0,1] 0.641591576389592 Centerline is valid? [False, False] Translation: X:351.85, Y:-37.79, Z:-1.07 [[ 9.99916268e-01 5.61383184e-03 1.16594120e-02 3.51849287e+02] [-5.60951781e-03 9.99984185e-01 -4.02674604e-04 -3.77869108e+01] [-1.16614882e-02 3.37237208e-04 9.99931946e-01 -1.06779174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65592 meters Centerline goodness [0,1] 0.6106288482890885 Centerline is valid? [False, False] Translation: X:351.85, Y:-37.79, Z:-1.07 [[ 9.99917230e-01 5.65049106e-03 1.15587996e-02 3.51850582e+02] [-5.65653036e-03 9.99983882e-01 4.89859114e-04 -3.77913219e+01] [-1.15558454e-02 -5.55201269e-04 9.99933075e-01 -1.06950572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68591999999995 meters Centerline goodness [0,1] 0.6261970960766141 Centerline is valid? [False, False] Translation: X:351.85, Y:-37.79, Z:-1.07 [[ 9.99917939e-01 5.68005763e-03 1.14826881e-02 3.51851081e+02] [-5.68865977e-03 9.99983563e-01 7.16616661e-04 -3.77921519e+01] [-1.14784289e-02 -7.81878960e-04 9.99933815e-01 -1.07047533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71592 meters Centerline goodness [0,1] 0.615254324282708 Centerline is valid? [False, False] Translation: X:351.85, Y:-37.79, Z:-1.07 [[ 9.99920319e-01 5.67348355e-03 1.12768267e-02 3.51852016e+02] [-5.68373044e-03 9.99983463e-01 8.76827808e-04 -3.77929096e+01] [-1.12716656e-02 -9.40852385e-04 9.99936030e-01 -1.07160866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74591999999996 meters Centerline goodness [0,1] 0.5991086697414105 Centerline is valid? [False, False] Translation: X:351.86, Y:-37.80, Z:-1.08 [[ 9.99925836e-01 6.55359170e-03 1.02651293e-02 3.51856514e+02] [-6.57621590e-03 9.99976018e-01 2.17178526e-03 -3.77963338e+01] [-1.02506502e-02 -2.23912990e-03 9.99944954e-01 -1.07527752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.77592 meters Centerline goodness [0,1] 0.5848149679553443 Centerline is valid? [False, False] Translation: X:351.86, Y:-37.80, Z:-1.08 [[ 9.99946974e-01 4.44382336e-03 9.28985170e-03 3.51862222e+02] [-4.44371925e-03 9.99990126e-01 -3.18474606e-05 -3.77957720e+01] [-9.28990149e-03 -9.43572095e-06 9.99956848e-01 -1.08061977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80591999999996 meters Centerline goodness [0,1] 0.5849620120513492 Centerline is valid? [False, False] Translation: X:351.89, Y:-37.81, Z:-1.08 [[ 9.99999674e-01 -2.26592121e-04 7.75570822e-04 3.51888095e+02] [ 2.23753354e-04 9.99993283e-01 3.65836126e-03 -3.78051581e+01] [-7.76394568e-04 -3.65818653e-03 9.99993007e-01 -1.08062780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83592 meters Centerline goodness [0,1] 0.5167379288768381 Centerline is valid? [False, False] Translation: X:351.89, Y:-37.81, Z:-1.09 [[ 9.99997463e-01 -2.23326123e-03 2.93847574e-04 3.51893632e+02] [ 2.23280810e-03 9.99996332e-01 1.53346194e-03 -3.78051273e+01] [-2.97271117e-04 -1.53280194e-03 9.99998781e-01 -1.08632894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86591999999996 meters Centerline goodness [0,1] 0.5783752253685439 Centerline is valid? [False, False] Translation: X:351.91, Y:-37.80, Z:-1.08 [[ 9.99987772e-01 3.42344788e-03 -3.56869526e-03 3.51913826e+02] [-3.42492442e-03 9.99994052e-01 -4.07719795e-04 -3.78037180e+01] [ 3.56727823e-03 4.19937321e-04 9.99993549e-01 -1.08232989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89592 meters Centerline goodness [0,1] 0.5170172286227672 Centerline is valid? [False, False] Translation: X:351.92, Y:-37.80, Z:-1.09 [[ 9.99992221e-01 1.36165279e-03 -3.70199116e-03 3.51919139e+02] [-1.36997611e-03 9.99996538e-01 -2.24672935e-03 -3.78046938e+01] [ 3.69891907e-03 2.25178351e-03 9.99990624e-01 -1.08808183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92591999999996 meters Centerline goodness [0,1] 0.4900304698775859 Centerline is valid? [False, False] Translation: X:351.93, Y:-37.81, Z:-1.10 [[ 9.99989187e-01 6.95564277e-04 -4.59804366e-03 3.51929299e+02] [-7.05156685e-04 9.99997578e-01 -2.08490132e-03 -3.78110253e+01] [ 4.59658234e-03 2.08812111e-03 9.99987256e-01 -1.09714577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95592 meters Centerline goodness [0,1] 0.5185947057868241 Centerline is valid? [False, False] Translation: X:351.95, Y:-37.82, Z:-1.10 [[ 9.99982153e-01 -5.25468960e-03 2.84276240e-03 3.51945949e+02] [ 5.24621383e-03 9.99981796e-01 2.98081289e-03 -3.78226683e+01] [-2.85837389e-03 -2.96584595e-03 9.99991517e-01 -1.09699942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98591999999996 meters Centerline goodness [0,1] 0.17998372660699757 Centerline is valid? [False, False] Translation: X:351.96, Y:-37.83, Z:-1.11 [[ 9.99983413e-01 -5.39905250e-03 2.00590998e-03 3.51956948e+02] [ 5.39194872e-03 9.99979232e-01 3.53011607e-03 -3.78297768e+01] [-2.02492761e-03 -3.51924175e-03 9.99991757e-01 -1.10755691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01592 meters SLAMing on 370.04591999999997 meters SLAMing on 370.07592 meters SLAMing on 370.10591999999997 meters SLAMing on 370.13592 meters SLAMing on 370.16591999999997 meters SLAMing on 370.19591999999994 meters SLAMing on 370.22592 meters SLAMing on 370.25591999999995 meters SLAMing on 370.28592 meters SLAMing on 370.31591999999995 meters SLAMing on 370.34592 meters Centerline goodness [0,1] 0.0716715935077249 Centerline is valid? [False, False] Translation: X:352.02, Y:-37.87, Z:-1.15 [[ 9.99392854e-01 6.60862004e-03 3.42088981e-02 3.52021257e+02] [-7.02210030e-03 9.99903569e-01 1.19809208e-02 -3.78737803e+01] [-3.41264219e-02 -1.22138649e-02 9.99342889e-01 -1.14523437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37591999999995 meters Centerline goodness [0,1] 0.0716715935077249 Centerline is valid? [False, False] Translation: X:352.02, Y:-37.87, Z:-1.15 [[ 9.99392854e-01 6.60862004e-03 3.42088981e-02 3.52021257e+02] [-7.02210030e-03 9.99903569e-01 1.19809208e-02 -3.78737803e+01] [-3.41264219e-02 -1.22138649e-02 9.99342889e-01 -1.14523437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40592 meters Centerline goodness [0,1] 0.0751544269045985 Centerline is valid? [False, False] Translation: X:352.06, Y:-37.87, Z:-1.15 [[ 9.99435948e-01 1.40059007e-02 3.05224636e-02 3.52055141e+02] [-1.43409752e-02 9.99838977e-01 1.07868334e-02 -3.78698675e+01] [-3.03664695e-02 -1.12184709e-02 9.99475874e-01 -1.15411881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43591999999995 meters Centerline goodness [0,1] 0.0767164876226063 Centerline is valid? [False, False] Translation: X:352.07, Y:-37.87, Z:-1.17 [[ 9.99488880e-01 1.40763029e-02 2.87025484e-02 3.52066728e+02] [-1.43888014e-02 9.99839115e-01 1.07101564e-02 -3.78691620e+01] [-2.85471712e-02 -1.11176775e-02 9.99530618e-01 -1.16588249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46592 meters Centerline goodness [0,1] 0.07779730521382544 Centerline is valid? [False, False] Translation: X:352.08, Y:-37.87, Z:-1.18 [[ 9.99538131e-01 1.39922426e-02 2.69767053e-02 3.52078020e+02] [-1.42789802e-02 9.99843276e-01 1.04659029e-02 -3.78682803e+01] [-2.68260360e-02 -1.08462689e-02 9.99581273e-01 -1.17741028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49591999999996 meters Centerline goodness [0,1] 0.08146133837786707 Centerline is valid? [False, False] Translation: X:352.09, Y:-37.87, Z:-1.19 [[ 9.99573607e-01 1.41668121e-02 2.55324392e-02 3.52089960e+02] [-1.44292611e-02 9.99844636e-01 1.01242766e-02 -3.78672040e+01] [-2.53850436e-02 -1.04883739e-02 9.99622726e-01 -1.18820719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.52592 meters Centerline goodness [0,1] 0.2270198355104015 Centerline is valid? [False, False] Translation: X:352.11, Y:-37.87, Z:-1.20 [[ 9.99822801e-01 1.34414849e-02 1.31792802e-02 3.52112576e+02] [-1.35672039e-02 9.99862863e-01 9.49659280e-03 -3.78665779e+01] [-1.30498246e-02 -9.67371599e-03 9.99868052e-01 -1.19853874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55591999999996 meters Centerline goodness [0,1] 0.22952801111984045 Centerline is valid? [False, False] Translation: X:352.12, Y:-37.86, Z:-1.20 [[ 9.99860220e-01 1.13609076e-02 1.22666614e-02 3.52118975e+02] [-1.14440760e-02 9.99911858e-01 6.73125648e-03 -3.78639964e+01] [-1.21891070e-02 -6.87069619e-03 9.99902105e-01 -1.20460520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58592 meters Centerline goodness [0,1] 0.08145463480557769 Centerline is valid? [False, False] Translation: X:352.17, Y:-37.86, Z:-1.20 [[ 9.99959581e-01 6.55020943e-03 6.15881397e-03 3.52168123e+02] [-6.57101519e-03 9.99972752e-01 3.36406435e-03 -3.78616752e+01] [-6.13661083e-03 -3.40439804e-03 9.99975376e-01 -1.20172746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61591999999996 meters Centerline goodness [0,1] 0.22635697122789722 Centerline is valid? [False, False] Translation: X:352.19, Y:-37.87, Z:-1.20 [[ 9.99992029e-01 -1.91789956e-03 3.50197080e-03 3.52192083e+02] [ 1.90102368e-03 9.99986596e-01 4.81595084e-03 -3.78662326e+01] [-3.51116037e-03 -4.80925512e-03 9.99982271e-01 -1.19944801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64592 meters Centerline goodness [0,1] 0.22935446790489444 Centerline is valid? [False, False] Translation: X:352.20, Y:-37.87, Z:-1.21 [[ 9.99995952e-01 -2.05629981e-03 1.96643225e-03 3.52203485e+02] [ 2.04648599e-03 9.99985507e-01 4.97972711e-03 -3.78687990e+01] [-1.97664356e-03 -4.97568268e-03 9.99985668e-01 -1.21017606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67591999999996 meters Centerline goodness [0,1] 0.23119089211493282 Centerline is valid? [False, False] Translation: X:352.21, Y:-37.87, Z:-1.22 [[ 9.99996890e-01 -2.47216845e-03 3.28888869e-04 3.52214560e+02] [ 2.47046649e-03 9.99984053e-01 5.07836992e-03 -3.78714864e+01] [-3.41438210e-04 -5.07754161e-03 9.99987051e-01 -1.22105217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70592 meters Centerline goodness [0,1] 0.08011906238372812 Centerline is valid? [False, False] Translation: X:352.23, Y:-37.87, Z:-1.21 [[ 9.99989243e-01 4.59393422e-03 -6.39392779e-04 3.52227022e+02] [-4.59099063e-03 9.99979194e-01 4.53147956e-03 -3.78705167e+01] [ 6.60196795e-04 -4.52849537e-03 9.99989528e-01 -1.20872728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73591999999996 meters Centerline goodness [0,1] 0.22842764207683808 Centerline is valid? [False, False] Translation: X:352.24, Y:-37.87, Z:-1.22 [[ 9.99988030e-01 4.33164917e-03 -2.27539932e-03 3.52238702e+02] [-4.32066985e-03 9.99979106e-01 4.80818693e-03 -3.78737184e+01] [ 2.29617915e-03 -4.79829812e-03 9.99985852e-01 -1.21947104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76592 meters Centerline goodness [0,1] 0.22710735647777025 Centerline is valid? [False, False] Translation: X:352.28, Y:-37.87, Z:-1.21 [[ 9.99968834e-01 -1.11038472e-03 -7.81646197e-03 3.52283020e+02] [ 1.12242637e-03 9.99998190e-01 1.53633155e-03 -3.78740629e+01] [ 7.81474190e-03 -1.54505708e-03 9.99968271e-01 -1.21255742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79591999999997 meters Centerline goodness [0,1] 0.22882281553398054 Centerline is valid? [False, False] Translation: X:352.29, Y:-37.88, Z:-1.22 [[ 9.99954417e-01 -1.73865274e-03 -9.38835647e-03 3.52294956e+02] [ 1.76091531e-03 9.99995656e-01 2.36355027e-03 -3.78831212e+01] [ 9.38420630e-03 -2.37997463e-03 9.99953135e-01 -1.22345454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82592 meters Centerline goodness [0,1] 0.22767777046827342 Centerline is valid? [False, False] Translation: X:352.31, Y:-37.89, Z:-1.23 [[ 9.99937188e-01 -2.07614984e-03 -1.10140725e-02 3.52306490e+02] [ 2.10507931e-03 9.99994363e-01 2.61564917e-03 -3.78863829e+01] [ 1.10085799e-02 -2.63867038e-03 9.99935922e-01 -1.23433915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85591999999997 meters Centerline goodness [0,1] 0.22337314160370458 Centerline is valid? [False, False] Translation: X:352.34, Y:-37.89, Z:-1.23 [[ 9.99982751e-01 -3.24514216e-03 -4.89568733e-03 3.52339537e+02] [ 3.26025430e-03 9.99989936e-01 3.08201129e-03 -3.78893577e+01] [ 4.88563649e-03 -3.09791931e-03 9.99983267e-01 -1.22695232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88592 meters Centerline goodness [0,1] 0.22267826513109534 Centerline is valid? [False, False] Translation: X:352.36, Y:-37.89, Z:-1.23 [[ 9.99964498e-01 4.37494254e-03 -7.20162704e-03 3.52363679e+02] [-4.35406729e-03 9.99986282e-01 2.91181549e-03 -3.78903222e+01] [ 7.21426727e-03 -2.88035575e-03 9.99969828e-01 -1.22521965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91591999999997 meters Centerline goodness [0,1] 0.22328842959955708 Centerline is valid? [False, False] Translation: X:352.39, Y:-37.90, Z:-1.22 [[ 9.99942329e-01 -4.45926277e-03 -9.77003480e-03 3.52388346e+02] [ 4.50087852e-03 9.99980875e-01 4.24168977e-03 -3.78972342e+01] [ 9.75093314e-03 -4.28541889e-03 9.99943276e-01 -1.22379507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94591999999994 meters Centerline goodness [0,1] 0.21759147080203534 Centerline is valid? [False, False] Translation: X:352.40, Y:-37.90, Z:-1.23 [[ 9.99923160e-01 -4.82091440e-03 -1.14207514e-02 3.52399982e+02] [ 4.87122466e-03 9.99978537e-01 4.38144744e-03 -3.79003694e+01] [ 1.13993837e-02 -4.43674381e-03 9.99925182e-01 -1.23479939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97592 meters Centerline goodness [0,1] 0.21878206288852675 Centerline is valid? [False, False] Translation: X:352.43, Y:-37.90, Z:-1.24 [[ 9.99898181e-01 4.59634009e-04 -1.42624426e-02 3.52428798e+02] [-4.33232246e-04 9.99998187e-01 1.85417336e-03 -3.79005011e+01] [ 1.42632689e-02 -1.84780562e-03 9.99896567e-01 -1.23808929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00591999999995 meters Centerline goodness [0,1] 0.2157114081670024 Centerline is valid? [False, False] Translation: X:352.46, Y:-37.90, Z:-1.23 [[ 9.99959839e-01 -1.84344284e-03 -8.77050991e-03 3.52462198e+02] [ 1.85218965e-03 9.99997795e-01 9.89279528e-04 -3.79024524e+01] [ 8.76866689e-03 -1.00548445e-03 9.99961049e-01 -1.23019474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03592 meters Centerline goodness [0,1] 0.2192908653846154 Centerline is valid? [False, False] Translation: X:352.47, Y:-37.91, Z:-1.24 [[ 9.99943227e-01 -2.29164579e-03 -1.04063453e-02 3.52473658e+02] [ 2.30871242e-03 9.99996009e-01 1.62830462e-03 -3.79087334e+01] [ 1.04025723e-02 -1.65223743e-03 9.99944527e-01 -1.24076126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06591999999995 meters Centerline goodness [0,1] 0.09848575892320632 Centerline is valid? [False, False] Translation: X:352.47, Y:-37.91, Z:-1.24 [[ 9.99940377e-01 -2.35753304e-03 -1.06623006e-02 3.52474902e+02] [ 2.38072470e-03 9.99994827e-01 2.16293916e-03 -3.79123048e+01] [ 1.06571462e-02 -2.18819420e-03 9.99940817e-01 -1.24152339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09592 meters Centerline goodness [0,1] 0.21767802044890794 Centerline is valid? [False, False] Translation: X:352.50, Y:-37.91, Z:-1.24 [[ 9.99910052e-01 4.27110468e-03 -1.27140250e-02 3.52495950e+02] [-4.25721937e-03 9.99990312e-01 1.11898943e-03 -3.79117735e+01] [ 1.27186811e-02 -1.06476239e-03 9.99918547e-01 -1.23699943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12591999999995 meters Centerline goodness [0,1] 0.21808867475757765 Centerline is valid? [False, False] Translation: X:352.53, Y:-37.91, Z:-1.23 [[ 9.99968121e-01 2.01297795e-03 -7.72687523e-03 3.52530305e+02] [-2.00942514e-03 9.99997872e-01 4.67534588e-04 -3.79148957e+01] [ 7.72779992e-03 -4.51993106e-04 9.99970038e-01 -1.22923200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15592 meters Centerline goodness [0,1] 0.22393387187676117 Centerline is valid? [False, False] Translation: X:352.55, Y:-37.92, Z:-1.23 [[ 9.99916442e-01 9.04947779e-03 -9.23124712e-03 3.52551949e+02] [-9.04768682e-03 9.99959041e-01 2.35756221e-04 -3.79199236e+01] [ 9.23300249e-03 -1.52215089e-04 9.99957363e-01 -1.22538557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18591999999995 meters Centerline goodness [0,1] 0.21828675577156742 Centerline is valid? [False, False] Translation: X:352.56, Y:-37.92, Z:-1.24 [[ 9.99912713e-01 8.22151114e-03 -1.03428096e-02 3.52562592e+02] [-8.21838050e-03 9.99966169e-01 3.45154466e-04 -3.79234742e+01] [ 1.03452973e-02 -2.60123194e-04 9.99946452e-01 -1.23612578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21592 meters Centerline goodness [0,1] 0.21775924449622863 Centerline is valid? [False, False] Translation: X:352.60, Y:-37.93, Z:-1.23 [[ 9.99964321e-01 5.97043355e-03 -5.97585858e-03 3.52599843e+02] [-5.96695696e-03 9.99982018e-01 5.99432343e-04 -3.79326377e+01] [ 5.97932999e-03 -5.63753265e-04 9.99981965e-01 -1.23132858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24591999999996 meters Centerline goodness [0,1] 0.2274272294666584 Centerline is valid? [False, False] Translation: X:352.65, Y:-37.94, Z:-1.22 [[ 9.99929920e-01 4.31615960e-03 -1.10238610e-02 3.52647031e+02] [-4.30632496e-03 9.99990308e-01 9.15703853e-04 -3.79382324e+01] [ 1.10277065e-02 -8.68167352e-04 9.99938816e-01 -1.22495843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.27592 meters Centerline goodness [0,1] 0.22049270743963723 Centerline is valid? [False, False] Translation: X:352.66, Y:-37.94, Z:-1.24 [[ 9.99914487e-01 3.57965955e-03 -1.25779213e-02 3.52658019e+02] [-3.56605093e-03 9.99993032e-01 1.10420627e-03 -3.79424878e+01] [ 1.25817864e-02 -1.05925834e-03 9.99920285e-01 -1.23557375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30591999999996 meters Centerline goodness [0,1] 0.22079346699981717 Centerline is valid? [False, False] Translation: X:352.67, Y:-37.95, Z:-1.25 [[ 9.99896671e-01 -6.02515413e-04 -1.43625934e-02 3.52670003e+02] [ 5.73252092e-04 9.99997752e-01 -2.04149758e-03 -3.79472506e+01] [ 1.43637911e-02 2.03305325e-03 9.99894769e-01 -1.24678269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33592 meters Centerline goodness [0,1] 0.23113296765651603 Centerline is valid? [False, False] Translation: X:352.69, Y:-37.95, Z:-1.24 [[ 9.99861370e-01 6.51346649e-03 -1.53237154e-02 3.52690414e+02] [-6.56068731e-03 9.99973878e-01 -3.03330149e-03 -3.79489034e+01] [ 1.53035578e-02 3.13341508e-03 9.99877984e-01 -1.24141532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36591999999996 meters Centerline goodness [0,1] 0.22285365108463184 Centerline is valid? [False, False] Translation: X:352.70, Y:-37.96, Z:-1.26 [[ 9.99855185e-01 3.78961062e-03 -1.65905676e-02 3.52704779e+02] [-3.85635246e-03 9.99984593e-01 -3.99273674e-03 -3.79570325e+01] [ 1.65751811e-02 4.05613761e-03 9.99854395e-01 -1.25626801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39592 meters Centerline goodness [0,1] 0.22319622387053273 Centerline is valid? [False, False] Translation: X:352.73, Y:-37.97, Z:-1.25 [[ 9.99809058e-01 -4.53867274e-03 -1.90065115e-02 3.52728456e+02] [ 4.49960156e-03 9.99987676e-01 -2.09793383e-03 -3.79660894e+01] [ 1.90157991e-02 2.01201152e-03 9.99817159e-01 -1.25411404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42591999999996 meters Centerline goodness [0,1] 0.22286063569682146 Centerline is valid? [False, False] Translation: X:352.74, Y:-37.97, Z:-1.27 [[ 9.99777592e-01 -4.74813328e-03 -2.05480480e-02 3.52740009e+02] [ 4.71603933e-03 9.99987583e-01 -1.61007388e-03 -3.79699959e+01] [ 2.05554377e-02 1.51281039e-03 9.99787570e-01 -1.26502537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45592 meters Centerline goodness [0,1] 0.23347880299251866 Centerline is valid? [False, False] Translation: X:352.78, Y:-37.98, Z:-1.26 [[ 9.99842909e-01 -6.03808161e-03 -1.66642909e-02 3.52777525e+02] [ 6.02758088e-03 9.99981603e-01 -6.80288724e-04 -3.79803132e+01] [ 1.66680920e-02 5.79736495e-04 9.99860910e-01 -1.25878313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48591999999996 meters Centerline goodness [0,1] 0.22570992366412213 Centerline is valid? [False, False] Translation: X:352.79, Y:-37.99, Z:-1.27 [[ 9.99827077e-01 -6.32586387e-03 -1.74871468e-02 3.52788416e+02] [ 6.32570290e-03 9.99979990e-01 -6.45189722e-05 -3.79860265e+01] [ 1.74872050e-02 -4.61106796e-05 9.99847086e-01 -1.27001631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51592 meters Centerline goodness [0,1] 0.24683464961765078 Centerline is valid? [False, False] Translation: X:352.82, Y:-37.99, Z:-1.26 [[ 9.99889053e-01 -7.55453112e-03 -1.28378264e-02 3.52823652e+02] [ 7.55592957e-03 9.99971452e-01 6.04323529e-05 -3.79914859e+01] [ 1.28370034e-02 -1.57427360e-04 9.99917590e-01 -1.26226242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54591999999997 meters Centerline goodness [0,1] 0.22409697265030148 Centerline is valid? [False, False] Translation: X:352.83, Y:-38.00, Z:-1.27 [[ 9.99877339e-01 -7.68960998e-03 -1.36446449e-02 3.52834637e+02] [ 7.70776173e-03 9.99969478e-01 1.27823139e-03 -3.79992145e+01] [ 1.36343993e-02 -1.38324427e-03 9.99906090e-01 -1.27381262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57592 meters Centerline goodness [0,1] 0.2325439824678882 Centerline is valid? [False, False] Translation: X:352.86, Y:-38.00, Z:-1.27 [[ 9.99875783e-01 7.71397158e-04 -1.57424283e-02 3.52859434e+02] [-7.53946323e-04 9.99999095e-01 1.11442712e-03 -3.79988752e+01] [ 1.57432737e-02 -1.10241975e-03 9.99875459e-01 -1.27231134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60591999999997 meters Centerline goodness [0,1] 0.22980946527350954 Centerline is valid? [False, False] Translation: X:352.90, Y:-38.01, Z:-1.27 [[ 9.99924444e-01 1.20988439e-03 -1.22328428e-02 3.52897343e+02] [-1.17730040e-03 9.99995741e-01 2.67049917e-03 -3.80053079e+01] [ 1.22360217e-02 -2.65589567e-03 9.99921610e-01 -1.26727450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63592 meters Centerline goodness [0,1] 0.2313858100068883 Centerline is valid? [False, False] Translation: X:352.93, Y:-38.01, Z:-1.26 [[ 9.99965925e-01 8.67130594e-04 -8.20958952e-03 3.52932788e+02] [-8.42582110e-04 9.99995165e-01 2.99320722e-03 -3.80081363e+01] [ 8.21214533e-03 -2.98618797e-03 9.99961821e-01 -1.25918157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66591999999997 meters Centerline goodness [0,1] 0.23144723865877714 Centerline is valid? [False, False] Translation: X:352.94, Y:-38.01, Z:-1.27 [[ 9.99952845e-01 4.64189319e-04 -9.70015791e-03 3.52944135e+02] [-4.30788677e-04 9.99993973e-01 3.44511482e-03 -3.80131029e+01] [ 9.70169863e-03 -3.44077365e-03 9.99947018e-01 -1.27072262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69591999999994 meters Centerline goodness [0,1] 0.23085027268220126 Centerline is valid? [False, False] Translation: X:352.98, Y:-38.01, Z:-1.26 [[ 9.99979665e-01 -3.02803968e-04 -6.37008189e-03 3.52980494e+02] [ 3.20604110e-04 9.99996047e-01 2.79349935e-03 -3.80125182e+01] [ 6.36921082e-03 -2.79548482e-03 9.99975809e-01 -1.26300277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72592 meters Centerline goodness [0,1] 0.22968759552485174 Centerline is valid? [False, False] Translation: X:352.99, Y:-38.01, Z:-1.27 [[ 9.99968850e-01 -2.86447475e-04 -7.88773766e-03 3.52991568e+02] [ 3.08714407e-04 9.99995971e-01 2.82190793e-03 -3.80125018e+01] [ 7.88689755e-03 -2.82425509e-03 9.99964910e-01 -1.27420288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75591999999995 meters Centerline goodness [0,1] 0.2350511533329097 Centerline is valid? [False, False] Translation: X:352.99, Y:-38.01, Z:-1.27 [[ 9.99967215e-01 -2.71807547e-04 -8.09295538e-03 3.52992302e+02] [ 2.94594877e-04 9.99995995e-01 2.81464048e-03 -3.80125708e+01] [ 8.09215793e-03 -2.81693234e-03 9.99963290e-01 -1.27453483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78592 meters Centerline goodness [0,1] 0.22668810289389063 Centerline is valid? [False, False] Translation: X:353.00, Y:-38.01, Z:-1.29 [[ 9.99976575e-01 -2.24758275e-04 -6.84096271e-03 3.53000199e+02] [ 2.43836856e-04 9.99996083e-01 2.78816741e-03 -3.80118805e+01] [ 6.84030925e-03 -2.78977018e-03 9.99972713e-01 -1.28582227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6373.66 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%| | 0/12367 [00:00